adhoc

completed
2026-09-22T22:54:20.894058+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
343.9 s
total steps
299
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Place all the objects into the safe, then close the safe.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
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: Place all the objects into the safe, then close the safe.
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 noteOpen chest (the "safe") sits in the middle of the table with a yellow lemon to its right, a small white plush left of it, and a brown teddy in front-right. I'm moving the right arm to hover about 10 cm above the lemon to line up a grasp.
move_to
right_x0.3800right_y0.0900right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7933, 0.6056, -0.3882, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6079, -0.4034, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.2938 left_y=0.0014 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1768 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.3487, -1.4701, 10.1675, 1.9365, -0.0855, 0.149, -0.0904, -0.335, -1.6752, 9.7162, 2.0049, -0.0464, 0.1148, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.09, "right_z": 0.15, "right_gripper": 1}, "note": "Open chest (the \"safe\") sits in the middle of the table with a yellow lemon to its right, a small white plush left of it, and a brown teddy in front-right. I'm moving the right arm to hover about 10 cm above the lemon to line up a grasp."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteWrist view shows the lemon centred on the jaw column but sitting high in frame, meaning it is still a few cm beyond the fingertips; advancing radially ~4 cm before descending.
move_to
right_x0.4100right_y0.0860right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7971, 0.6083, -0.4057, -0.0193, -0.038, 0.9992, 0.3428, 1.2949, 0.7193, -0.1436, 0.2478, 0.1493, 0.9996] state[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1758 left_yaw=0.0021 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3599 right_y=0.0862 right_z=0.1241 right_yaw=0.0429 right_pitch=-0.1034 right_roll=-0.0383 right_gripper=0.9996 state[joint_eff]: [-0.1983, -1.4017, 6.8308, 1.873, -0.0415, -0.0122, -0.0171, 0.2393, -5.3949, 8.9231, 1.7216, 0.1294, 0.1832, -0.0562] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.086, "right_z": 0.13}, "note": "Wrist view shows the lemon centred on the jaw column but sitting high in frame, meaning it is still a few cm beyond the fingertips; advancing radially ~4 cm before descending."})
tool
executing move_to over 4 steps (0.4s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteLemon is now just above the jaw row in the wrist view; advancing 3 cm more and descending to lemon mid-height to straddle it.
move_to
right_x0.4250right_y0.0800right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7982, 0.6083, -0.4095, -0.0193, -0.0383, 0.9992, 0.2859, 1.4689, 0.8448, -0.1493, 0.2161, 0.1184, 0.9996] state[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1747 left_yaw=0.0023 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9992 right_x=0.3941 right_y=0.0801 right_z=0.1108 right_yaw=0.0274 right_pitch=-0.1621 right_roll=-0.0559 right_gripper=0.9996 state[joint_eff]: [0.0068, -1.3333, 7.0085, 1.7558, -0.0806, -0.022, -0.0122, -0.294, -6.4752, 8.9778, 1.7802, 0.0073, 0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.425, "right_y": 0.08, "right_z": 0.03}, "note": "Lemon is now just above the jaw row in the wrist view; advancing 3 cm more and descending to lemon mid-height to straddle it."})
tool
executing move_to over 6 steps (0.6s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe arm tracked only partway (z still 0.11) on the last combined move, so I'm commanding the descent alone to bring the jaws down around the lemon.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6083, -0.4274, -0.0193, -0.0383, 0.9992, 0.284, 1.4834, 0.8623, -0.1429, 0.1978, 0.1051, 0.9996] state[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1707 left_yaw=0.0023 left_pitch=-0.0431 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3993 right_y=0.0841 right_z=0.1131 right_yaw=0.0485 right_pitch=-0.1564 right_roll=-0.0509 right_gripper=0.9996 state[joint_eff]: [-0.0615, -0.9504, 6.9949, 1.917, -0.0464, -0.0317, -0.0122, -0.2393, -6.5709, 8.841, 1.7705, 0.0659, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "The arm tracked only partway (z still 0.11) on the last combined move, so I'm commanding the descent alone to bring the jaws down around the lemon."})
tool
executing move_to over 6 steps (0.6s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteDescent is progressing slowly (z=0.083); continuing down to lemon mid-height with the lemon centred between the jaws.
move_to
right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6083, -0.4358, -0.0189, -0.0387, 0.9992, 0.284, 1.5536, 0.791, 0.0032, 0.1967, 0.1051, 0.9996] state[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1693 left_yaw=0.0022 left_pitch=-0.0507 left_roll=-0.003 left_gripper=0.9992 right_x=0.4028 right_y=0.0854 right_z=0.0827 right_yaw=0.0496 right_pitch=-0.1521 right_roll=-0.0491 right_gripper=0.9996 state[joint_eff]: [-0.3214, -0.9915, 6.9812, 1.7363, -0.0317, -0.0611, -0.0122, 0.1573, 0.0205, 1.894, 0.525, 0.2759, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02}, "note": "Descent is progressing slowly (z=0.083); continuing down to lemon mid-height with the lemon centred between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteGripper is straddling the lemon at table level; closing partway (lemon is ~6 cm across) to grip it without squeezing it out sideways.
move_to
right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4515, -0.0189, -0.0387, 0.9992, 0.2848, 1.7096, 0.6819, 0.2192, 0.1867, 0.1047, 0.999] state[eef_state]: left_x=0.2858 left_y=0.0015 left_z=0.1649 left_yaw=0.0022 left_pitch=-0.0709 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3948 right_y=0.0851 right_z=0.0186 right_yaw=0.0568 right_pitch=-0.2016 right_roll=-0.0539 right_gripper=0.999 state[joint_eff]: [-0.1436, -1.6068, 7.159, 1.7656, -0.0562, -0.0122, -0.0122, -0.2667, -6.7761, 5.012, 1.8144, 0.188, -0.0513, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.35}, "note": "Gripper is straddling the lemon at table level; closing partway (lemon is ~6 cm across) to grip it without squeezing it out sideways."})
tool
executing move_to over 7 steps (0.7s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteGripper reached the commanded 0.35 without resistance, so I can't yet tell if the lemon is held; closing further so the reading settles at the lemon's true width.
move_to
right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.458, -0.0189, -0.0387, 0.9992, 0.2882, 1.7329, 0.667, 0.2707, 0.1783, 0.1005, 0.3551] state[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1637 left_yaw=0.0022 left_pitch=-0.0774 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3957 right_y=0.0884 right_z=0.0131 right_yaw=0.0702 right_pitch=-0.19 right_roll=-0.0479 right_gripper=0.3551 state[joint_eff]: [-0.3077, -1.2513, 7.1179, 1.7363, -0.0366, -0.0171, -0.0122, -0.1846, -7.3231, 5.3265, 1.8926, 0.188, -0.0024, 0.0366] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "Gripper reached the commanded 0.35 without resistance, so I can't yet tell if the lemon is held; closing further so the reading settles at the lemon's true width."})
tool
executing move_to over 3 steps (0.3s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe close came back empty (0.105) — the lemon is actually to the right of and beyond the jaws in the wrist view. Reopening, lifting slightly and shifting ~3.5 cm right / 2 cm forward to re-centre on it.
move_to
right_gripper1.0000right_z0.0700right_y0.0550right_x0.4150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4583, -0.0189, -0.0387, 0.9992, 0.2909, 1.7329, 0.667, 0.2722, 0.1654, 0.0898, 0.105] state[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1636 left_yaw=0.0022 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3953 right_y=0.0917 right_z=0.0131 right_yaw=0.0898 right_pitch=-0.1907 right_roll=-0.0461 right_gripper=0.105 state[joint_eff]: [-0.0068, -1.1556, 6.9675, 1.707, -0.0317, -0.0317, -0.0122, -0.6906, -7.3094, 5.5179, 1.8535, 0.2271, 0.0952, 0.1001] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.07, "right_y": 0.055, "right_x": 0.415}, "note": "The close came back empty (0.105) \u2014 the lemon is actually to the right of and beyond the jaws in the wrist view. Reopening, lifting slightly and shifting ~3.5 cm right / 2 cm forward to re-centre on it."})
tool
executing move_to over 9 steps (0.9s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteLemon is now nicely centred on the jaw column but still high in the wrist frame; advancing ~3.5 cm radially and dropping to grasp height.
move_to
right_x0.4400right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4728, -0.0189, -0.0387, 0.9992, 0.1574, 1.6291, 0.7807, 0.0097, 0.0776, -0.0032, 0.9946] state[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1608 left_yaw=0.0023 left_pitch=-0.0923 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4036 right_y=0.0538 right_z=0.0484 right_yaw=0.0822 right_pitch=-0.2465 right_roll=-0.0534 right_gripper=0.9946 state[joint_eff]: [0.0068, -1.2513, 6.9538, 1.8144, -0.0806, -0.0757, -0.0122, -0.212, -8.6359, 8.335, 1.5897, -0.0415, -0.0269, -0.1148] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_z": 0.025}, "note": "Lemon is now nicely centred on the jaw column but still high in the wrist frame; advancing ~3.5 cm radially and dropping to grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteLemon now fills the lower wrist frame just left of centre; nudging 3 cm further out so it sits between the fingertips before closing.
move_to
right_x0.4500right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6083, -0.4797, -0.0189, -0.0387, 0.9992, 0.1444, 1.7905, 0.8513, 0.0227, 0.0631, -0.0166, 0.9953] state[eef_state]: left_x=0.2816 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.1018 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4173 right_y=0.053 right_z=0.012 right_yaw=0.088 right_pitch=-0.3252 right_roll=-0.0561 right_gripper=0.9953 state[joint_eff]: [-0.294, -0.8547, 6.9538, 1.7607, -0.0708, -0.0513, -0.0122, -0.5675, -9.1829, 7.9111, 1.9121, 0.0269, -0.0073, 0.0562] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_z": 0.02}, "note": "Lemon now fills the lower wrist frame just left of centre; nudging 3 cm further out so it sits between the fingertips before closing."})
tool
executing move_to over 3 steps (0.3s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe lemon now fills the centre of the wrist view between the jaws; closing to grip it.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6083, -0.4812, -0.0189, -0.0387, 0.9992, 0.1368, 1.8599, 0.963, -0.0406, 0.0547, -0.0269, 0.9953] state[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1584 left_yaw=0.0023 left_pitch=-0.1034 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4376 right_y=0.0541 right_z=0.0125 right_yaw=0.0934 right_pitch=-0.3468 right_roll=-0.0567 right_gripper=0.9953 state[joint_eff]: [-0.0615, -1.2103, 6.9538, 1.6532, -0.0317, -0.0562, -0.0122, -0.5402, -8.5538, 7.1043, 1.3455, -0.022, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "The lemon now fills the centre of the wrist view between the jaws; closing to grip it."})
tool
executing move_to over 9 steps (0.9s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteGripper settled at 0.53 (~5 cm) — the lemon is held. Lifting it clear of the table before carrying it over the open chest.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6083, -0.4953, -0.0189, -0.0387, 0.9992, 0.1379, 1.8702, 0.9695, -0.0574, 0.0406, -0.0265, 0.5321] state[eef_state]: left_x=0.2793 left_y=0.0017 left_z=0.1553 left_yaw=0.0023 left_pitch=-0.1194 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4352 right_y=0.0568 right_z=0.0079 right_yaw=0.1066 right_pitch=-0.3678 right_roll=-0.045 right_gripper=0.5321 state[joint_eff]: [-0.0205, -1.388, 6.9402, 1.8193, -0.0415, -0.0415, -0.0122, -0.4444, -9.7299, 5.4222, 1.4774, 0.1148, -0.0659, 1.0134] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.53 (~5 cm) \u2014 the lemon is held. Lifting it clear of the table before carrying it over the open chest."})
tool
executing move_to over 13 steps (1.3s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteLemon is held and lifted; translating left over the open chest's red interior at a height that clears the chest walls.
move_to
right_y0.2000right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6083, -0.5102, -0.0189, -0.0387, 0.9992, 0.1379, 1.7199, 1.4647, -0.8501, 0.086, -0.0605, 0.5349] state[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1525 left_yaw=0.0024 left_pitch=-0.1342 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4194 right_y=0.0465 right_z=0.1495 right_yaw=0.0826 right_pitch=-0.5147 right_roll=-0.1144 right_gripper=0.5349 state[joint_eff]: [-0.0752, -1.2513, 7.1316, 1.7851, -0.0757, -0.0415, -0.0122, -0.2667, -12.2325, 10.441, 1.8388, -0.4567, 0.3053, 0.7204] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.2, "right_z": 0.22}, "note": "Lemon is held and lifted; translating left over the open chest's red interior at a height that clears the chest walls."})
tool
executing move_to over 13 steps (1.3s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteWrist view shows the chest's red interior off to the left of the jaws, so the lemon is not yet over the opening; shifting a further 8 cm toward the chest centre.
move_to
right_y0.2700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8104, 0.6083, -0.522, -0.0193, -0.0387, 0.9992, 0.5251, 2.019, 2.0632, -1.3403, 0.2665, 0.2276, 0.5355] state[eef_state]: left_x=0.2751 left_y=0.0018 left_z=0.1496 left_yaw=0.0027 left_pitch=-0.1487 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4037 right_y=0.1842 right_z=0.1894 right_yaw=0.0771 right_pitch=-0.6323 right_roll=-0.2291 right_gripper=0.5355 state[joint_eff]: [-0.1436, -1.4154, 7.1453, 1.7509, -0.0806, -0.0708, -0.0122, 0.212, -11.8359, 9.7846, 1.4139, -0.0415, 0.486, 0.7448] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.27}, "note": "Wrist view shows the chest's red interior off to the left of the jaws, so the lemon is not yet over the opening; shifting a further 8 cm toward the chest centre."})
tool
executing move_to over 8 steps (0.8s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteChest interior still appears to the left of the jaws in the wrist view; shifting another 6 cm toward it and rising slightly to clear the chest rim.
move_to
right_y0.3200right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8108, 0.6083, -0.5354, -0.0189, -0.0387, 0.9992, 0.6949, 2.3013, 2.4489, -1.5631, 0.3302, 0.3386, 0.5382] state[eef_state]: left_x=0.2729 left_y=0.0018 left_z=0.147 left_yaw=0.0025 left_pitch=-0.1625 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3925 right_y=0.2573 right_z=0.1699 right_yaw=0.0687 right_pitch=-0.6865 right_roll=-0.3281 right_gripper=0.5382 state[joint_eff]: [-0.1026, -1.2513, 6.8855, 1.707, -0.0415, -0.0611, -0.0122, 0.294, -13.0393, 8.7316, 0.8718, 0.1343, 0.4078, 0.6667] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.32, "right_z": 0.22}, "note": "Chest interior still appears to the left of the jaws in the wrist view; shifting another 6 cm toward it and rising slightly to clear the chest rim."})
tool
executing move_to over 6 steps (0.6s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe arm stalled moving sideways — it looks like the gripper is against the chest's right wall. Lifting well above the chest (z=0.32) while continuing left so it can clear the rim.
move_to
right_z0.3200right_y0.3200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8108, 0.6083, -0.5407, -0.0189, -0.0387, 0.9992, 0.7559, 2.3409, 2.4821, -1.6234, 0.3882, 0.363, 0.5404] state[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.146 left_yaw=0.0025 left_pitch=-0.1678 left_roll=-0.0005 left_gripper=0.9992 right_x=0.377 right_y=0.2684 right_z=0.1629 right_yaw=0.0344 right_pitch=-0.6978 right_roll=-0.4309 right_gripper=0.5404 state[joint_eff]: [-0.3214, -0.9641, 6.9265, 1.619, -0.0317, -0.0562, -0.0171, -0.6222, -13.7915, 9.388, 0.9695, 0.1783, 0.1832, 0.4713] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.32, "right_y": 0.32}, "note": "The arm stalled moving sideways \u2014 it looks like the gripper is against the chest's right wall. Lifting well above the chest (z=0.32) while continuing left so it can clear the rim."})
tool
executing move_to over 11 steps (1.1s)
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 wrist has drifted into a badly rolled/pitched pose and the arm has stopped tracking; resetting orientation to level and lifting to 25 cm to recover a clean configuration while still holding the lemon.
move_to
right_pitch0.0000right_roll0.0000right_yaw0.0000right_z0.2500right_x0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.812, 0.6083, -0.5591, -0.0189, -0.0387, 0.9992, 0.8089, 2.1948, 2.2948, -1.6352, 0.4488, 0.3561, 0.5426] state[eef_state]: left_x=0.2689 left_y=0.0018 left_z=0.1425 left_yaw=0.0025 left_pitch=-0.1873 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3428 right_y=0.2535 right_z=0.1815 right_yaw=0.0207 right_pitch=-0.6966 right_roll=-0.5386 right_gripper=0.5426 state[joint_eff]: [-0.1299, -0.8957, 6.8718, 1.7167, -0.0464, -0.0611, -0.0122, -0.5265, -17.1009, 6.4752, 0.9402, 0.3004, 0.2369, 0.8181] approver: 1 step(s) modified (delta_clamped). 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_pitch": 0, "right_roll": 0, "right_yaw": 0, "right_z": 0.25, "right_x": 0.35}, "note": "The wrist has drifted into a badly rolled/pitched pose and the arm has stopped tracking; resetting orientation to level and lifting to 25 cm to recover a clean configuration while still holding the lemon."})
tool
executing move_to over 24 steps (2.4s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteTop view shows the gripper with the lemon just right of the chest opening; commanding a small pure sideways step to bring it over the red interior.
move_to
right_y0.2900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8154, 0.6083, -0.5636, -0.0189, -0.0387, 0.9992, 0.8787, 1.6577, 1.4231, -0.8513, 0.651, 0.5282, 0.5424] state[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1408 left_yaw=0.0026 left_pitch=-0.1953 left_roll=0.0001 left_gripper=0.9992 right_x=0.3306 right_y=0.2368 right_z=0.1902 right_yaw=0.0307 right_pitch=-0.2099 right_roll=-0.2268 right_gripper=0.5424 state[joint_eff]: [-0.0479, -1.4974, 6.8718, 1.6484, -0.0855, -0.0171, -0.0122, 0.5128, -12.6701, 9.2376, 2.5372, 0.652, 0.4811, 0.9646] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.29}, "note": "Top view shows the gripper with the lemon just right of the chest opening; commanding a small pure sideways step to bring it over the red interior."})
tool
executing move_to over 5 steps (0.5s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteWrist view shows the chest's silver rim and red interior immediately left of the held lemon; nudging a few more cm left and up to get the lemon over the opening.
move_to
right_y0.3300right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8162, 0.6083, -0.5766, -0.0189, -0.0387, 0.9992, 0.968, 1.8599, 1.5623, -1.0149, 0.6575, 0.5591, 0.5454] state[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1383 left_yaw=0.0026 left_pitch=-0.209 left_roll=0.0004 left_gripper=0.9992 right_x=0.3131 right_y=0.2708 right_z=0.1478 right_yaw=0.0493 right_pitch=-0.3443 right_roll=-0.3918 right_gripper=0.5454 state[joint_eff]: [0.0068, -1.2786, 6.8581, 1.6825, -0.0415, -0.0659, -0.0122, 0.1299, -11.7265, 11.2889, 1.5702, 0.5885, 0.4615, 0.5934] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.33, "right_z": 0.2}, "note": "Wrist view shows the chest's silver rim and red interior immediately left of the held lemon; nudging a few more cm left and up to get the lemon over the opening."})
tool
executing move_to over 5 steps (0.5s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe arm refuses to translate further left (likely the forearm is against the chest), but the lemon may already be over the opening; descending slowly — if it reaches low z we are inside the box, if it stops high we are on the rim.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8173, 0.6083, -0.585, -0.0189, -0.0387, 0.9992, 1.0027, 1.8778, 1.5696, -1.0538, 0.6842, 0.5758, 0.5471] state[eef_state]: left_x=0.2646 left_y=0.0019 left_z=0.1366 left_yaw=0.0027 left_pitch=-0.2185 left_roll=0.0006 left_gripper=0.9992 right_x=0.3032 right_y=0.2741 right_z=0.1442 right_yaw=0.0487 right_pitch=-0.349 right_roll=-0.4397 right_gripper=0.5471 state[joint_eff]: [-0.0479, -0.9504, 7.0222, 1.6386, -0.0757, -0.0366, -0.0122, -0.0752, -10.4274, 6.9949, 1.1502, 0.6618, 0.0806, 0.1636] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.04}, "note": "The arm refuses to translate further left (likely the forearm is against the chest), but the lemon may already be over the opening; descending slowly \u2014 if it reaches low z we are inside the box, if it stops high we are on the rim."})
tool
executing move_to over 7 steps (0.7s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe arm has stopped tracking entirely — it appears jammed against the chest. Backing away to the right and up to recover a clean pose before retrying the drop.
move_to
right_y0.1800right_x0.3300right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.5858, -0.0189, -0.0383, 0.9992, 1.0023, 1.8778, 1.5661, -1.0534, 0.6846, 0.5762, 0.5498] state[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1361 left_yaw=0.0025 left_pitch=-0.2208 left_roll=0.001 left_gripper=0.9992 right_x=0.303 right_y=0.2734 right_z=0.1432 right_yaw=0.047 right_pitch=-0.3504 right_roll=-0.4424 right_gripper=0.5498 state[joint_eff]: [-0.212, -1.1966, 6.8718, 1.5458, -0.0513, -0.0171, -0.0122, 0.0889, -10.5231, 7.3504, 1.1404, 0.696, 0.1197, 0.2662] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.18, "right_x": 0.33, "right_z": 0.22}, "note": "The arm has stopped tracking entirely \u2014 it appears jammed against the chest. Backing away to the right and up to recover a clean pose before retrying the drop."})
tool
executing move_to over 8 steps (0.8s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteRecovered mobility. Now lifting the lemon high above everything (z=0.35) with the wrist levelled, so I can traverse over the chest rim without the forearm fouling it.
move_to
right_z0.3500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.5903, -0.0189, -0.0383, 0.9992, 0.7773, 1.6817, 1.5074, -1.169, 0.6067, 0.3077, 0.5524] state[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.1353 left_yaw=0.0025 left_pitch=-0.2254 left_roll=0.0011 left_gripper=0.9992 right_x=0.3171 right_y=0.1757 right_z=0.1815 right_yaw=0.011 right_pitch=-0.4638 right_roll=-0.5368 right_gripper=0.5524 state[joint_eff]: [-0.212, -1.2239, 6.8308, 1.5311, -0.0513, -0.0513, -0.0122, -0.1299, -11.8085, 10.2085, 1.4969, 0.3736, 0.232, 0.5543] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.35, "right_pitch": 0, "right_roll": 0}, "note": "Recovered mobility. Now lifting the lemon high above everything (z=0.35) with the wrist levelled, so I can traverse over the chest rim without the forearm fouling it."})
tool
executing move_to over 16 steps (1.6s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteLemon is now held high (z=0.28) above the table with the chest's red interior still off to the left in the wrist view; translating 16 cm left at this safe height to get over the opening.
move_to
right_y0.3200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8192, 0.6083, -0.5922, -0.0189, -0.0383, 0.9992, 0.7795, 1.4414, 1.5982, -1.2121, 0.6044, 0.4129, 0.5553] state[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1349 left_yaw=0.0025 left_pitch=-0.2277 left_roll=0.0011 left_gripper=0.9992 right_x=0.299 right_y=0.1594 right_z=0.284 right_yaw=0.029 right_pitch=-0.233 right_roll=-0.2569 right_gripper=0.5553 state[joint_eff]: [-0.0479, -1.1966, 7.0222, 1.5067, -0.0415, -0.0171, -0.0122, 0.0479, -9.2239, 11.5897, 2.8791, 0.3004, 0.5934, 0.5836] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.32}, "note": "Lemon is now held high (z=0.28) above the table with the chest's red interior still off to the left in the wrist view; translating 16 cm left at this safe height to get over the opening."})
tool
executing move_to over 14 steps (1.4s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteTop view shows the gripper now over the open case; descending toward the interior, watching for contact with the rim.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.6079, -0.0189, -0.0383, 0.9992, 1.0737, 2.0716, 2.3039, -1.6241, 0.6819, 0.683, 0.5575] state[eef_state]: left_x=0.2605 left_y=0.002 left_z=0.1323 left_yaw=0.0026 left_pitch=-0.2429 left_roll=0.0014 left_gripper=0.9992 right_x=0.2893 right_y=0.3073 right_z=0.2546 right_yaw=0.0535 right_pitch=-0.3434 right_roll=-0.3954 right_gripper=0.5575 state[joint_eff]: [-0.1846, -1.1829, 6.8171, 1.6972, -0.0269, -0.0317, -0.0122, 0.1983, -11.4393, 9.1556, 1.0867, 0.7692, 0.6129, 0.6569] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "Top view shows the gripper now over the open case; descending toward the interior, watching for contact with the rim."})
tool
executing move_to over 12 steps (1.2s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
assistant
agent noteClear now: the lemon is just outside the case's right rim with the red interior immediately to its left. Lifting a little and pushing 7 cm further left to get over the interior.
move_to
right_y0.3800right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6151, -0.0189, -0.0387, 0.9992, 1.0733, 1.9736, 1.5013, -0.9134, 0.6411, 0.6933, 0.5607] state[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1306 left_yaw=0.0029 left_pitch=-0.2521 left_roll=0.0014 left_gripper=0.9992 right_x=0.2843 right_y=0.3096 right_z=0.089 right_yaw=0.0647 right_pitch=-0.3721 right_roll=-0.3607 right_gripper=0.5607 state[joint_eff]: [0.0068, -1.1145, 6.9949, 1.5311, -0.0562, -0.0513, -0.0122, -0.0479, -8.5675, 5.4359, 0.2613, 0.7839, -0.1392, 0.315] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.38, "right_z": 0.15}, "note": "Clear now: the lemon is just outside the case's right rim with the red interior immediately to its left. Lifting a little and pushing 7 cm further left to get over the interior."})
tool
executing move_to over 6 steps (0.6s)
step 211
assistant
agent noteThe gripper has been nudging the case sideways because the lemon sits right against its rim; lifting to 28 cm (clear of the rim) and going to the y limit so the lemon hangs over the red interior.
move_to
right_z0.2800right_y0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6312, -0.0193, -0.0387, 0.9992, 1.1446, 2.2433, 2.1147, -1.3075, 0.6281, 0.7517, 0.5633] state[eef_state]: left_x=0.2563 left_y=0.0022 left_z=0.128 left_yaw=0.0033 left_pitch=-0.2681 left_roll=0.002 left_gripper=0.9992 right_x=0.2829 right_y=0.3807 right_z=0.1357 right_yaw=0.0905 right_pitch=-0.3976 right_roll=-0.364 right_gripper=0.5633 state[joint_eff]: [-0.294, -1.1966, 6.7761, 1.6288, -0.0317, -0.0757, -0.0122, 0.1846, -12.547, 7.6786, 0.3297, 0.5885, 0.2222, 0.2613] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.28, "right_y": 0.4}, "note": "The gripper has been nudging the case sideways because the lemon sits right against its rim; lifting to 28 cm (clear of the rim) and going to the y limit so the lemon hangs over the red interior."})
tool
executing move_to over 10 steps (1.0s)
step 221
assistant
agent noteThe right arm is at its sideways reach limit and cannot get the lemon over the case; setting the lemon down on the table just right of the case so the left arm — which reaches this region comfortably — can place it inside.
move_to
right_z0.0200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6369, -0.0189, -0.0387, 0.9992, 1.1198, 2.2707, 2.3669, -1.6226, 0.5903, 0.6804, 0.5657] state[eef_state]: left_x=0.2553 left_y=0.0021 left_z=0.127 left_yaw=0.003 left_pitch=-0.2738 left_roll=0.0019 left_gripper=0.9992 right_x=0.276 right_y=0.3525 right_z=0.1807 right_yaw=0.081 right_pitch=-0.4914 right_roll=-0.4718 right_gripper=0.5657 state[joint_eff]: [-0.0342, -1.1966, 6.7897, 1.5165, -0.0855, -0.0171, -0.0122, -0.4718, -17.7983, 6.2291, 1.072, 0.6422, 0.2955, 0.2369] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02, "right_gripper": 1}, "note": "The right arm is at its sideways reach limit and cannot get the lemon over the case; setting the lemon down on the table just right of the case so the left arm \u2014 which reaches this region comfortably \u2014 can place it inside."})
tool
executing move_to over 11 steps (1.1s)
step 232
assistant
agent noteThe lemon rolled back out to the right of the case when released. Moving the right arm back over it to re-grasp; the case has been nudged closer so the drop should be easier this time.
move_to
right_x0.4400right_y0.0600right_z0.1000right_pitch-0.2000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6422, -0.0162, -0.0383, 0.9992, 1.1198, 2.2425, 1.7157, -1.0412, 0.5713, 0.6659, 0.9976] state[eef_state]: left_x=0.2543 left_y=0.0017 left_z=0.1262 left_yaw=0.0005 left_pitch=-0.2792 left_roll=0.0002 left_gripper=0.9992 right_x=0.2687 right_y=0.3439 right_z=0.0288 right_yaw=0.0749 right_pitch=-0.5326 right_roll=-0.51 right_gripper=0.9976 state[joint_eff]: [0.1436, -1.1692, 6.9265, 1.4969, -0.105, -0.022, -0.0171, 0.0205, -10.7145, 5.9556, 0.3883, 0.4908, 0.1148, -0.1197] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.06, "right_z": 0.1, "right_pitch": -0.2, "right_roll": 0}, "note": "The lemon rolled back out to the right of the case when released. Moving the right arm back over it to re-grasp; the case has been nudged closer so the drop should be easier this time."})
tool
executing move_to over 24 steps (2.4s)
step 256
assistant
agent noteThe case now sits open and square in the middle of the table; the teddy bear beside it is the easiest object to place. Moving above the teddy to grasp it.
move_to
right_x0.3300right_y0.1000right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8246, 0.6083, -0.6533, -0.0189, -0.0387, 0.9992, 0.1642, 1.6577, 0.9756, -0.2016, 0.094, 0.0525, 0.9987] state[eef_state]: left_x=0.2522 left_y=0.0022 left_z=0.1235 left_yaw=0.0031 left_pitch=-0.294 left_roll=0.0023 left_gripper=0.9992 right_x=0.4233 right_y=0.057 right_z=0.0771 right_yaw=0.0416 right_pitch=-0.2888 right_roll=-0.0331 right_gripper=0.9987 state[joint_eff]: [-0.0479, -1.1282, 6.8171, 1.5995, -0.0513, -0.0366, -0.0171, -0.1436, -8.9368, 8.0205, 1.8291, -0.0366, -0.0171, 0.1099] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.1, "right_z": 0.1, "right_gripper": 1}, "note": "The case now sits open and square in the middle of the table; the teddy bear beside it is the easiest object to place. Moving above the teddy to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 264
assistant
agent noteTeddy bear is right under the jaws in the wrist view; descending onto it and closing to grasp its soft body.
move_to
right_z0.0150right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8253, 0.6083, -0.6605, -0.0189, -0.0383, 0.9992, 0.3981, 1.3514, 0.7784, -0.3534, 0.2123, 0.2039, 0.999] state[eef_state]: left_x=0.2509 left_y=0.0022 left_z=0.1222 left_yaw=0.003 left_pitch=-0.3021 left_roll=0.0028 left_gripper=0.9992 right_x=0.3327 right_y=0.1034 right_z=0.0933 right_yaw=0.0834 right_pitch=-0.3078 right_roll=-0.0378 right_gripper=0.999 state[joint_eff]: [-0.0615, -1.1145, 6.7487, 1.5263, -0.0855, -0.0611, -0.0122, 0.0205, -5.8598, 6.6803, 1.6581, 0.2466, 0.1343, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.015, "right_gripper": 0.15}, "note": "Teddy bear is right under the jaws in the wrist view; descending onto it and closing to grasp its soft body."})
tool
executing move_to over 9 steps (0.9s)
step 273
assistant
agent noteGripper closed to 0.155 on the teddy's soft body; lifting it and carrying it left to hover over the open case's red interior.
move_to
right_x0.3000right_y0.2900right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8257, 0.6083, -0.6754, -0.0189, -0.0383, 0.9992, 0.3981, 1.5276, 0.5823, -0.0406, 0.2127, 0.2024, 0.1549] state[eef_state]: left_x=0.248 left_y=0.0022 left_z=0.1198 left_yaw=0.0031 left_pitch=-0.3173 left_roll=0.0031 left_gripper=0.9992 right_x=0.3216 right_y=0.0987 right_z=0.01 right_yaw=0.0775 right_pitch=-0.3642 right_roll=-0.0588 right_gripper=0.1549 state[joint_eff]: [-0.0479, -1.1556, 6.7214, 1.5507, -0.0611, -0.0171, -0.0122, -0.0342, -5.3949, 5.6, 1.6825, 0.0904, 0.0317, 0.1587] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.29, "right_z": 0.2}, "note": "Gripper closed to 0.155 on the teddy's soft body; lifting it and carrying it left to hover over the open case's red interior."})
tool
executing move_to over 16 steps (1.6s)
step 289
assistant
agent noteWrist view shows the case's red interior directly left of the held teddy; moving 4 cm further over the opening, lowering into it and opening the jaws to drop the bear inside.
move_to
right_y0.3300right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8265, 0.6083, -0.6903, -0.0189, -0.0383, 0.9992, 0.9501, 1.7512, 1.6199, -1.0279, 0.4553, 0.6811, 0.1531] state[eef_state]: left_x=0.2451 left_y=0.0023 left_z=0.1173 left_yaw=0.0032 left_pitch=-0.3329 left_roll=0.0035 left_gripper=0.9992 right_x=0.2985 right_y=0.2901 right_z=0.1897 right_yaw=0.118 right_pitch=-0.3784 right_roll=-0.059 right_gripper=0.1531 state[joint_eff]: [-0.212, -1.2103, 6.7077, 1.5116, -0.0269, -0.0122, -0.0171, 0.1709, -8.1299, 8.0889, 0.8669, 0.3736, 0.1392, -0.2027] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.33, "right_z": 0.1, "right_gripper": 1}, "note": "Wrist view shows the case's red interior directly left of the held teddy; moving 4 cm further over the opening, lowering into it and opening the jaws to drop the bear inside."})
tool
executing move_to over 9 steps (0.9s)
step 298
assistant
agent noteI grasped the lemon and then the teddy bear with the right arm, but the right arm hits its sideways reach/collision limit before it can get over the open case, and in the process the case was nudged across the table. Neither object ended up inside the safe and the lid is still open. Task not completed within the call budget.
done
hindsightKey lessons for this rig/task: (1) The open case/"safe" sat near the table centre-line, which is at right_y≈0.33 — right at the right arm's practical limit. The right arm stalls (stops tracking any command, wrist pitch/roll drift toward limits, shoulder effort rises to −12…−18 N·m) around right_y≈0.28–0.35 at x≈0.30, so it cannot reliably deliver objects into the centre. Use the LEFT arm for anything at or left of the centre line, and the right arm only for objects on the right half; convert with left_y = right_y − 0.65. (2) When the arm "stalls", re-sending the same target does nothing; you must back away toward the base/right first to regain mobility. Explicitly commanding right_pitch/right_roll back to 0 helps recover. (3) Grasping the lemon: it was at right_x≈0.435, right_y≈0.055, grasp z≈0.02, and a partial close to 0.15 settled at 0.53 (≈5 cm) = good grasp. Two closes were empty first because the object looked centred in the wrist view while still 3–5 cm beyond the fingertips — always advance 3–4 cm radially past where it "looks" right. (4) A released round object at z≈0.03 rolls far; set objects down only where you want them. (5) The gripper body will push the case around if you translate sideways with the tool below rim height — carry at z≥0.25 near the case. (6) Budget: each grasp cycle realistically costs 6–10 calls here; with 40 calls plan for at most 2–3 objects and start with the arm that can actually reach the container.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8276, 0.6083, -0.6971, -0.0189, -0.0383, 0.9992, 1.0061, 1.8874, 1.4654, -0.7925, 0.4717, 0.7307, 0.9947] state[eef_state]: left_x=0.2438 left_y=0.0023 left_z=0.116 left_yaw=0.0032 left_pitch=-0.341 left_roll=0.0037 left_gripper=0.9992 right_x=0.2946 right_y=0.3218 right_z=0.1043 right_yaw=0.1168 right_pitch=-0.401 right_roll=-0.0851 right_gripper=0.9947 state[joint_eff]: [-0.0205, -1.2376, 6.7624, 1.409, -0.0611, -0.0366, -0.0122, 0.2667, -8.5812, 5.9282, 0.9548, 0.0171, 0.0952, -0.2222] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
done({"summary": "I grasped the lemon and then the teddy bear with the right arm, but the right arm hits its sideways reach/collision limit before it can get over the open case, and in the process the case was nudged across the table. Neither object ended up inside the safe and the lid is still open. Task not completed within the call budget.", "hindsight": "Key lessons for this rig/task: (1) The open case/\"safe\" sat near the table centre-line, which is at right_y\u22480.33 \u2014 right at the right arm's practical limit. The right arm stalls (stops tracking any command, wrist pitch/roll drift toward limits, shoulder effort rises to \u221212\u2026\u221218 N\u00b7m) around right_y\u22480.28\u20130.35 at x\u22480.30, so it cannot reliably deliver objects into the centre. Use the LEFT arm for anything at or left of the centre line, and the right arm only for objects on the right half; convert with left_y = right_y \u2212 0.65. (2) When the arm \"stalls\", re-sending the same target does nothing; you must back away toward the base/right first to regain mobility. Explicitly commanding right_pitch/right_roll back to 0 helps recover. (3) Grasping the lemon: it was at right_x\u22480.435, right_y\u22480.055, grasp z\u22480.02, and a partial close to 0.15 settled at 0.53 (\u22485 cm) = good grasp. Two closes were empty first because the object looked centred in the wrist view while still 3\u20135 cm beyond the fingertips \u2014 always advance 3\u20134 cm radially past where it \"looks\" right. (4) A released round object at z\u22480.03 rolls far; set objects down only where you want them. (5) The gripper body will push the case around if you translate sideways with the tool below rim height \u2014 carry at z\u22650.25 near the case. (6) Budget: each grasp cycle realistically costs 6\u201310 calls here; with 40 calls plan for at most 2\u20133 objects and start with the arm that can actually reach the container."})
tool
done: I grasped the lemon and then the teddy bear with the right arm, but the right arm hits its sideways reach/collision limit before it can get over the open case, and in the process the case was nudged across the table. Neither object ended up inside the safe and the lid is still open. Task not completed within the call budget.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 24.13 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7933, 0.6056, -0.3882, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6079, -0.4034, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0014 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1768 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.4701, 10.1675, 1.9365, -0.0855, 0.149, -0.0904, -0.335, -1.6752, 9.7162, 2.0049, -0.0464, 0.1148, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71733fd3252c615bad2fde95cc14cd84505e3737a48a96cde710ef82523513a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f285ff81d545aa2217f69ec6dcb343092cf132a581d08a965694c09fb6bc20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a035ef5d06534cfe7a2a0c25db58bc736fef48ddd8035a2000a569925786686d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 6.941 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7933, 0.6056, -0.3882, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6079, -0.4034, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0014 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1768 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.4701, 10.1675, 1.9365, -0.0855, 0.149, -0.0904, -0.335, -1.6752, 9.7162, 2.0049, -0.0464, 0.1148, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71733fd3252c615bad2fde95cc14cd84505e3737a48a96cde710ef82523513a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f285ff81d545aa2217f69ec6dcb343092cf132a581d08a965694c09fb6bc20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a035ef5d06534cfe7a2a0c25db58bc736fef48ddd8035a2000a569925786686d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
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  ],
  "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_015ixzpJiQa4ddpLNeNraq4u",
      "input": {
        "note": "Open chest (the \"safe\") sits in the middle of the table with a yellow lemon to its right, a small white plush left of it, and a brown teddy in front-right. I'm moving the right arm to hover about 10 cm above the lemon to line up a grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.38,
          "right_y": 0.09,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015ixzpJiQa4ddpLNeNraq4u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6083, -0.4057, -0.0193, -0.038, 0.9992, 0.3428, 1.2949, 0.7193, -0.1436, 0.2478, 0.1493, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1758 left_yaw=0.0021 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3599 right_y=0.0862 right_z=0.1241 right_yaw=0.0429 right_pitch=-0.1034 right_roll=-0.0383 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4017, 6.8308, 1.873, -0.0415, -0.0122, -0.0171, 0.2393, -5.3949, 8.9231, 1.7216, 0.1294, 0.1832, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60b25b6e90689c3b2e0297d1e6fd41f2e059c2e69726e7f1d5befb3b133bb0ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aee2fcd56a6693d6f47d8edb1196c507c2467a804fa50b8036a44d24a50538a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77523601f7fd9fcb089326df939f73a8df6208f6899e0c4b3ded6d385015749c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 5.209 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7933, 0.6056, -0.3882, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6079, -0.4034, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0014 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1768 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.4701, 10.1675, 1.9365, -0.0855, 0.149, -0.0904, -0.335, -1.6752, 9.7162, 2.0049, -0.0464, 0.1148, -0.0562]",
      "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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6083, -0.4057, -0.0193, -0.038, 0.9992, 0.3428, 1.2949, 0.7193, -0.1436, 0.2478, 0.1493, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1758 left_yaw=0.0021 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3599 right_y=0.0862 right_z=0.1241 right_yaw=0.0429 right_pitch=-0.1034 right_roll=-0.0383 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4017, 6.8308, 1.873, -0.0415, -0.0122, -0.0171, 0.2393, -5.3949, 8.9231, 1.7216, 0.1294, 0.1832, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60b25b6e90689c3b2e0297d1e6fd41f2e059c2e69726e7f1d5befb3b133bb0ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aee2fcd56a6693d6f47d8edb1196c507c2467a804fa50b8036a44d24a50538a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77523601f7fd9fcb089326df939f73a8df6208f6899e0c4b3ded6d385015749c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5wUKjgEIEhgCKkBIkVarmJ+YH6fc8+S8dQxQAin8yhHMAg9R2KrUcUkv8LRp9F34tzqCPEfpVTI+bNBXMRVl34n2OAMimU/gsl9OMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcOOzNUGEgzgzg/gOo4aARWy6qAaDH6W7PQGsfA7D/YggSIwPEwyYKwHVfe5eqiSilfHLL5EaHvERmSt4xXKqoM290uSv7+7SKSFR4caURkx7WU4KoUEjQWsGXiO5B32V4kRw9cqyv82FeRQBsvluBuR7Ns7vhY2LSfNmD+Yj9YD8dxAGlrBUpL32mF0j4W+n6v/fdOh0CQFYKEpGgYqsN3SITlcHgyTCahio9qp5kkSXpaDCs6j/J6KjZjE5guXwCgXXkQvPvPL1jJAbdHHwBqQZkul/tz5OZRK/0xv9rzp99QQfUvg8vEGoFV+pMeETEUdAv/5c4xTPgSYy1QbYWaUhjtmEWSBcAdEeV+1vgflFnKQdj5D3jF/wB7Qvh/Ye6PRDYqb/3AutRZwEoWLDscOwg+4XDMNAYg/AbonlKxv98yelCNUGS5fbULQMI4OPXwXMQdyuHqM3wcNUnTIgIXp6eQ3cBUx7KcgXZzxAYyWeuXv+za4SvTiYMG8yW1IDwYGn8wgFeIi9LaQ06SY1Vg0ztDN0AK38A7RgdKWqSh3NQECmozoxQnXifGZSr3Q8tc0letWeNNFoJVQVwsClFUQsP7teAdy8PjcVqCK23t0jx9XCJJkxNPOk1v5BNK+Ke+aPqoSydbLJZ0Ga0gVaR2pb2YyI1ZbsTXEM6pEtK1aUFO77nEGoz69F/gBhzw3pskyPQW4tM9HG8d8J5YugRv1P7l/epSBID5BGjJKXw2cXmL3YfFG0D1sPrcWdu71o6uuTsbjDBFlcPDLkEoRdI8CuFDbAdW7i9ajKBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016HEi3iF92yDMFAbgDrGPKs",
      "input": {
        "note": "Wrist view shows the lemon centred on the jaw column but sitting high in frame, meaning it is still a few cm beyond the fingertips; advancing radially ~4 cm before descending.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.086,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_016HEi3iF92yDMFAbgDrGPKs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6083, -0.4095, -0.0193, -0.0383, 0.9992, 0.2859, 1.4689, 0.8448, -0.1493, 0.2161, 0.1184, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1747 left_yaw=0.0023 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9992 right_x=0.3941 right_y=0.0801 right_z=0.1108 right_yaw=0.0274 right_pitch=-0.1621 right_roll=-0.0559 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.3333, 7.0085, 1.7558, -0.0806, -0.022, -0.0122, -0.294, -6.4752, 8.9778, 1.7802, 0.0073, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40c1edb60afb9fbf96d8421a21a1f85400365d10deef1108d9337ee6e7b931ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1246de6df4fae742a3629c5a53b81e6b7667f904234fe8727d24d297c1b3e7f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21bf4b290b2721e860acbc98465c1e5893bf22ceb55de0e6353ed202802621c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /messages · status 200 · 5.99 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7933, 0.6056, -0.3882, -0.0193, -0.0341, 0.9993, -0.0212, 0.7944, 0.6079, -0.4034, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0014 left_z=0.1792 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1768 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.4701, 10.1675, 1.9365, -0.0855, 0.149, -0.0904, -0.335, -1.6752, 9.7162, 2.0049, -0.0464, 0.1148, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6083, -0.4057, -0.0193, -0.038, 0.9992, 0.3428, 1.2949, 0.7193, -0.1436, 0.2478, 0.1493, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1758 left_yaw=0.0021 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3599 right_y=0.0862 right_z=0.1241 right_yaw=0.0429 right_pitch=-0.1034 right_roll=-0.0383 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4017, 6.8308, 1.873, -0.0415, -0.0122, -0.0171, 0.2393, -5.3949, 8.9231, 1.7216, 0.1294, 0.1832, -0.0562]",
      "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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6083, -0.4095, -0.0193, -0.0383, 0.9992, 0.2859, 1.4689, 0.8448, -0.1493, 0.2161, 0.1184, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1747 left_yaw=0.0023 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9992 right_x=0.3941 right_y=0.0801 right_z=0.1108 right_yaw=0.0274 right_pitch=-0.1621 right_roll=-0.0559 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.3333, 7.0085, 1.7558, -0.0806, -0.022, -0.0122, -0.294, -6.4752, 8.9778, 1.7802, 0.0073, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40c1edb60afb9fbf96d8421a21a1f85400365d10deef1108d9337ee6e7b931ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1246de6df4fae742a3629c5a53b81e6b7667f904234fe8727d24d297c1b3e7f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21bf4b290b2721e860acbc98465c1e5893bf22ceb55de0e6353ed202802621c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvAQKjgEIEhgCKkCgLUpQtsXOADxw7bDG8zE6psCdFX6VC4LRd7kSfPy7jgv9Q7R2cnKdBOTWoTHtqBrkuRO7aF4ka5tqAKtZes+iMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAciOzNUGEgxiI+GCMu3vqUY6p1saDIJVR5ECtqRGuU/m2SIwl/IhRU6hQRZn00PZce8w74hUC7iiGRQsbUZOBFv1YVIWtWT3u4Dax2FaGqopAf8pKtoCosBl6xEcwEf8zF5EeQRSZux3ZH2SA3rd9CB6Z67dkZz1AZoswS2IvggmpA+g+qHLKvrajFhiEhz5/AQaEJcCYb2UsMRpVaepph92z5q0diM7Mx3z7j0816WGB3ZvGU8KKJJGqo4Yrh+kS7KlRYdHTHlEfFpirdtbNpeTvvP1gkRXRzqNXcgKywO4XF1w4Axxrds5kllKky8OaghMpryieW0wfzGhHaV7E3cZVjGdOKglBgcK6ABoH2UlIVMiDSgtF8lWugdaZYTYg67ULj+paqqC0m4gEpqQA3TBTEu81elZ5nQ1AGaCiqngHWfFi03XANTBA8J5sgYUqFb/BxudHLiPIgFr53oi40T0ahkdwfhQUtf71MuY1hwasbTtuBT+3B6o4LXlBjDtXDnpHQ6mJuw6r/gPsXZPjMI+bZlP7ylMjTbpTRm7mUjIxOdeIQFxgCDACigK6sqYWBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ekh5AgPKRiYY1DRqm63RWC",
      "input": {
        "note": "Lemon is now just above the jaw row in the wrist view; advancing 3 cm more and descending to lemon mid-height to straddle it.",
        "targets": {
          "right_x": 0.425,
          "right_y": 0.08,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Ekh5AgPKRiYY1DRqm63RWC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6083, -0.4274, -0.0193, -0.0383, 0.9992, 0.284, 1.4834, 0.8623, -0.1429, 0.1978, 0.1051, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1707 left_yaw=0.0023 left_pitch=-0.0431 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3993 right_y=0.0841 right_z=0.1131 right_yaw=0.0485 right_pitch=-0.1564 right_roll=-0.0509 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -0.9504, 6.9949, 1.917, -0.0464, -0.0317, -0.0122, -0.2393, -6.5709, 8.841, 1.7705, 0.0659, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b12e84748ef3ce85875000d6fee16bc7832dffea5f52a6989aac92071f667f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a8da6da110f281c7971db6ec48c38bd12bc486fc117d351c248b407cbcab364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4e4b7498d23c8503ab072ffe3073faecad27bfbb52a2837bae6cfe251a55208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 5.516 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6083, -0.4057, -0.0193, -0.038, 0.9992, 0.3428, 1.2949, 0.7193, -0.1436, 0.2478, 0.1493, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1758 left_yaw=0.0021 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3599 right_y=0.0862 right_z=0.1241 right_yaw=0.0429 right_pitch=-0.1034 right_roll=-0.0383 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4017, 6.8308, 1.873, -0.0415, -0.0122, -0.0171, 0.2393, -5.3949, 8.9231, 1.7216, 0.1294, 0.1832, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6083, -0.4095, -0.0193, -0.0383, 0.9992, 0.2859, 1.4689, 0.8448, -0.1493, 0.2161, 0.1184, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1747 left_yaw=0.0023 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9992 right_x=0.3941 right_y=0.0801 right_z=0.1108 right_yaw=0.0274 right_pitch=-0.1621 right_roll=-0.0559 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.3333, 7.0085, 1.7558, -0.0806, -0.022, -0.0122, -0.294, -6.4752, 8.9778, 1.7802, 0.0073, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6083, -0.4274, -0.0193, -0.0383, 0.9992, 0.284, 1.4834, 0.8623, -0.1429, 0.1978, 0.1051, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1707 left_yaw=0.0023 left_pitch=-0.0431 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3993 right_y=0.0841 right_z=0.1131 right_yaw=0.0485 right_pitch=-0.1564 right_roll=-0.0509 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -0.9504, 6.9949, 1.917, -0.0464, -0.0317, -0.0122, -0.2393, -6.5709, 8.841, 1.7705, 0.0659, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b12e84748ef3ce85875000d6fee16bc7832dffea5f52a6989aac92071f667f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a8da6da110f281c7971db6ec48c38bd12bc486fc117d351c248b407cbcab364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4e4b7498d23c8503ab072ffe3073faecad27bfbb52a2837bae6cfe251a55208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AUKjgEIEhgCKkD7m/yjf7ROLJZ/TkDcW8CdVe/vsPpUDEdMOoA6dNe+EXbuWL4JVB4luVZPQ1PWhJI359YRDhlyXNUIbXJLnAZzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc+OzNUGEgy3mIWH8fPu7CsNwpwaDIQI/qcmyADHgmFOtiIwNKFKcCSfs1eoSNgnwWPsguwkz1mD6z8wuaK4WOjnhmP400psTz/z7yLEIJJafU2NKu4D1/qS+g6FaUswojyD6dLjA0fNuRNz51Ss1f6UvVBqnsKOFqoZTcw/MOSDS+yvLlRVR8xOzhYrSbwFugbaQbMwNsq1yypTji+55b92bep2YCJoxedhHPDKHDOlQGKP/JkjdHdHZzL5oWq2g90JQ6VDe6xsHKUfmmygUGhTKtxYCu6GZf5mwNBjYpCW2Ozwj1YWP6K38kRVCknlPtP0AxYfpUU1FrQT/AkCU6cqcrmqNfZK1mSizuZv8yZow2+E8sgrxerYzZ+0Umpq7hO4eHJ/yfFelYiBZxLCtpFS2KSXC6okoTZeQqfSFKPDVMyMnJla02NFwAIzBIXkOqdUXPo6LL5Gr/EYLlek4vaKAJMZt/xvSHfsjXi5126iPPPEUOaKXAPxebNkad5g3HYvHN3njDx13XRDRBaFRabGiSSHktpO5Hxh/sZtZUlPECOgeOvDElHYHcqzkfhuDNtLkuAuO+U+LH8o7fqbgxLgMm91tkrVWH7UfJtno0bY4pM8F9Ksw+DWvYivrQfeMTb1/pJMTyHqswZNSABNTZH5pFUdpeO4enPcKLQtDK5mrT2FpHdWL6y8G1QhjRGQdIkNFWFuxTU2E+ekS9Jn3VbWeIxjsPYqhFOtAPkiU7WseNHy48AaPzJngPvX8cn7BjjH4HAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DvkadyKdC9Qw1gP4gRdUgf",
      "input": {
        "note": "The arm tracked only partway (z still 0.11) on the last combined move, so I'm commanding the descent alone to bring the jaws down around the lemon.",
        "targets": {
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01DvkadyKdC9Qw1gP4gRdUgf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6083, -0.4358, -0.0189, -0.0387, 0.9992, 0.284, 1.5536, 0.791, 0.0032, 0.1967, 0.1051, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1693 left_yaw=0.0022 left_pitch=-0.0507 left_roll=-0.003 left_gripper=0.9992 right_x=0.4028 right_y=0.0854 right_z=0.0827 right_yaw=0.0496 right_pitch=-0.1521 right_roll=-0.0491 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -0.9915, 6.9812, 1.7363, -0.0317, -0.0611, -0.0122, 0.1573, 0.0205, 1.894, 0.525, 0.2759, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95da1999cfae9d3131935f8316b5ad2a56343f7e8122740ec73b3f338b3abc99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dd055ded4009233d9ec0a3d94ed045d65440c241fdbd2c8b537d2f927f279c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:416013b3f7baaab4ff54301adb2cb6b641388da93edb3198cdcfe415ee72f9d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 5.784 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6083, -0.4095, -0.0193, -0.0383, 0.9992, 0.2859, 1.4689, 0.8448, -0.1493, 0.2161, 0.1184, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1747 left_yaw=0.0023 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9992 right_x=0.3941 right_y=0.0801 right_z=0.1108 right_yaw=0.0274 right_pitch=-0.1621 right_roll=-0.0559 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.3333, 7.0085, 1.7558, -0.0806, -0.022, -0.0122, -0.294, -6.4752, 8.9778, 1.7802, 0.0073, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6083, -0.4274, -0.0193, -0.0383, 0.9992, 0.284, 1.4834, 0.8623, -0.1429, 0.1978, 0.1051, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1707 left_yaw=0.0023 left_pitch=-0.0431 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3993 right_y=0.0841 right_z=0.1131 right_yaw=0.0485 right_pitch=-0.1564 right_roll=-0.0509 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -0.9504, 6.9949, 1.917, -0.0464, -0.0317, -0.0122, -0.2393, -6.5709, 8.841, 1.7705, 0.0659, 0.0073, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6083, -0.4358, -0.0189, -0.0387, 0.9992, 0.284, 1.5536, 0.791, 0.0032, 0.1967, 0.1051, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1693 left_yaw=0.0022 left_pitch=-0.0507 left_roll=-0.003 left_gripper=0.9992 right_x=0.4028 right_y=0.0854 right_z=0.0827 right_yaw=0.0496 right_pitch=-0.1521 right_roll=-0.0491 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -0.9915, 6.9812, 1.7363, -0.0317, -0.0611, -0.0122, 0.1573, 0.0205, 1.894, 0.525, 0.2759, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95da1999cfae9d3131935f8316b5ad2a56343f7e8122740ec73b3f338b3abc99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dd055ded4009233d9ec0a3d94ed045d65440c241fdbd2c8b537d2f927f279c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:416013b3f7baaab4ff54301adb2cb6b641388da93edb3198cdcfe415ee72f9d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAMKjgEIEhgCKkCCXqsh8WaNzHVNq7d+wAFHLLq3QKSPsgHRIHFFEJ97apKODGs49BUbQZqL/kD11E2TqEbo6ufhk5t+SKqArQ9bMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdOOzNUGEgzqwn0Pr4dtwOOhE1kaDGUiZMArM9Gb8xbaPCIwKpce+chMBHoqPGW45Qbimu3ifDffxCKzh9gX1nNpVdZw9pTbvwIxkCyIpPj5BSsHKp4Bwba7nGaAmnTpkvujSO/oTuQqFALC/8GihvLF6Q9b6eGk+ZvxNCWBBtmYOI/wMtHq015HG7A4PGA5CWji63YMFXjlQVU0eRk3IQgBb7eu+e59m2RRx5mYfR1wypU43SXn2pJJXnPRb5d35Fvl7TXuShm3reEK5rzpWaZ2YrC90tQ2LIZrN07dcR3vCUTXYAVhCvR0dKrZCAy3Lr4ywpQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018DJvWAE5SVo3UywRpQNRts",
      "input": {
        "note": "Descent is progressing slowly (z=0.083); continuing down to lemon mid-height with the lemon centred between the jaws.",
        "targets": {
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018DJvWAE5SVo3UywRpQNRts",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4515, -0.0189, -0.0387, 0.9992, 0.2848, 1.7096, 0.6819, 0.2192, 0.1867, 0.1047, 0.999]\nstate[eef_state]: left_x=0.2858 left_y=0.0015 left_z=0.1649 left_yaw=0.0022 left_pitch=-0.0709 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3948 right_y=0.0851 right_z=0.0186 right_yaw=0.0568 right_pitch=-0.2016 right_roll=-0.0539 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.6068, 7.159, 1.7656, -0.0562, -0.0122, -0.0122, -0.2667, -6.7761, 5.012, 1.8144, 0.188, -0.0513, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6814fb5959dd2bd1ef73e636da030a8b119af6a5a749d13973fa9608612025f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64cf884135abb9f8a726385af6ab04e3a348735377ce87ead5c126e6cd17719b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f768e155f001cbc45db9f3bac90d7101132cb6804679309316ef6a945a19fd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 5.434 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6083, -0.4274, -0.0193, -0.0383, 0.9992, 0.284, 1.4834, 0.8623, -0.1429, 0.1978, 0.1051, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1707 left_yaw=0.0023 left_pitch=-0.0431 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3993 right_y=0.0841 right_z=0.1131 right_yaw=0.0485 right_pitch=-0.1564 right_roll=-0.0509 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -0.9504, 6.9949, 1.917, -0.0464, -0.0317, -0.0122, -0.2393, -6.5709, 8.841, 1.7705, 0.0659, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6083, -0.4358, -0.0189, -0.0387, 0.9992, 0.284, 1.5536, 0.791, 0.0032, 0.1967, 0.1051, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1693 left_yaw=0.0022 left_pitch=-0.0507 left_roll=-0.003 left_gripper=0.9992 right_x=0.4028 right_y=0.0854 right_z=0.0827 right_yaw=0.0496 right_pitch=-0.1521 right_roll=-0.0491 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -0.9915, 6.9812, 1.7363, -0.0317, -0.0611, -0.0122, 0.1573, 0.0205, 1.894, 0.525, 0.2759, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4515, -0.0189, -0.0387, 0.9992, 0.2848, 1.7096, 0.6819, 0.2192, 0.1867, 0.1047, 0.999]\nstate[eef_state]: left_x=0.2858 left_y=0.0015 left_z=0.1649 left_yaw=0.0022 left_pitch=-0.0709 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3948 right_y=0.0851 right_z=0.0186 right_yaw=0.0568 right_pitch=-0.2016 right_roll=-0.0539 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.6068, 7.159, 1.7656, -0.0562, -0.0122, -0.0122, -0.2667, -6.7761, 5.012, 1.8144, 0.188, -0.0513, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6814fb5959dd2bd1ef73e636da030a8b119af6a5a749d13973fa9608612025f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64cf884135abb9f8a726385af6ab04e3a348735377ce87ead5c126e6cd17719b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f768e155f001cbc45db9f3bac90d7101132cb6804679309316ef6a945a19fd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuwUKjgEIEhgCKkC8Ed/2NltDYlrpR+A6Sru0WC2a2Ve8t7qsUz3q8OZgUATkULOUY7yqUHHiYncPixsci89741Q7qeCs/eV/P2BiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAduOzNUGEgw0gn14ZfPrBmnDt1IaDOiMXuAU5MVAjbIpYyIwOjufPKzaDLh5JAFesfcW3wUY2sblvTGm2e/bnT3tTyUxhqhQB96IeL6566eQEjbPKtkDwQVmGjCrJvL/NsG9AP8Z5ZNi1I0lftOAqchxR9nbkY35tdh2lzFja5NPaQkNuzsAcLWYhUVU+33Kaoutj8rivAUpw3dC1sPDaM5Pegp0fKvn0BpT4Rh3O0O65+gDe/aUs4tcGS2ekVVkipkCRSyurHCjG5AYutjG0Z12H2DesOg+RzjScBtIGHWv7DvTIwC3cAerlwIty2IgowdXRN65rshs+p0TiCTcgjxuJi3kEtwSQHEYm+a0jN82oKNJLueRPzjk9K+doguXmLcTftkfXsKYwfYdkSw+l2geOvOo+7ERsIy1y4p/662f+z6NM9Ih6lHh5k71PjLVeWNfuGYqXFkqCpQYQmbe5ZYy6w/sWzyKJcbq8ua1jbwAHNLiOZuuZyhYQrVmHl5u/wTvMjNAsEDs62BaU61HK/zc1ZNl1f2c5VWBZV6olUUfhAFZ/Fwih/UhjVsSgmcxAwVRUzQOP/WY8pdI8wHS4V4iVsZcFUS1pjW/UVNUKNEG4gvmW2s21FgZ5ywiK7Xu3tiGmG2L7mlqLsu0rrz68K4h84M/RvKGXXYl/aULvBQ3VOBSRoJPCN2XaXj0J5XXtUP/S/a8903oCLOLxDlZq794P2jsf0SU/ULRbDhFyWsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J3tKPVneakNamUYTUs9wKN",
      "input": {
        "note": "Gripper is straddling the lemon at table level; closing partway (lemon is ~6 cm across) to grip it without squeezing it out sideways.",
        "targets": {
          "right_gripper": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01J3tKPVneakNamUYTUs9wKN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.458, -0.0189, -0.0387, 0.9992, 0.2882, 1.7329, 0.667, 0.2707, 0.1783, 0.1005, 0.3551]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1637 left_yaw=0.0022 left_pitch=-0.0774 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3957 right_y=0.0884 right_z=0.0131 right_yaw=0.0702 right_pitch=-0.19 right_roll=-0.0479 right_gripper=0.3551\nstate[joint_eff]: [-0.3077, -1.2513, 7.1179, 1.7363, -0.0366, -0.0171, -0.0122, -0.1846, -7.3231, 5.3265, 1.8926, 0.188, -0.0024, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be85729052c15171a677412d4b1375e5c0e5df48133ff96e32bbfa74cd352ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69836160bbdfcc742c5057f3194c5e16f579e942bad4673c24d02b0409177bc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c013688d4ff42c52fe2b9d63888294fc1c0666c0c766724c12b1cd4d6eddd9d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 8.657 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6083, -0.4358, -0.0189, -0.0387, 0.9992, 0.284, 1.5536, 0.791, 0.0032, 0.1967, 0.1051, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1693 left_yaw=0.0022 left_pitch=-0.0507 left_roll=-0.003 left_gripper=0.9992 right_x=0.4028 right_y=0.0854 right_z=0.0827 right_yaw=0.0496 right_pitch=-0.1521 right_roll=-0.0491 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -0.9915, 6.9812, 1.7363, -0.0317, -0.0611, -0.0122, 0.1573, 0.0205, 1.894, 0.525, 0.2759, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4515, -0.0189, -0.0387, 0.9992, 0.2848, 1.7096, 0.6819, 0.2192, 0.1867, 0.1047, 0.999]\nstate[eef_state]: left_x=0.2858 left_y=0.0015 left_z=0.1649 left_yaw=0.0022 left_pitch=-0.0709 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3948 right_y=0.0851 right_z=0.0186 right_yaw=0.0568 right_pitch=-0.2016 right_roll=-0.0539 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.6068, 7.159, 1.7656, -0.0562, -0.0122, -0.0122, -0.2667, -6.7761, 5.012, 1.8144, 0.188, -0.0513, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.458, -0.0189, -0.0387, 0.9992, 0.2882, 1.7329, 0.667, 0.2707, 0.1783, 0.1005, 0.3551]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1637 left_yaw=0.0022 left_pitch=-0.0774 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3957 right_y=0.0884 right_z=0.0131 right_yaw=0.0702 right_pitch=-0.19 right_roll=-0.0479 right_gripper=0.3551\nstate[joint_eff]: [-0.3077, -1.2513, 7.1179, 1.7363, -0.0366, -0.0171, -0.0122, -0.1846, -7.3231, 5.3265, 1.8926, 0.188, -0.0024, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be85729052c15171a677412d4b1375e5c0e5df48133ff96e32bbfa74cd352ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69836160bbdfcc742c5057f3194c5e16f579e942bad4673c24d02b0409177bc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c013688d4ff42c52fe2b9d63888294fc1c0666c0c766724c12b1cd4d6eddd9d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISswUKjgEIEhgCKkD4WNwUUSeK6QR3l5MYkjB4mz7t2mxmYudIMhI5PorMnk1OYgVrG7VBpSjkkzeqIuWn8EJcnNigoxlczjJPJ67rMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeGOzNUGEgzE52NKXw9J3Th+rh4aDF1zUfUo+7WtI02BySIwx+tdx2yL3GSJH/PdTRlYSZdHuoTonLXfU1xk8s5bwSd7Piqrbft4WN4tlHRCCsl4KtEDqI4nJdR3sWXBly+QlgPRShfodo1GRkbWsi1xUdYSJzBx3uhETX9/5GEu6SNU3gG7A2330BHmwH67v/64vqqYJ19Uq7uKWvv6IGNRr73E/oXCCQUGO1Tp32savVZbvE5BSI0zXL0HzEqkAc7Tq0fwLktMTpsmzFtERM0ev9qESfRlv4rWZVSzo8Dl8X68o+KYC98CejdJJnAmIpi6Hy/7I5aCNI7njgURANaPu5awvUCqzv6lvACGaVJmfLkQdCQjl2WfzkXOUWF8tMHKWneoX/IlqEvm3eUaZxlmM5EEHha/Veu9QuCNI/XI6fzpkV/Dm0Wpol9wkr5aOAhXHa6k28Oezc/ldRHuBPmmiV/uSJ54lvP7jEJUvptDozuKd8o/QNx50r4jbbfUIOrfCWte1kcSKpcEQt+vlemRFmTVVaC5JWIX4ctBxzqqoyWnCB/aZka6Ch2SqatdFK0MWseGqXyO3/e5Ftp9dQ6FZnsv6gTOBRrrIoeeR1MRN0IAE3JcekoL7Y6LAbpZSh03qa4vf4JrYrdq/4BSUhXAdllqYnsiwWTaNTwd5jO9o1cOF86qW72035FwIao9jOe2fpdLTFDicEtVnekrL99YEZRVLiDIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qam36LTurGfrhGfiD8Shcw",
      "input": {
        "note": "Gripper reached the commanded 0.35 without resistance, so I can't yet tell if the lemon is held; closing further so the reading settles at the lemon's true width.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Qam36LTurGfrhGfiD8Shcw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4583, -0.0189, -0.0387, 0.9992, 0.2909, 1.7329, 0.667, 0.2722, 0.1654, 0.0898, 0.105]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1636 left_yaw=0.0022 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3953 right_y=0.0917 right_z=0.0131 right_yaw=0.0898 right_pitch=-0.1907 right_roll=-0.0461 right_gripper=0.105\nstate[joint_eff]: [-0.0068, -1.1556, 6.9675, 1.707, -0.0317, -0.0317, -0.0122, -0.6906, -7.3094, 5.5179, 1.8535, 0.2271, 0.0952, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1da8a8b30fa58b0f026c8666f5496445e00979740f1412fee1739b9eb2a16d9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72895f7b98f8d9fb7cd7e68de5204d84acdcbddc5dd4a3868ca601d682603121",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43a4679b9252ecd62f29d176b1fe016c1f241a96187e5df6ee9b9e7e0cc1b1f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 4.523 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4515, -0.0189, -0.0387, 0.9992, 0.2848, 1.7096, 0.6819, 0.2192, 0.1867, 0.1047, 0.999]\nstate[eef_state]: left_x=0.2858 left_y=0.0015 left_z=0.1649 left_yaw=0.0022 left_pitch=-0.0709 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3948 right_y=0.0851 right_z=0.0186 right_yaw=0.0568 right_pitch=-0.2016 right_roll=-0.0539 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -1.6068, 7.159, 1.7656, -0.0562, -0.0122, -0.0122, -0.2667, -6.7761, 5.012, 1.8144, 0.188, -0.0513, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.458, -0.0189, -0.0387, 0.9992, 0.2882, 1.7329, 0.667, 0.2707, 0.1783, 0.1005, 0.3551]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1637 left_yaw=0.0022 left_pitch=-0.0774 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3957 right_y=0.0884 right_z=0.0131 right_yaw=0.0702 right_pitch=-0.19 right_roll=-0.0479 right_gripper=0.3551\nstate[joint_eff]: [-0.3077, -1.2513, 7.1179, 1.7363, -0.0366, -0.0171, -0.0122, -0.1846, -7.3231, 5.3265, 1.8926, 0.188, -0.0024, 0.0366]",
      "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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4583, -0.0189, -0.0387, 0.9992, 0.2909, 1.7329, 0.667, 0.2722, 0.1654, 0.0898, 0.105]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1636 left_yaw=0.0022 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3953 right_y=0.0917 right_z=0.0131 right_yaw=0.0898 right_pitch=-0.1907 right_roll=-0.0461 right_gripper=0.105\nstate[joint_eff]: [-0.0068, -1.1556, 6.9675, 1.707, -0.0317, -0.0317, -0.0122, -0.6906, -7.3094, 5.5179, 1.8535, 0.2271, 0.0952, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1da8a8b30fa58b0f026c8666f5496445e00979740f1412fee1739b9eb2a16d9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72895f7b98f8d9fb7cd7e68de5204d84acdcbddc5dd4a3868ca601d682603121",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43a4679b9252ecd62f29d176b1fe016c1f241a96187e5df6ee9b9e7e0cc1b1f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISxwoKjgEIEhgCKkA1oMKEvS5sfTdkBRy0F0wjpBRP4Yf04AanzKlabZgeLi/mS4YnjWtGXB1wewuofaCgAkNV41RI1dTUhENd8kQGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeqOzNUGEgwz78LTsUc7K43RdOUaDPdZz4wlkvTs0X7E+SIwsxM7h+iGiDEX4J52ofuWrXkjMc3HY5yfx2hcU/BmOl6jIbbgETl8I8B/0CnxySMmKuUId+rTMMbFhkNcO4HJcoWZWIOm85TFZFY69ZmyyVbc8FMEhKVnVI92mvja/Y4exmNQR3c87A5aWusHmYljkeo50QbA6hz0d+UAvqJMXipt/XE+Kt/zpf7s+eH1HNmAjQxYszjEnxVbRweogvFLefkNV1K47nu/+wfB87uact7dVkWQEUatcY/zNuRB27AhVvsnnAbU8lHDV6ULkISndIcdiHPVqQXPw/dtZu0eK6iRm1XVLPg2PArWGbMb0ZlxDuzBZdHZ3wFhC3F/3rV7shPwnznY61uU5V0L6nIpsf4YlxTKxmGqSWbTfa5XD9Y6T4eyhoocjWUyf7lTsO8Yci5+xmffdd/An+LFZQpTHJuW0mgshcODEr08CtB5e2dKNhBVE8eskNPO5hvThuF+PIdoKpK5s30S4OBCXDBSUSDjswCUH1eT3g6z4pTCGyuyXbiw6Aisx2lY7G2W2o2+u7sd/NOLM3FzWrh+7Gar5PQ1ENA4jUT0I0lCpVW9I0yAgtkHWdXdnGpOLeZMEuY3+2GIf+zGZoMkDusXUwhHFNO/GMFzRoNE50l3I/6fbVeO9JHGoal/LeQ/ivMy6XVe2qvKO0jANRZWY2FDevw4yYdIGfBqkCbxD82AK1ilZQLTswuCBetSEiWpmENzgpEDWCxFSUTVe6fxnGZSCcHUxklr97FGgxtqD69Tsw9xSVG3go8XxdrKqx0rk3NBcFwk1xuAWpcFWimH7QO5BptEHW3PxAKrBXkCM30XsxDhiangAq2YngLFUvkuzIBU/oCAhRwL1FOriswYmxiAuga7WxqsPK5rhF9VXkkav9mU0b77hIZNypYgIiptxKrNxRgVad3IlmeopA4AYzW1mPeE4ngcSuN8y6AypaHC+Dw3WNkzruQNS0WcimgiFP2PajSalbNBHtIl34OXU1tspT5cqJK778isTz1Xnm3seROmHiL+Ej4cJcNmLm3MSmqKG/RrYFBpzKL2WwS3xSZ3BampAY2HyCloI7bZt7F+KJ5BL2LJcRZzbuWPL4wA26TLtMy0UoEWoisJsVkTVj/bEDGFoL1Q18x1VA+UfZZYrVHE7Qa8kS9Au6qoJGh81qnayZlCspw26RQ6PPAB8a3wE+nOeFYl+CdfnBv1uU0TvjTfwth+066olfxypxquwzn1jf6pV8ZAptWrTgOISSx+FIebHmI9wctA8x8C0xtDeMdZY8eMt+EYuJWtYHT+T75jYUc58zypNdkuZcoxPRZqkgDvfN3W7di4VQALglBNkwKKUSJcnu2pXk8P9RBzdB9JLa5/SFMr95HHDqCx+PlDPb3Y4iCxj3XgWVmo8ondqOdBRrHrBLbzKZKRx8AudwY9fYh559A/o1XOwdt9fvOmfzGF2cO56+lwLhW2+UFCuED67aauKR9ByzKApU3MZU8KDDOnGswThYrA1SkoZOqkO6FwxmIK5Y+PgeGxbm48Firf0bwwO9uLc4UOJAMDkBAqj9NPM1fW5VocfMVQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016mFYXrEwR7XMzEcfjzUZMB",
      "input": {
        "note": "The close came back empty (0.105) — the lemon is actually to the right of and beyond the jaws in the wrist view. Reopening, lifting slightly and shifting ~3.5 cm right / 2 cm forward to re-centre on it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.415,
          "right_y": 0.055,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016mFYXrEwR7XMzEcfjzUZMB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4728, -0.0189, -0.0387, 0.9992, 0.1574, 1.6291, 0.7807, 0.0097, 0.0776, -0.0032, 0.9946]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1608 left_yaw=0.0023 left_pitch=-0.0923 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4036 right_y=0.0538 right_z=0.0484 right_yaw=0.0822 right_pitch=-0.2465 right_roll=-0.0534 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -1.2513, 6.9538, 1.8144, -0.0806, -0.0757, -0.0122, -0.212, -8.6359, 8.335, 1.5897, -0.0415, -0.0269, -0.1148]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c098da6fe42731b9d72b8b385a838d330a6a29547569cad47f6f627e0a2a688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:731a0d60a79705018f9cab3bfdced475c7cbc481c2de9d7d8eae47caa720db38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0985023a052043c00d1b9785ecb1d3e873979179e398f5da4c252899b42792e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 5.97 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.458, -0.0189, -0.0387, 0.9992, 0.2882, 1.7329, 0.667, 0.2707, 0.1783, 0.1005, 0.3551]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1637 left_yaw=0.0022 left_pitch=-0.0774 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3957 right_y=0.0884 right_z=0.0131 right_yaw=0.0702 right_pitch=-0.19 right_roll=-0.0479 right_gripper=0.3551\nstate[joint_eff]: [-0.3077, -1.2513, 7.1179, 1.7363, -0.0366, -0.0171, -0.0122, -0.1846, -7.3231, 5.3265, 1.8926, 0.188, -0.0024, 0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4583, -0.0189, -0.0387, 0.9992, 0.2909, 1.7329, 0.667, 0.2722, 0.1654, 0.0898, 0.105]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1636 left_yaw=0.0022 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3953 right_y=0.0917 right_z=0.0131 right_yaw=0.0898 right_pitch=-0.1907 right_roll=-0.0461 right_gripper=0.105\nstate[joint_eff]: [-0.0068, -1.1556, 6.9675, 1.707, -0.0317, -0.0317, -0.0122, -0.6906, -7.3094, 5.5179, 1.8535, 0.2271, 0.0952, 0.1001]",
      "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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4728, -0.0189, -0.0387, 0.9992, 0.1574, 1.6291, 0.7807, 0.0097, 0.0776, -0.0032, 0.9946]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1608 left_yaw=0.0023 left_pitch=-0.0923 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4036 right_y=0.0538 right_z=0.0484 right_yaw=0.0822 right_pitch=-0.2465 right_roll=-0.0534 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -1.2513, 6.9538, 1.8144, -0.0806, -0.0757, -0.0122, -0.212, -8.6359, 8.335, 1.5897, -0.0415, -0.0269, -0.1148]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c098da6fe42731b9d72b8b385a838d330a6a29547569cad47f6f627e0a2a688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:731a0d60a79705018f9cab3bfdced475c7cbc481c2de9d7d8eae47caa720db38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0985023a052043c00d1b9785ecb1d3e873979179e398f5da4c252899b42792e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS3QQKjgEIEhgCKkBMlrR1guWadP3HSmK13N260Y/k93AYFXGMsmvWYzzCK2SGaysHhz2Hj0bSNP5DO0cBwNjP9RX3JaGNFY/EXskIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfCOzNUGEgzwWdPSzmnhJnhHYecaDGaOnSjvIqTa1CBriCIwTidb5f7VoVauZou6jDnQOyyJua6PxDXwiBFhbRPcJcrC4yET+Cl8UU0u0wSOGskOKvsCJPNeDwcIwFalRkncha/P49s46UpzE0eIXyg9tYAqauQkLMeD909hKBkYYCg3tclGclNADbDP8wEMSo1Weubn+tebPYLtnrEcpOFEFBB3E6a25nnkEW7moqExLgkvTDWgKiSoyL/yUuMB+/IcTp6C/8OceFyV2q4x/DBSaRY0+/4aXQXkXU5nbT7HQYXH1019jx0PHNXBHJld7Rbsit1pTKJav+Cu1gBw7Go/5yOVQ9+kN9Uw+QcwEmHwD3hXgDzu1N+RJFO2Z1d9FeMuwzVfun62mqNaE8i4jUz0N025zdksH6Jbchpa/gld78PLtWlHFqywmUv+OymQZHRHMAMO9QfapyY3NlxX2sXXyBBe3L9+YvXHKDV/BB7ooeeOUermYLJ+sRixKZUKQjWV/4+bHe5BLjmBfIDPbAGcEoq7pNO2WLNAI5Gdo/WCPDqEQ++Wg0pJtMEMfgTYlRyqAzlUVvsCHeZsAHL3ubk2b8f3/RhuUKZiNf0PFNHVaxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XC2NvLEqnhw7H48EWECSn8",
      "input": {
        "note": "Lemon is now nicely centred on the jaw column but still high in the wrist frame; advancing ~3.5 cm radially and dropping to grasp height.",
        "targets": {
          "right_x": 0.44,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XC2NvLEqnhw7H48EWECSn8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6083, -0.4797, -0.0189, -0.0387, 0.9992, 0.1444, 1.7905, 0.8513, 0.0227, 0.0631, -0.0166, 0.9953]\nstate[eef_state]: left_x=0.2816 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.1018 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4173 right_y=0.053 right_z=0.012 right_yaw=0.088 right_pitch=-0.3252 right_roll=-0.0561 right_gripper=0.9953\nstate[joint_eff]: [-0.294, -0.8547, 6.9538, 1.7607, -0.0708, -0.0513, -0.0122, -0.5675, -9.1829, 7.9111, 1.9121, 0.0269, -0.0073, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5872710f5843898bdec0353f168e35437ce726200f24df8fea4dce23bf1bb030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c6e3ad0f3e2f44c7380d6ea07524858f766078c54b599b4ebfde9aa85d09528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c135bf934d3055b0f2edff71637e8e43d2af2bbd942d2e530158f4e121237f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 3.12 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4583, -0.0189, -0.0387, 0.9992, 0.2909, 1.7329, 0.667, 0.2722, 0.1654, 0.0898, 0.105]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1636 left_yaw=0.0022 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3953 right_y=0.0917 right_z=0.0131 right_yaw=0.0898 right_pitch=-0.1907 right_roll=-0.0461 right_gripper=0.105\nstate[joint_eff]: [-0.0068, -1.1556, 6.9675, 1.707, -0.0317, -0.0317, -0.0122, -0.6906, -7.3094, 5.5179, 1.8535, 0.2271, 0.0952, 0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4728, -0.0189, -0.0387, 0.9992, 0.1574, 1.6291, 0.7807, 0.0097, 0.0776, -0.0032, 0.9946]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1608 left_yaw=0.0023 left_pitch=-0.0923 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4036 right_y=0.0538 right_z=0.0484 right_yaw=0.0822 right_pitch=-0.2465 right_roll=-0.0534 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -1.2513, 6.9538, 1.8144, -0.0806, -0.0757, -0.0122, -0.212, -8.6359, 8.335, 1.5897, -0.0415, -0.0269, -0.1148]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6083, -0.4797, -0.0189, -0.0387, 0.9992, 0.1444, 1.7905, 0.8513, 0.0227, 0.0631, -0.0166, 0.9953]\nstate[eef_state]: left_x=0.2816 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.1018 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4173 right_y=0.053 right_z=0.012 right_yaw=0.088 right_pitch=-0.3252 right_roll=-0.0561 right_gripper=0.9953\nstate[joint_eff]: [-0.294, -0.8547, 6.9538, 1.7607, -0.0708, -0.0513, -0.0122, -0.5675, -9.1829, 7.9111, 1.9121, 0.0269, -0.0073, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5872710f5843898bdec0353f168e35437ce726200f24df8fea4dce23bf1bb030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c6e3ad0f3e2f44c7380d6ea07524858f766078c54b599b4ebfde9aa85d09528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c135bf934d3055b0f2edff71637e8e43d2af2bbd942d2e530158f4e121237f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AQKjgEIEhgCKkDChX2P4ZRms9tn+q7VOB8MZEduMRbJQET2JiX1HdLJUAAG8Y2CnCL0TjXm4ZwyZsgXu0Xip/r1i4v6fDKvGPOXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfaOzNUGEgxvMTqsoWIb02wzzEAaDKeQqml9ObtkiM9QRyIwkjOLU6JgnKMPuiT27nfRNCaj40mxxg5bGvl3Xnc/bZYw+FdRCMj9FySV2gSHvcu+KoYDaBNqySzyT+ImkhaW5hzRmLIQxsiju/fzHIsmZlBBmQyDAU1ZHZtnJaFeg6CvzcvBbCL6H6eQY2/hGa+t6Jd6GSu6OHIDYMFJzKCblVWBfsf7Lv5r9eNpGJaF+IFZhXv5CNhKxUQiVj4xOnjh2q/brHxsMMp7q8E+VBznMvvJ6YymG4UDoUFVwJYAguZxcLIDm/+/o6IMe9IY6NJG4pl1riytLUWbZUTEraUZRyTHT6Nt7jxJ6RMTCnqta5cc3fRO+ZKkbdUX4NF6UEGPwuzy9mIs2TpM3KWI7zrmR2irv7KHynH6FSTCCjJdkUbZYjYTuIdOyy3R7Lc999nOKcYhwf7UJO8HeeH7dtmkSJwNiI1Q8QN9iIptrfnf/SKK0OjE//gZaWFoA8zn6lFGP0pvQc4zA2SbY5wvVaX7GDeYRHzNSR3b7pYMf/QBSUrBAus02ZgklgqtXh57WzzIgtuRRYqvlLwiDfh8hKYlDZsOmyR8lE2iPPN+zaho9VCI4qqC8JVW7NxuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YJYYCtoZnLGgHy6o322Z7F",
      "input": {
        "note": "Lemon now fills the lower wrist frame just left of centre; nudging 3 cm further out so it sits between the fingertips before closing.",
        "targets": {
          "right_x": 0.45,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01YJYYCtoZnLGgHy6o322Z7F",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6083, -0.4812, -0.0189, -0.0387, 0.9992, 0.1368, 1.8599, 0.963, -0.0406, 0.0547, -0.0269, 0.9953]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1584 left_yaw=0.0023 left_pitch=-0.1034 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4376 right_y=0.0541 right_z=0.0125 right_yaw=0.0934 right_pitch=-0.3468 right_roll=-0.0567 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.2103, 6.9538, 1.6532, -0.0317, -0.0562, -0.0122, -0.5402, -8.5538, 7.1043, 1.3455, -0.022, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52403fe0dc34edf3327dd8a528892227f1abbfa3d108f0d95e12cbd4bda0a8a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa7fa4fae17dbdec05e18b0fcb7b9067e4624702f27ced39d86918d6f2fa3d10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:007eab6f8f16fdbe192caf653091a960915e6e40fea7193bfe43a25e8029984f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 10.13 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4728, -0.0189, -0.0387, 0.9992, 0.1574, 1.6291, 0.7807, 0.0097, 0.0776, -0.0032, 0.9946]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1608 left_yaw=0.0023 left_pitch=-0.0923 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4036 right_y=0.0538 right_z=0.0484 right_yaw=0.0822 right_pitch=-0.2465 right_roll=-0.0534 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -1.2513, 6.9538, 1.8144, -0.0806, -0.0757, -0.0122, -0.212, -8.6359, 8.335, 1.5897, -0.0415, -0.0269, -0.1148]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6083, -0.4797, -0.0189, -0.0387, 0.9992, 0.1444, 1.7905, 0.8513, 0.0227, 0.0631, -0.0166, 0.9953]\nstate[eef_state]: left_x=0.2816 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.1018 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4173 right_y=0.053 right_z=0.012 right_yaw=0.088 right_pitch=-0.3252 right_roll=-0.0561 right_gripper=0.9953\nstate[joint_eff]: [-0.294, -0.8547, 6.9538, 1.7607, -0.0708, -0.0513, -0.0122, -0.5675, -9.1829, 7.9111, 1.9121, 0.0269, -0.0073, 0.0562]",
      "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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6083, -0.4812, -0.0189, -0.0387, 0.9992, 0.1368, 1.8599, 0.963, -0.0406, 0.0547, -0.0269, 0.9953]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1584 left_yaw=0.0023 left_pitch=-0.1034 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4376 right_y=0.0541 right_z=0.0125 right_yaw=0.0934 right_pitch=-0.3468 right_roll=-0.0567 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.2103, 6.9538, 1.6532, -0.0317, -0.0562, -0.0122, -0.5402, -8.5538, 7.1043, 1.3455, -0.022, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52403fe0dc34edf3327dd8a528892227f1abbfa3d108f0d95e12cbd4bda0a8a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa7fa4fae17dbdec05e18b0fcb7b9067e4624702f27ced39d86918d6f2fa3d10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:007eab6f8f16fdbe192caf653091a960915e6e40fea7193bfe43a25e8029984f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxAIKjgEIEhgCKkDwybnePIANfLT3wqZFbCjDA/gWud+ITqbw1Jm6YAGgeAYgTdjJZqpNkQPD4pyp3sM9sPH6hDzzEdOyx0eNSjmjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfqOzNUGEgzcujk1DPtCInQO330aDPRQWozr1U5qOXughCIwXCZkzsCNTQ8iSEoyulnZuB+4oTn8SIlR76AiiUJ9wzRwY7BdzLkDElyR5oTK43lEKmN3mN6LjH7D3zTiYWz/eZfLpgKXB/NYznBbQv9CCJhR06YUEt4jqS8PykxB1tOAIV+9MC9IjWacMVsP84zRkPRqYefUhY3smnesyAxMdYg336KxVgPzsJZ8acfWN9aX4UDov/AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KLS34ejECGbGaRGk2qGoLF",
      "input": {
        "note": "The lemon now fills the centre of the wrist view between the jaws; closing to grip it.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KLS34ejECGbGaRGk2qGoLF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6083, -0.4953, -0.0189, -0.0387, 0.9992, 0.1379, 1.8702, 0.9695, -0.0574, 0.0406, -0.0265, 0.5321]\nstate[eef_state]: left_x=0.2793 left_y=0.0017 left_z=0.1553 left_yaw=0.0023 left_pitch=-0.1194 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4352 right_y=0.0568 right_z=0.0079 right_yaw=0.1066 right_pitch=-0.3678 right_roll=-0.045 right_gripper=0.5321\nstate[joint_eff]: [-0.0205, -1.388, 6.9402, 1.8193, -0.0415, -0.0415, -0.0122, -0.4444, -9.7299, 5.4222, 1.4774, 0.1148, -0.0659, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:667b449827fcc8938b10ba65eb5c0eefa2f958322cf8702a597df4b67eeaebea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1009e9f4550f13adfbb257edaf320e813227ba31daab3162bbb29f86cc59e7a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cba22780116781a7e83bbfed88d96292749e38e6279357b567ebc707b59b2ad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 7.255 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6083, -0.4797, -0.0189, -0.0387, 0.9992, 0.1444, 1.7905, 0.8513, 0.0227, 0.0631, -0.0166, 0.9953]\nstate[eef_state]: left_x=0.2816 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.1018 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4173 right_y=0.053 right_z=0.012 right_yaw=0.088 right_pitch=-0.3252 right_roll=-0.0561 right_gripper=0.9953\nstate[joint_eff]: [-0.294, -0.8547, 6.9538, 1.7607, -0.0708, -0.0513, -0.0122, -0.5675, -9.1829, 7.9111, 1.9121, 0.0269, -0.0073, 0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6083, -0.4812, -0.0189, -0.0387, 0.9992, 0.1368, 1.8599, 0.963, -0.0406, 0.0547, -0.0269, 0.9953]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1584 left_yaw=0.0023 left_pitch=-0.1034 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4376 right_y=0.0541 right_z=0.0125 right_yaw=0.0934 right_pitch=-0.3468 right_roll=-0.0567 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.2103, 6.9538, 1.6532, -0.0317, -0.0562, -0.0122, -0.5402, -8.5538, 7.1043, 1.3455, -0.022, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6083, -0.4953, -0.0189, -0.0387, 0.9992, 0.1379, 1.8702, 0.9695, -0.0574, 0.0406, -0.0265, 0.5321]\nstate[eef_state]: left_x=0.2793 left_y=0.0017 left_z=0.1553 left_yaw=0.0023 left_pitch=-0.1194 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4352 right_y=0.0568 right_z=0.0079 right_yaw=0.1066 right_pitch=-0.3678 right_roll=-0.045 right_gripper=0.5321\nstate[joint_eff]: [-0.0205, -1.388, 6.9402, 1.8193, -0.0415, -0.0415, -0.0122, -0.4444, -9.7299, 5.4222, 1.4774, 0.1148, -0.0659, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:667b449827fcc8938b10ba65eb5c0eefa2f958322cf8702a597df4b67eeaebea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1009e9f4550f13adfbb257edaf320e813227ba31daab3162bbb29f86cc59e7a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cba22780116781a7e83bbfed88d96292749e38e6279357b567ebc707b59b2ad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuQsKjgEIEhgCKkDrnWztrPBtyhWrpCCAITmYgVTYvEuZ1PU9Zz5HK2/yjHucjkodV9bH6cZ7Q1u5ZbF7v+qqOCdrTo/SA7HqNd6gMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYSPzNUGEgz3XIjFGszwHqJo0zsaDCkXZ0qGMGkdDMxteCIwja6yaEGj3CG+YrNbwQh5X4Z9vxNC8byqP1vBdv9NzA3KmBxETfb2XYhTU0Hj3J9XKtcJdAzfJQ+eZF3EzxANU+mSHaWmWYnKGtA9kRnR/0l+NJO1AfuRdywi9f3x+2MloZ+xHUFsAwyl4PJJI6MZoBUogbsYWSfMoAGCjk4H5VcpLczjYHKwkNfEqPcW/m2pcGd6dFCgjN18/3p7T7QScFek41K1AHsLFIeh/L3mGs7QTQyiyVByGko/hPKkrKi/JtyqvIgytTx1vXAv20/vp3fricNfmuZsyk8lF7fzrmlUbPqSmASiGP5WxcIW6IJiPBy/pcLc/bf0Br8ID2pIyY5864w+izqk5HxfDTjXtHEbbXwoyW+mDIhDYjIVMmF0KLXqItcpmKlEhsNdXylqE0fRopp2aXXCFyeKdn7amrvyVB44oWcWcWZJXb4uQTdJuaw7oNCyZfVzBwvo38etzsEzX6EaDCOf0wEZpwjkVjAiRkZp8vsr0ZXIKf8i1aYsGz9JPtq14jzzY+1YrOY36+QjkoGg1yvK+zDahb8HmjVZwe2HvWlCJDSrsJALK8LoMie9i8ahJSm/zCZl3v/Orc3obRojdkphXUL8YgJBBob1RMadhM6L26E/QO5KBsxrlWzFnIL6+JHlWzFYoB3SojhkR3OuOwuqE/NRDrpHDFFz9IGT36/9nA8UZp//JLfPpu/Y1DXQlllV+GjHzDUhRFDYURs40TQTOCdIHOgWzrkZjnxzOmBwp+2A6i2vCOkh9xRyYGKlbfk3pwsZ4bL0d1Z5viQazmCWPXPZakQMX4dPV07O1tqdReoHhcYdL6XjZS35pWH21rQXahMq5AXfZAiOCw4zdZxLCJ79qiWri7eTX99UP/bJack2hAGSiO2n9DGZxTUODVjOS/Bacc0x03tGKTtcy6spiXIYoZ/8Zqj3rHkn6uVxjQv552E29ayWX+/kdtrhIvW2PdoqEtQg3PurVB5UijjRasy0kE9/wyMnDwQV9taf0W4K57fBa0ZWs1xiPgzy8qjEWN5nwu+cbD5uAvdOQ/Vh73l9Ed0+qB2lIu22UPxU9bZX/Vqaj8UZtc/FlCSTdEtaj0poPe/G72wlRtCIWlNwhCTa3uKxZ12oqsaq6R9rYVhFyCFCYXirolxpLoxl9OtZugRtUYvhHTAMuCJgaaSGrAAmypsf9aQrsbHAxwMn98Oa1G5CHT9QG4YNZCJKljLXII3JjrH8lOfDplQoF4YDmHSlOVXBCdntkLZKi9G9tu2v3LwNNo8ng9v2ldAOyhCCfGdEzsNGiWVJP+mWloKiZOEtn+VvwvECvJN7Op4qRuddFnZmaCqmouf+n92Dy90gZPJkhEPFiwUc0h/Qti10shWI7QD2n3qmz9Qjr0miR2hlF9jwuR5/qQAJ+cDMlSsxzdhniIhsz/SQB1JyTQOc7D4xRUi2njKY+TdEP+uME03ZMKM84XGdIVyjhRsQVrOT2vJ583v39ib7fNOKbGed5knc0+DTIDMEnweO9ul49ueAJrn2MRlWy2LCPl5AVnsTgpyqeMgzTPHj80WPmZvEMYyT4AeWW5dAgmQPYEqDsNT+XHje80vE0yCzPm4Z78OsXVTJajmDrWpVP60NMXyuYyxmbek9exUw48giRtM7G000EzBu7sWgB/6jjMP99QRaZuhPfLgnIDBcHqWIlnQ56H6Pn83sYndhHeSeBF4wq8d+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EepZG8MK1Q6jjmrKeAWoMk",
      "input": {
        "note": "Gripper settled at 0.53 (~5 cm) — the lemon is held. Lifting it clear of the table before carrying it over the open chest.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01EepZG8MK1Q6jjmrKeAWoMk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6083, -0.5102, -0.0189, -0.0387, 0.9992, 0.1379, 1.7199, 1.4647, -0.8501, 0.086, -0.0605, 0.5349]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1525 left_yaw=0.0024 left_pitch=-0.1342 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4194 right_y=0.0465 right_z=0.1495 right_yaw=0.0826 right_pitch=-0.5147 right_roll=-0.1144 right_gripper=0.5349\nstate[joint_eff]: [-0.0752, -1.2513, 7.1316, 1.7851, -0.0757, -0.0415, -0.0122, -0.2667, -12.2325, 10.441, 1.8388, -0.4567, 0.3053, 0.7204]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56da3bec59840bceaa40fc7422bf5c3dbb6a1aeaaa64988b64355d3634254f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b05fb46385013b14df95f2a6cc283ea06166b304ae3ec6f7511b81cf22def862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:255f494a4b6eb7d5ed44811a3e500b231fb144519b2cef11444801c6de7565c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 9.973 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6083, -0.4812, -0.0189, -0.0387, 0.9992, 0.1368, 1.8599, 0.963, -0.0406, 0.0547, -0.0269, 0.9953]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1584 left_yaw=0.0023 left_pitch=-0.1034 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4376 right_y=0.0541 right_z=0.0125 right_yaw=0.0934 right_pitch=-0.3468 right_roll=-0.0567 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.2103, 6.9538, 1.6532, -0.0317, -0.0562, -0.0122, -0.5402, -8.5538, 7.1043, 1.3455, -0.022, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6083, -0.4953, -0.0189, -0.0387, 0.9992, 0.1379, 1.8702, 0.9695, -0.0574, 0.0406, -0.0265, 0.5321]\nstate[eef_state]: left_x=0.2793 left_y=0.0017 left_z=0.1553 left_yaw=0.0023 left_pitch=-0.1194 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4352 right_y=0.0568 right_z=0.0079 right_yaw=0.1066 right_pitch=-0.3678 right_roll=-0.045 right_gripper=0.5321\nstate[joint_eff]: [-0.0205, -1.388, 6.9402, 1.8193, -0.0415, -0.0415, -0.0122, -0.4444, -9.7299, 5.4222, 1.4774, 0.1148, -0.0659, 1.0134]",
      "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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6083, -0.5102, -0.0189, -0.0387, 0.9992, 0.1379, 1.7199, 1.4647, -0.8501, 0.086, -0.0605, 0.5349]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1525 left_yaw=0.0024 left_pitch=-0.1342 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4194 right_y=0.0465 right_z=0.1495 right_yaw=0.0826 right_pitch=-0.5147 right_roll=-0.1144 right_gripper=0.5349\nstate[joint_eff]: [-0.0752, -1.2513, 7.1316, 1.7851, -0.0757, -0.0415, -0.0122, -0.2667, -12.2325, 10.441, 1.8388, -0.4567, 0.3053, 0.7204]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56da3bec59840bceaa40fc7422bf5c3dbb6a1aeaaa64988b64355d3634254f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b05fb46385013b14df95f2a6cc283ea06166b304ae3ec6f7511b81cf22def862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:255f494a4b6eb7d5ed44811a3e500b231fb144519b2cef11444801c6de7565c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5gQKjgEIEhgCKkC3BnmqKZBJgE+mcEZBv5I6VtaZhbNRCFRbU+bCiAYgkalPDsdqt4S97IvUfexLRtG28YKLbidT2YFJLaOMXP+iMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY2PzNUGEgyWIKjv/H9hIQtWozYaDHHO1H+HtiFl1N63IiIwXm+TH/G3N9lq89EtBmjkMlYGBw4a/gU+QtHxIL/lD698xmFN4RmQmw3OIRuLG7vJKoQDBme5eDdmIQZl6PGNLPTNOl+ZVQQAj1zyz33okepyzljeeaMdZjY1ny+bciN7c2HgKtlwItIb+KH1SGXduD0y0xh/Hys1Lj/ZRpd0V6Po8TEo+Y2KbfFQYkKgW3VYDXpbTcLcufj0Bi1/Y9gm1gX/DNZOcq2lnXC2xXTcjz+fC5W5Lt6Dv3F1FvcPh9c57ISJmIyvcVyIrCKQxjr6TAAfr/q+ky5Yez9JdAvGQJIre7LyKMPzVFXA+sYbPrv+GljubDy/Y9V75Z7yovsgna+5EXXzQOwneHQYiagESAo+HbEQCH+WhZvSMlCyGiLzSppzv94enz7gaqxrg+0XkHU2rWaJWBaMEBRDwonBXJA5rwsTTDU2rRyFYn2Rr5HDS+auHuZMy5VbbkXRTqluywFcFh1yrkAT6a2yoYadX0L5UxQ6/vRoQaW2Ru7T79LhJCusi0HhLTOo9yEFZbtq13jqHGEBkJQZ4HO5GOVG5Dbfz74bWpqQTZ3/2TgmHDRwAmGxJIAqHBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AiQMFAhSqhFJ5AnqDTEont",
      "input": {
        "note": "Lemon is held and lifted; translating left over the open chest's red interior at a height that clears the chest walls.",
        "targets": {
          "right_y": 0.2,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01AiQMFAhSqhFJ5AnqDTEont",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6083, -0.522, -0.0193, -0.0387, 0.9992, 0.5251, 2.019, 2.0632, -1.3403, 0.2665, 0.2276, 0.5355]\nstate[eef_state]: left_x=0.2751 left_y=0.0018 left_z=0.1496 left_yaw=0.0027 left_pitch=-0.1487 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4037 right_y=0.1842 right_z=0.1894 right_yaw=0.0771 right_pitch=-0.6323 right_roll=-0.2291 right_gripper=0.5355\nstate[joint_eff]: [-0.1436, -1.4154, 7.1453, 1.7509, -0.0806, -0.0708, -0.0122, 0.212, -11.8359, 9.7846, 1.4139, -0.0415, 0.486, 0.7448]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ec308cfbf2494f61e0f682bb22f91f4348ef9f9382e35fe02a27d2573738ed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b351d7e6f203eb4fc1e8f21c15455ec9a7d8860de6ddc724f7d09808a13d1207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8361e9414e17db4aa9e39d367083a26030aa63548a08b2ddc10c00fe7c4c5574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 16.47 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6083, -0.4953, -0.0189, -0.0387, 0.9992, 0.1379, 1.8702, 0.9695, -0.0574, 0.0406, -0.0265, 0.5321]\nstate[eef_state]: left_x=0.2793 left_y=0.0017 left_z=0.1553 left_yaw=0.0023 left_pitch=-0.1194 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4352 right_y=0.0568 right_z=0.0079 right_yaw=0.1066 right_pitch=-0.3678 right_roll=-0.045 right_gripper=0.5321\nstate[joint_eff]: [-0.0205, -1.388, 6.9402, 1.8193, -0.0415, -0.0415, -0.0122, -0.4444, -9.7299, 5.4222, 1.4774, 0.1148, -0.0659, 1.0134]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6083, -0.5102, -0.0189, -0.0387, 0.9992, 0.1379, 1.7199, 1.4647, -0.8501, 0.086, -0.0605, 0.5349]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1525 left_yaw=0.0024 left_pitch=-0.1342 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4194 right_y=0.0465 right_z=0.1495 right_yaw=0.0826 right_pitch=-0.5147 right_roll=-0.1144 right_gripper=0.5349\nstate[joint_eff]: [-0.0752, -1.2513, 7.1316, 1.7851, -0.0757, -0.0415, -0.0122, -0.2667, -12.2325, 10.441, 1.8388, -0.4567, 0.3053, 0.7204]\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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6083, -0.522, -0.0193, -0.0387, 0.9992, 0.5251, 2.019, 2.0632, -1.3403, 0.2665, 0.2276, 0.5355]\nstate[eef_state]: left_x=0.2751 left_y=0.0018 left_z=0.1496 left_yaw=0.0027 left_pitch=-0.1487 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4037 right_y=0.1842 right_z=0.1894 right_yaw=0.0771 right_pitch=-0.6323 right_roll=-0.2291 right_gripper=0.5355\nstate[joint_eff]: [-0.1436, -1.4154, 7.1453, 1.7509, -0.0806, -0.0708, -0.0122, 0.212, -11.8359, 9.7846, 1.4139, -0.0415, 0.486, 0.7448]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ec308cfbf2494f61e0f682bb22f91f4348ef9f9382e35fe02a27d2573738ed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b351d7e6f203eb4fc1e8f21c15455ec9a7d8860de6ddc724f7d09808a13d1207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8361e9414e17db4aa9e39d367083a26030aa63548a08b2ddc10c00fe7c4c5574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISwwsKjgEIEhgCKkBHOJW4sHbMfpvBJXdJ9jXKx3Pox1pMw3T57zhI8XbHs0/ak5df6UXL7JTUdUgEiXo7hs0T8EVykiesoaLS6c4/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZiPzNUGEgwVVPH9igrtKHHVU7waDCr9BdKEb1BnbrlfASIw9IUtBJkY/x9DQLB8TWsfO6l7kPiI3MEkMH/sqWJIi4N0yZOpWRY0F8cSQvCY/fbIKuEJTdCsn6hyr91ehgBR4O8rZ9NMaTXOht58RaTdxQ8nhzTMlIOTmkzW6lHtED2bKoOBeQ2JBtRJAmiGZmgrUB0+Klmq1fZx0VexUg9iohCvJ2MpbD9Rtx0WHIdvtc+lhOIpi6ea0SKkdQz/rYRONeAOuyfprSiYPNPq5Zsxhm5wM80XVxc2e9VnP/pCYLJlmLNBxBjJi9xAoOUpp1D9+lgptNmNjydn4rtxNrnCz6MoAq5PiEGlZBDtH/928Cg3YeS8mvWeJ0rW8VdxDw9WNUuseDZq4jHlvKStkXkSgd+jJ6IY76wtN4KntSupds4R7R74n7bk7WDGMDPL7KIKBsI2riB3TNMBmPFf+HkJT5qNlC3rhbZZN3UYbGRoSEB9tH1C9h1izySfBojjeWgwYD4TJcLNUxg3M8IZP782GOiJWsd1zVoK5qnyRxn5K+FOzHPgUvepmaQHpDQHT4gXicqk9BdP8Rp9uWJ0ktAyw0G/We/RcBCJMwgbsEixuW5w+BwptqQ/EeiuY9AiPSSuyZtnpkSzltx4iW+Yx+U0shx164PY2qGRf6IurPx8kXQyrHGgABRqSh2KT+9GpEvFozCzBDf44b0Cwi1M23YhlbUzv694yCnxClviXnAqLFjbu5fTxXe7zYkmNg7XRMHOCTONCFvKC+oLYxQwz4wDUjbMxR3oInRcFlnLdR+wTGemB+UWH5kubB7OenpmtKqNPqQxDylfGuDMqU7IPO+Y7tPXbHAH6k9gqILmbVfW97t+brv2ABzJXzLe23pNPLcY2E6yjpVfnW2MlwW7M2YNpItLVZZJslU+CuUv4zjQCnzIn+QZyiEXRvuhYQhgUtlaXM26pWmxJp9WqQZrm/9TvdaLcgUd2VJzEyEqszxY942WF23EQeJdG0fLRS4hecpcrMrNYU+bGvqALJbDLIaUV+qTh7USV2prOdGKx/ERYfzlRzYSJbtSYorG2AYqJstBkJ2FUhG2fy+xdWXSLWYYTjv3l0CTP8w3qIFH6QoE1vpmiCA1zN2zvFKlbB61sNY2UYOwExrmFxwdN6oBNQZjyv9eVOrPxYJ7Ds2gcfQWl5G6iSr/waEX9KY6NzrvcslEb8NvNkUOokYWn0v6QgXQt57m2lOyq5LeJq8hTyfV/iV2xNQsh8xcoHISnKQwOpXrcxj4v+bfZdU6M4MT40vwUq2ujTMf+ZlT7gzsr7fOJ+EYR8eWJdoslp1Vqhm2LvHlOlme0rFjlCbi8ORyC/7aiKSbwdFTwbfsghFzXBPT6KXB4ZLDOa2dds1VFTcFVu6/LSMu16vy25cHXOB7BKnm5xROiT6nLNY3m5hLjNI2TLPvPuYJsS1ZWUe1WINJTxuazgVGvdPGytQa06pFQuK64wIKQuR6eDB7TbSPYyvJ1+Pf4unavb50vIUz0YQlbJCwhFykF4fBSB2bruzCqub2Yjv9voGUv7Nwi17a9bAvBv/Kt8fX4ClwMkjJgXwHaJnZy1UOigpOJQYna8+USR/3NRHAa+j5vvDRcjFgKSJ0krcO17nqyqRJN6HKN8/sh/bXIXDUTwra9UxFsVxWray27aprUP1icXif9VtH0RFlbYrpqWCed2v+xDrRowxb85BDDfzml6xFNYdd0OxezmWVfxE/EW3mFLr/PjpXeHZlf6jP7F2sRxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015QfPYxWQb2Syazv9KfQ6wi",
      "input": {
        "note": "Wrist view shows the chest's red interior off to the left of the jaws, so the lemon is not yet over the opening; shifting a further 8 cm toward the chest centre.",
        "targets": {
          "right_y": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015QfPYxWQb2Syazv9KfQ6wi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6083, -0.5354, -0.0189, -0.0387, 0.9992, 0.6949, 2.3013, 2.4489, -1.5631, 0.3302, 0.3386, 0.5382]\nstate[eef_state]: left_x=0.2729 left_y=0.0018 left_z=0.147 left_yaw=0.0025 left_pitch=-0.1625 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3925 right_y=0.2573 right_z=0.1699 right_yaw=0.0687 right_pitch=-0.6865 right_roll=-0.3281 right_gripper=0.5382\nstate[joint_eff]: [-0.1026, -1.2513, 6.8855, 1.707, -0.0415, -0.0611, -0.0122, 0.294, -13.0393, 8.7316, 0.8718, 0.1343, 0.4078, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:725fe1b7257d139b9edefc8c5bd71a750199d63567d9e15520b9365bffffb045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea958adc4c81cc79df18f2ab97d95e48338dd1deebbb8009ce9a84aab92a2474",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7282223abaf7c3d9a866e8390fc9b2a07dcce11d80acf60608c707aae4a81a13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 7.195 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6083, -0.5102, -0.0189, -0.0387, 0.9992, 0.1379, 1.7199, 1.4647, -0.8501, 0.086, -0.0605, 0.5349]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1525 left_yaw=0.0024 left_pitch=-0.1342 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4194 right_y=0.0465 right_z=0.1495 right_yaw=0.0826 right_pitch=-0.5147 right_roll=-0.1144 right_gripper=0.5349\nstate[joint_eff]: [-0.0752, -1.2513, 7.1316, 1.7851, -0.0757, -0.0415, -0.0122, -0.2667, -12.2325, 10.441, 1.8388, -0.4567, 0.3053, 0.7204]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6083, -0.522, -0.0193, -0.0387, 0.9992, 0.5251, 2.019, 2.0632, -1.3403, 0.2665, 0.2276, 0.5355]\nstate[eef_state]: left_x=0.2751 left_y=0.0018 left_z=0.1496 left_yaw=0.0027 left_pitch=-0.1487 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4037 right_y=0.1842 right_z=0.1894 right_yaw=0.0771 right_pitch=-0.6323 right_roll=-0.2291 right_gripper=0.5355\nstate[joint_eff]: [-0.1436, -1.4154, 7.1453, 1.7509, -0.0806, -0.0708, -0.0122, 0.212, -11.8359, 9.7846, 1.4139, -0.0415, 0.486, 0.7448]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6083, -0.5354, -0.0189, -0.0387, 0.9992, 0.6949, 2.3013, 2.4489, -1.5631, 0.3302, 0.3386, 0.5382]\nstate[eef_state]: left_x=0.2729 left_y=0.0018 left_z=0.147 left_yaw=0.0025 left_pitch=-0.1625 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3925 right_y=0.2573 right_z=0.1699 right_yaw=0.0687 right_pitch=-0.6865 right_roll=-0.3281 right_gripper=0.5382\nstate[joint_eff]: [-0.1026, -1.2513, 6.8855, 1.707, -0.0415, -0.0611, -0.0122, 0.294, -13.0393, 8.7316, 0.8718, 0.1343, 0.4078, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:725fe1b7257d139b9edefc8c5bd71a750199d63567d9e15520b9365bffffb045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea958adc4c81cc79df18f2ab97d95e48338dd1deebbb8009ce9a84aab92a2474",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7282223abaf7c3d9a866e8390fc9b2a07dcce11d80acf60608c707aae4a81a13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0118zuCiPCZYNYun3dooxMP2",
      "input": {
        "note": "Chest interior still appears to the left of the jaws in the wrist view; shifting another 6 cm toward it and rising slightly to clear the chest rim.",
        "targets": {
          "right_y": 0.32,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0118zuCiPCZYNYun3dooxMP2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6083, -0.5407, -0.0189, -0.0387, 0.9992, 0.7559, 2.3409, 2.4821, -1.6234, 0.3882, 0.363, 0.5404]\nstate[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.146 left_yaw=0.0025 left_pitch=-0.1678 left_roll=-0.0005 left_gripper=0.9992 right_x=0.377 right_y=0.2684 right_z=0.1629 right_yaw=0.0344 right_pitch=-0.6978 right_roll=-0.4309 right_gripper=0.5404\nstate[joint_eff]: [-0.3214, -0.9641, 6.9265, 1.619, -0.0317, -0.0562, -0.0171, -0.6222, -13.7915, 9.388, 0.9695, 0.1783, 0.1832, 0.4713]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fa2429ac1d24b444eea9722b89ad18f59c2c548e8800205961f6029b1f2fe46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08ad9b7b914d23a855f3129a10884c8c9043ff6a76a1278ff0fb5cc48ed04adc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd810e0e291ebad06ea23a0e0e8bb172710e8478e86fa5707ceb14c7e8d874d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 8.347 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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6083, -0.522, -0.0193, -0.0387, 0.9992, 0.5251, 2.019, 2.0632, -1.3403, 0.2665, 0.2276, 0.5355]\nstate[eef_state]: left_x=0.2751 left_y=0.0018 left_z=0.1496 left_yaw=0.0027 left_pitch=-0.1487 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4037 right_y=0.1842 right_z=0.1894 right_yaw=0.0771 right_pitch=-0.6323 right_roll=-0.2291 right_gripper=0.5355\nstate[joint_eff]: [-0.1436, -1.4154, 7.1453, 1.7509, -0.0806, -0.0708, -0.0122, 0.212, -11.8359, 9.7846, 1.4139, -0.0415, 0.486, 0.7448]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6083, -0.5354, -0.0189, -0.0387, 0.9992, 0.6949, 2.3013, 2.4489, -1.5631, 0.3302, 0.3386, 0.5382]\nstate[eef_state]: left_x=0.2729 left_y=0.0018 left_z=0.147 left_yaw=0.0025 left_pitch=-0.1625 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3925 right_y=0.2573 right_z=0.1699 right_yaw=0.0687 right_pitch=-0.6865 right_roll=-0.3281 right_gripper=0.5382\nstate[joint_eff]: [-0.1026, -1.2513, 6.8855, 1.707, -0.0415, -0.0611, -0.0122, 0.294, -13.0393, 8.7316, 0.8718, 0.1343, 0.4078, 0.6667]\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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6083, -0.5407, -0.0189, -0.0387, 0.9992, 0.7559, 2.3409, 2.4821, -1.6234, 0.3882, 0.363, 0.5404]\nstate[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.146 left_yaw=0.0025 left_pitch=-0.1678 left_roll=-0.0005 left_gripper=0.9992 right_x=0.377 right_y=0.2684 right_z=0.1629 right_yaw=0.0344 right_pitch=-0.6978 right_roll=-0.4309 right_gripper=0.5404\nstate[joint_eff]: [-0.3214, -0.9641, 6.9265, 1.619, -0.0317, -0.0562, -0.0171, -0.6222, -13.7915, 9.388, 0.9695, 0.1783, 0.1832, 0.4713]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fa2429ac1d24b444eea9722b89ad18f59c2c548e8800205961f6029b1f2fe46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08ad9b7b914d23a855f3129a10884c8c9043ff6a76a1278ff0fb5cc48ed04adc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd810e0e291ebad06ea23a0e0e8bb172710e8478e86fa5707ceb14c7e8d874d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzgcKjgEIEhgCKkAxN85I3gEJLFknuqYKFAnIuerVe+LVfSVq+kGqFymcNdpOLVhmfpziqLg1ZBgXzGQGewdHgNOQmiWToACPpx3bMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbCPzNUGEgz4kCdwl1XYRLfgbD4aDMgUWdOoOV28wakXZSIw6dLpdEGuTqjYmgATrXxtQBnnbBiZc10+YPCKfbk6k48rXPTpFP81FVO4R88wO+1EKuwFdIcj3PrS6QSKIb3ZbZ85Pc09FdvIiyKJmMpi7RLmbVKzfZS03pGxbHAFqbBu5y6HVZvgflX6e/iZeoCxD7O7QbppMM778ytx1tQ/cSbqdp24yuG8GyL7AY2zcAePU8QKTlYgYkqD4f0wRHsvCGALmCNS+yFE/tM2zzLvMKb9uqWCZ+zglIP1nJUfX/R4rUE6xizMJBBFRDaSRE3ZB5Fk6413d8eCf91ozxOPs3InQfzdOK8PeeD/EGlKllNzAP9B/kiGQ+OWLUts5scev7Fga3K6EoQDYjH5uzGqlriJzxRJcQcFf9kaCeI7bmDWl0NKap5KxlnC+DF2fEv2FpLfBoeP4QFOvadCu+xd3KLvAuZ78Vw1+mTrgXW+zrOlXw7KXGA3jUHonbW1UMXixPA3WPvMJt++AUnYf/EIEy4uuWWCGMTa1xsROHqK8Uai0DEEKBeqFH5R4qr8+/+FLIcgj8hG7uQkMBEEf8s4jUpZTWTm7AWvEOcyGOehZq+jVO/1b4EJ/IX2Z2vj1ygd9tIIA9yy2YJEY5+LTuaQQ/nyWozS6rbmh/NOHXoZGaVJfPp42sXrsJpOvVbClDp+I+KfQogADCZXTCspPb1fuiBoO+wpefTTZhh2aWSYbgt84KYy16O4EHZUBO5Qvr0/1L1BBYpyEQkLtuwimFYohD5Rj6PlixVQB/4Vokh6oKn14SeINkwnMPRPDNq3DeXwODNeljJJzvcWCYfW1WGAd/2+SsXeqSAEekZGlvS87KHRTS9Lp9umKnTzkXiaUe2FSBUsJi5uS1gDLZBJjs//KYopLU9XgjBRvzptM1hDYprjU4SSaCL41gY+etkRJ0FQg+dYlrotPEk0XVSbSXjq/qQs+m2wTDzEhCT3P5uAw7qFcgu+ZZ7akBgWZPweAtmydCbeI45cOedMSIhbS4g5KcPj2Xp8SDUWn2SVOQrHe/Prz9JNPzTlP7wX0p1qfj4aZeA33FOO33LptJV3Eb+kuhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DmgGn69hwZK33pxt95STpP",
      "input": {
        "note": "The arm stalled moving sideways — it looks like the gripper is against the chest's right wall. Lifting well above the chest (z=0.32) while continuing left so it can clear the rim.",
        "targets": {
          "right_y": 0.32,
          "right_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01DmgGn69hwZK33pxt95STpP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.812, 0.6083, -0.5591, -0.0189, -0.0387, 0.9992, 0.8089, 2.1948, 2.2948, -1.6352, 0.4488, 0.3561, 0.5426]\nstate[eef_state]: left_x=0.2689 left_y=0.0018 left_z=0.1425 left_yaw=0.0025 left_pitch=-0.1873 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3428 right_y=0.2535 right_z=0.1815 right_yaw=0.0207 right_pitch=-0.6966 right_roll=-0.5386 right_gripper=0.5426\nstate[joint_eff]: [-0.1299, -0.8957, 6.8718, 1.7167, -0.0464, -0.0611, -0.0122, -0.5265, -17.1009, 6.4752, 0.9402, 0.3004, 0.2369, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bfaf84e10cd1c15169fdefe0a1f0dfea5fd032ec5a539627af80604e97aca1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c6db1bfd6af44f1e462c54d7682b15695f144a25764a8a6b75a352b73252ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:721b8f02cf01b548a4a5f1522716281d674f8246828633c667a5ed61422e5490",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 9.336 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6083, -0.5354, -0.0189, -0.0387, 0.9992, 0.6949, 2.3013, 2.4489, -1.5631, 0.3302, 0.3386, 0.5382]\nstate[eef_state]: left_x=0.2729 left_y=0.0018 left_z=0.147 left_yaw=0.0025 left_pitch=-0.1625 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3925 right_y=0.2573 right_z=0.1699 right_yaw=0.0687 right_pitch=-0.6865 right_roll=-0.3281 right_gripper=0.5382\nstate[joint_eff]: [-0.1026, -1.2513, 6.8855, 1.707, -0.0415, -0.0611, -0.0122, 0.294, -13.0393, 8.7316, 0.8718, 0.1343, 0.4078, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6083, -0.5407, -0.0189, -0.0387, 0.9992, 0.7559, 2.3409, 2.4821, -1.6234, 0.3882, 0.363, 0.5404]\nstate[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.146 left_yaw=0.0025 left_pitch=-0.1678 left_roll=-0.0005 left_gripper=0.9992 right_x=0.377 right_y=0.2684 right_z=0.1629 right_yaw=0.0344 right_pitch=-0.6978 right_roll=-0.4309 right_gripper=0.5404\nstate[joint_eff]: [-0.3214, -0.9641, 6.9265, 1.619, -0.0317, -0.0562, -0.0171, -0.6222, -13.7915, 9.388, 0.9695, 0.1783, 0.1832, 0.4713]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.812, 0.6083, -0.5591, -0.0189, -0.0387, 0.9992, 0.8089, 2.1948, 2.2948, -1.6352, 0.4488, 0.3561, 0.5426]\nstate[eef_state]: left_x=0.2689 left_y=0.0018 left_z=0.1425 left_yaw=0.0025 left_pitch=-0.1873 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3428 right_y=0.2535 right_z=0.1815 right_yaw=0.0207 right_pitch=-0.6966 right_roll=-0.5386 right_gripper=0.5426\nstate[joint_eff]: [-0.1299, -0.8957, 6.8718, 1.7167, -0.0464, -0.0611, -0.0122, -0.5265, -17.1009, 6.4752, 0.9402, 0.3004, 0.2369, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bfaf84e10cd1c15169fdefe0a1f0dfea5fd032ec5a539627af80604e97aca1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c6db1bfd6af44f1e462c54d7682b15695f144a25764a8a6b75a352b73252ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721b8f02cf01b548a4a5f1522716281d674f8246828633c667a5ed61422e5490",
        "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+AYKjgEIEhgCKkAbmRJmY708IM0CzV0b1lt+72C0p0rf4dsB/zW3KfM0gWjYl1EHTH3c2lhO0voRgMHzTSQQXP6qHHKgojBu77tOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbqPzNUGEgwsfYdaIARTwbE82i8aDMRq3HKbySfBTGP9hCIw0pi2nJtLPu1Gpm8zxPZMWtD+RN/eQ/pg+N82jz8DPqhVCnKZit717SxMtYgBapVuKpYF+IDyRky/FArExAYDPsGc62K+GZhFhJ4NbBEc7xkk0MfaMfrLsNgrt5M8zg6t/My1IKyt9ICvSvEJcLQ3qG+FR7gKaGZZzgXEDwUOXTndPUW3XwNt1wi54tc4/IaY4NOokakj+HW/lTGSsPacsbwvwtBPQCh9gwWvv6tjL/lJMwCMankLRqOk48xWz5pT1Ufchdrnr0H6Za1uEvPQmx5J+FygL7c375Ma+GY7Uco1E7D75aRBMlHIqYBrHPsviWoBSeMns17rWF3ThuYT+SPa0HpOkL9xsnPsOE2/G0306RQHRmsEJgG0Hh2oE54fuRqfDMRB/wabbvVVrAL6E7kmoKonjRNbyX8Foe2h+kPUq7u8woLP2A8CxDS2X4mbQHmrRthzh2yu84VbQUzvYMsgdsy0BLtYoMJGOCuhrnY3t9JKaYkc3nrj6iEMKPhrkgDdBODq6WGhFQwNuGvgi75JsGoJ+tBAG4O10VWdqUtwUMM6+3NBd2AsOTR9bcR8ADNjvhQm2HmppQ0lKMex3fALiDoZr6R8VpYPx1bvMa0JDlJRiIRQRoxsaf0J07eIrqXopk14uC7MmZ1HvzcmsgIN0Aeb9K3kc/oPBx2uz/e6rEHNkutNhlJ/6nX9Mm/rmO+BirilY+kday4ZQeNIKnII9GQBdYc/blNpjS0uGvuZLOksCFM/ZqgnxkBiEZQozebHXDBDP0beoJ3wArwh4kOXEfKqVZfrd5Tibo5KrJZKQGm0UXdFzy0ULKi2h13br8KgH8WJtcPcvTq5ieffjnJkCKkg32FIDH3uC+9Va0Z5753e3Bzgxt+p4MSMuoZ8J/bpIKRyfn6SEFfMCz20DBDJ4lr5WHwa5Tl7ewycFQ27yrnZs8J5T3UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013xDsTKZGPk49GVo45cvkKr",
      "input": {
        "note": "The wrist has drifted into a badly rolled/pitched pose and the arm has stopped tracking; resetting orientation to level and lifting to 25 cm to recover a clean configuration while still holding the lemon.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.35,
          "right_yaw": 0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_013xDsTKZGPk49GVo45cvkKr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6083, -0.5636, -0.0189, -0.0387, 0.9992, 0.8787, 1.6577, 1.4231, -0.8513, 0.651, 0.5282, 0.5424]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1408 left_yaw=0.0026 left_pitch=-0.1953 left_roll=0.0001 left_gripper=0.9992 right_x=0.3306 right_y=0.2368 right_z=0.1902 right_yaw=0.0307 right_pitch=-0.2099 right_roll=-0.2268 right_gripper=0.5424\nstate[joint_eff]: [-0.0479, -1.4974, 6.8718, 1.6484, -0.0855, -0.0171, -0.0122, 0.5128, -12.6701, 9.2376, 2.5372, 0.652, 0.4811, 0.9646]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ecbc754196477c0d5c82a84f3821b56708c4efb0da8348ab9b84c1acc88d6c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0193b0758a8fa891e24a19a40bbda56265c653b9d42472a7ea919c4bfb6b4ec8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cdf932e4138b7e56cd26328dc4b5545c7d55b0f9858626f50688fd53edb8051b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 6.561 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6083, -0.5407, -0.0189, -0.0387, 0.9992, 0.7559, 2.3409, 2.4821, -1.6234, 0.3882, 0.363, 0.5404]\nstate[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.146 left_yaw=0.0025 left_pitch=-0.1678 left_roll=-0.0005 left_gripper=0.9992 right_x=0.377 right_y=0.2684 right_z=0.1629 right_yaw=0.0344 right_pitch=-0.6978 right_roll=-0.4309 right_gripper=0.5404\nstate[joint_eff]: [-0.3214, -0.9641, 6.9265, 1.619, -0.0317, -0.0562, -0.0171, -0.6222, -13.7915, 9.388, 0.9695, 0.1783, 0.1832, 0.4713]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.812, 0.6083, -0.5591, -0.0189, -0.0387, 0.9992, 0.8089, 2.1948, 2.2948, -1.6352, 0.4488, 0.3561, 0.5426]\nstate[eef_state]: left_x=0.2689 left_y=0.0018 left_z=0.1425 left_yaw=0.0025 left_pitch=-0.1873 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3428 right_y=0.2535 right_z=0.1815 right_yaw=0.0207 right_pitch=-0.6966 right_roll=-0.5386 right_gripper=0.5426\nstate[joint_eff]: [-0.1299, -0.8957, 6.8718, 1.7167, -0.0464, -0.0611, -0.0122, -0.5265, -17.1009, 6.4752, 0.9402, 0.3004, 0.2369, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6083, -0.5636, -0.0189, -0.0387, 0.9992, 0.8787, 1.6577, 1.4231, -0.8513, 0.651, 0.5282, 0.5424]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1408 left_yaw=0.0026 left_pitch=-0.1953 left_roll=0.0001 left_gripper=0.9992 right_x=0.3306 right_y=0.2368 right_z=0.1902 right_yaw=0.0307 right_pitch=-0.2099 right_roll=-0.2268 right_gripper=0.5424\nstate[joint_eff]: [-0.0479, -1.4974, 6.8718, 1.6484, -0.0855, -0.0171, -0.0122, 0.5128, -12.6701, 9.2376, 2.5372, 0.652, 0.4811, 0.9646]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ecbc754196477c0d5c82a84f3821b56708c4efb0da8348ab9b84c1acc88d6c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0193b0758a8fa891e24a19a40bbda56265c653b9d42472a7ea919c4bfb6b4ec8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdf932e4138b7e56cd26328dc4b5545c7d55b0f9858626f50688fd53edb8051b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gkKjgEIEhgCKkDMfvlX5UyvXXcqvdqkYcysWqZrO8zKuDrRfukBwfKTi26OsFeiOWLSKA6mCfxkBszlxWf/UepMPsSPr+bC8jicMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcaPzNUGEgyEonQrkznxGD9ZZfoaDCGwrkreOH7DqAHQfyIwFGPrB5mfYKiU7c8fChRDN74mH/ELPROH5wtFm3p/3N+74yoZUpedGtzfqyVijef8KvgH2kCFC/PKVSvpzUG67ZrQH5j8QT9TO5/QgyCfYxzaqn54xGXFLxPw4exBECV9y4FA6HE20Y2kFSB8reHHo3AvULWOtqNiU08NLRkpU6YZ4oY2GV66mq7PjC+i+3Rt6Mj42Sm2o9X2L6sGaAyMue9G1tZqw+ICkXGUDUuz3TkhwgsZbhQit1UWYYNcvEuIX+bCQD8DsCdwerGtD41oH4iQpD79Hcw0J/1um9BwWcqXQLhxF30zy99C9+fPxM4XP+JBam18mfOeTX2HP/WGsWYH2PDmO03vwvK5rb6tlPvLazS0c0fth/XabBmoCHWepnGPgog2ZgUnm/uV3DCNUHVZkXkEoTteFd9ZjSXSSq0ghzU/3CfGspu3qIRAi5dfOn+Ik6K95YfiLZ30FvCIP8jxe2tP6+igSNTqvBpT9eoxnjGnxjkSRdX+P+fRvZ6HrgYfjyfCgCN8G9/Yw4mOHtLzV6YPXK5qZRRXoTDRaPYGdcyPqOWCvScnUdeWu4/bkWI6LwMEaEpeLrhWB0lRR4N0Xp9F4OkgGcO6v20kQcOfkHU/wjl+7fzIGLs8ZpSBsnrtDSlLmSWkqGWhES5TczQmEOZ7thf86/GoIEbAuB88EprCRWjFHi7H6lz2tgFLRV4K4PyTQrAmG+lRN1U+/3VD4ZDi7Or/JaNCueN37YmY+CMjN8aGKwyVZzDuqbAp9NzMTH2Q9d6T0dHK+zr4nZxIVHhWVxvROiFmiGERJWx1PasWbxhMmmVYe7FJ4sc21B4d0gz5l8b8rbJcGTCh16DWK2eBih1jrxvnr6xCLg515PNednfcE+ozCwB1ch6lO3Zuog218gcdYCpY1JHE1W479J56fNeMBeixZextZOSxZPU9eIuksjqGX5Rvi497fqnDhTZ7Q/PQ5CHkd4/n9rOlE5mGWPQIls5rdbH3kb+wwmXbbdpFGkXyfUzdzGApdA47byMlwztyHH706nQFI28+UThIaVQ9T4VAAUKC97jl8cxjSDfDySeyOU4vHZGN9gMoAGO80rITSOBK53Y0OcWi+yPPafavnZBJII7Wr5lWyymILkyjWLLZ8xo1NEI08LM5X6BMAtScW3MRSe71H89eJBA3WToHjXPjFWsYp2ep4lxeZN8qSw37B5QovdBxoP6zoQJlsrNJaFco8PEpWJwo0QWIT0YjGL08J3JQQu1s+2cXKj1cg85Q3mIniCwAvTjuSmrSuYiSZB5a9C7M+Yz3VZgLgwrKA6Lxu35byiVw3OgGJbItSuivFSIWwNwZ0Aho814golb1aNeSDZEj3Kt1YMhWc/P9D96Rs6t2KRVwWMNdr3GFY0xYiDAO3HQ49xn6M8i5LpGiwZ0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019SZYAGpDG1FyMnDcY6kfiL",
      "input": {
        "note": "Top view shows the gripper with the lemon just right of the chest opening; commanding a small pure sideways step to bring it over the red interior.",
        "targets": {
          "right_y": 0.29
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019SZYAGpDG1FyMnDcY6kfiL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6083, -0.5766, -0.0189, -0.0387, 0.9992, 0.968, 1.8599, 1.5623, -1.0149, 0.6575, 0.5591, 0.5454]\nstate[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1383 left_yaw=0.0026 left_pitch=-0.209 left_roll=0.0004 left_gripper=0.9992 right_x=0.3131 right_y=0.2708 right_z=0.1478 right_yaw=0.0493 right_pitch=-0.3443 right_roll=-0.3918 right_gripper=0.5454\nstate[joint_eff]: [0.0068, -1.2786, 6.8581, 1.6825, -0.0415, -0.0659, -0.0122, 0.1299, -11.7265, 11.2889, 1.5702, 0.5885, 0.4615, 0.5934]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ee3b3e5387fd8f09d3a9fefa977192dda344bd42aef466983ac830604d7be16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23141df6336298ba5daa7598d4884e1de76d1b38ad472d05a525ef69ac2325e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a9bcf20a674d3211cab78347a7ccb496c15ef7140986234ee09c12daae86f9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 16.79 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.812, 0.6083, -0.5591, -0.0189, -0.0387, 0.9992, 0.8089, 2.1948, 2.2948, -1.6352, 0.4488, 0.3561, 0.5426]\nstate[eef_state]: left_x=0.2689 left_y=0.0018 left_z=0.1425 left_yaw=0.0025 left_pitch=-0.1873 left_roll=-0.0001 left_gripper=0.9992 right_x=0.3428 right_y=0.2535 right_z=0.1815 right_yaw=0.0207 right_pitch=-0.6966 right_roll=-0.5386 right_gripper=0.5426\nstate[joint_eff]: [-0.1299, -0.8957, 6.8718, 1.7167, -0.0464, -0.0611, -0.0122, -0.5265, -17.1009, 6.4752, 0.9402, 0.3004, 0.2369, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6083, -0.5636, -0.0189, -0.0387, 0.9992, 0.8787, 1.6577, 1.4231, -0.8513, 0.651, 0.5282, 0.5424]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1408 left_yaw=0.0026 left_pitch=-0.1953 left_roll=0.0001 left_gripper=0.9992 right_x=0.3306 right_y=0.2368 right_z=0.1902 right_yaw=0.0307 right_pitch=-0.2099 right_roll=-0.2268 right_gripper=0.5424\nstate[joint_eff]: [-0.0479, -1.4974, 6.8718, 1.6484, -0.0855, -0.0171, -0.0122, 0.5128, -12.6701, 9.2376, 2.5372, 0.652, 0.4811, 0.9646]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6083, -0.5766, -0.0189, -0.0387, 0.9992, 0.968, 1.8599, 1.5623, -1.0149, 0.6575, 0.5591, 0.5454]\nstate[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1383 left_yaw=0.0026 left_pitch=-0.209 left_roll=0.0004 left_gripper=0.9992 right_x=0.3131 right_y=0.2708 right_z=0.1478 right_yaw=0.0493 right_pitch=-0.3443 right_roll=-0.3918 right_gripper=0.5454\nstate[joint_eff]: [0.0068, -1.2786, 6.8581, 1.6825, -0.0415, -0.0659, -0.0122, 0.1299, -11.7265, 11.2889, 1.5702, 0.5885, 0.4615, 0.5934]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ee3b3e5387fd8f09d3a9fefa977192dda344bd42aef466983ac830604d7be16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23141df6336298ba5daa7598d4884e1de76d1b38ad472d05a525ef69ac2325e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a9bcf20a674d3211cab78347a7ccb496c15ef7140986234ee09c12daae86f9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvAYKjgEIEhgCKkA8h5m22vAnjntdU5AcnDhokZt92T/hRsSqGR86QZMeNVOMLshi/vORcbdhp/aLWF2zqXLl62f7mzrsnGdjROGUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2PzNUGEgw/NyI+/ZBwa6LPiVEaDNRQ/QyXrBl5DknsSiIwuBoXP6LHqU1svuUai4Av0MK2hpgRC8Np4Y4R+RwbEvT60XvHfGq/xg8zUn0rEKUPKtoE3IV9Z0LiwQgl30XvYuB8mpjPm9X1Hs7BpqQoy0A09Xf4Lz1LYw5ztnilIxcYQ0APBp33LrSEOPQhnIg7liybQexsa6O3Nxw3a+Dz5nCGnBC2RXZBpyDz1Tehot7Ijb7yX1UQMYa338HS66KoEWDzQy2r4YIlLMQ3ApiyCqwLMcbAs5N6NUx2H2N50OeMZ0tfSeLuH+f1JCCLO0rsQkNbBWZZrigRclUJWaG3EEvCL4N7KK5AP5t4/Hf9FA/oOixuOqHu6VAnRJZEJqPTpWo3FymMCnrmNygrVXD3Mku/bc+9RW4LYzo+jht/ewFQV/3EPf2St1x/LqQ01GtvPV2Oaa5k9v7uTyR1A1vUnmIcaipmmf3VEbrHAqMsUL1arumgIT+vIJkKcFkUldEMrAHualVy/xZQraeBZe67c8tLDOlB7imsqogMWIEhur5rRM/ru5HTFAhUh7teuS+wAymNt/LFLSUGTdh0HJyS+7AG0QAMXflUyO9ERsRhV5CcHkwqYRsmtviAOqCx/8nmbJv1KFSZlC5JT1Y2gCkepmqb/sWf9Tcdkcjr/h+q0vKThprrcibFNMkTrt6vOpAHHZ3+zOQUrOb0iGIJOjbyN8uomY44qMFou+se18TdUQVXxf0s4anNoABHAlaswgSpDLYqe6RoGit0pdfSVz/SgXItKocMx/EJZ3Tj/6v1FU51r5ptQWcCbS6xJ5HYPn2uDnb6jWq8CjiQapqnKJoNRkjY9KXmJOxDtdcB/VEzstVuYkPdK+u71eZMNf9FvmLDBBQ7srpTa4cDFF6nKUYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GkHPSirKcpDNyBZ5AE4cPq",
      "input": {
        "note": "Wrist view shows the chest's silver rim and red interior immediately left of the held lemon; nudging a few more cm left and up to get the lemon over the opening.",
        "targets": {
          "right_y": 0.33,
          "right_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_01GkHPSirKcpDNyBZ5AE4cPq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6083, -0.585, -0.0189, -0.0387, 0.9992, 1.0027, 1.8778, 1.5696, -1.0538, 0.6842, 0.5758, 0.5471]\nstate[eef_state]: left_x=0.2646 left_y=0.0019 left_z=0.1366 left_yaw=0.0027 left_pitch=-0.2185 left_roll=0.0006 left_gripper=0.9992 right_x=0.3032 right_y=0.2741 right_z=0.1442 right_yaw=0.0487 right_pitch=-0.349 right_roll=-0.4397 right_gripper=0.5471\nstate[joint_eff]: [-0.0479, -0.9504, 7.0222, 1.6386, -0.0757, -0.0366, -0.0122, -0.0752, -10.4274, 6.9949, 1.1502, 0.6618, 0.0806, 0.1636]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a175f3fa834d3a0533496c4e3eebd748d1d53aaf967f0084d21516afe9c1ce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ee4ec4be9b804fbb978c58b514a3a655e6e8918d207fe75283a7e15caf8b8a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08972b1b9d8638a36685c3d031da55d2cd20c08093a57b1f2502156706002369",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.188 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6083, -0.5636, -0.0189, -0.0387, 0.9992, 0.8787, 1.6577, 1.4231, -0.8513, 0.651, 0.5282, 0.5424]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1408 left_yaw=0.0026 left_pitch=-0.1953 left_roll=0.0001 left_gripper=0.9992 right_x=0.3306 right_y=0.2368 right_z=0.1902 right_yaw=0.0307 right_pitch=-0.2099 right_roll=-0.2268 right_gripper=0.5424\nstate[joint_eff]: [-0.0479, -1.4974, 6.8718, 1.6484, -0.0855, -0.0171, -0.0122, 0.5128, -12.6701, 9.2376, 2.5372, 0.652, 0.4811, 0.9646]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6083, -0.5766, -0.0189, -0.0387, 0.9992, 0.968, 1.8599, 1.5623, -1.0149, 0.6575, 0.5591, 0.5454]\nstate[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1383 left_yaw=0.0026 left_pitch=-0.209 left_roll=0.0004 left_gripper=0.9992 right_x=0.3131 right_y=0.2708 right_z=0.1478 right_yaw=0.0493 right_pitch=-0.3443 right_roll=-0.3918 right_gripper=0.5454\nstate[joint_eff]: [0.0068, -1.2786, 6.8581, 1.6825, -0.0415, -0.0659, -0.0122, 0.1299, -11.7265, 11.2889, 1.5702, 0.5885, 0.4615, 0.5934]\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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6083, -0.585, -0.0189, -0.0387, 0.9992, 1.0027, 1.8778, 1.5696, -1.0538, 0.6842, 0.5758, 0.5471]\nstate[eef_state]: left_x=0.2646 left_y=0.0019 left_z=0.1366 left_yaw=0.0027 left_pitch=-0.2185 left_roll=0.0006 left_gripper=0.9992 right_x=0.3032 right_y=0.2741 right_z=0.1442 right_yaw=0.0487 right_pitch=-0.349 right_roll=-0.4397 right_gripper=0.5471\nstate[joint_eff]: [-0.0479, -0.9504, 7.0222, 1.6386, -0.0757, -0.0366, -0.0122, -0.0752, -10.4274, 6.9949, 1.1502, 0.6618, 0.0806, 0.1636]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a175f3fa834d3a0533496c4e3eebd748d1d53aaf967f0084d21516afe9c1ce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ee4ec4be9b804fbb978c58b514a3a655e6e8918d207fe75283a7e15caf8b8a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08972b1b9d8638a36685c3d031da55d2cd20c08093a57b1f2502156706002369",
        "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_01FdHR8WTXPmFzwv72WWiZXa",
      "input": {
        "note": "The arm refuses to translate further left (likely the forearm is against the chest), but the lemon may already be over the opening; descending slowly — if it reaches low z we are inside the box, if it stops high we are on the rim.",
        "targets": {
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01FdHR8WTXPmFzwv72WWiZXa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.5858, -0.0189, -0.0383, 0.9992, 1.0023, 1.8778, 1.5661, -1.0534, 0.6846, 0.5762, 0.5498]\nstate[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1361 left_yaw=0.0025 left_pitch=-0.2208 left_roll=0.001 left_gripper=0.9992 right_x=0.303 right_y=0.2734 right_z=0.1432 right_yaw=0.047 right_pitch=-0.3504 right_roll=-0.4424 right_gripper=0.5498\nstate[joint_eff]: [-0.212, -1.1966, 6.8718, 1.5458, -0.0513, -0.0171, -0.0122, 0.0889, -10.5231, 7.3504, 1.1404, 0.696, 0.1197, 0.2662]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79e043f56175f7d05b74cdea0cc47467fc0b8cfd43bd1778628dbd17d243fe72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d8d8c70037d33d4fa241758f44ea50e906184e23416ac1ff5c7980b0dc56724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54a23fbb93082e11b1ecbfa0048745b1d91a5bdecd6afbcaeb0d418b92a11c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /messages · status 200 · 12.69 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6083, -0.5766, -0.0189, -0.0387, 0.9992, 0.968, 1.8599, 1.5623, -1.0149, 0.6575, 0.5591, 0.5454]\nstate[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1383 left_yaw=0.0026 left_pitch=-0.209 left_roll=0.0004 left_gripper=0.9992 right_x=0.3131 right_y=0.2708 right_z=0.1478 right_yaw=0.0493 right_pitch=-0.3443 right_roll=-0.3918 right_gripper=0.5454\nstate[joint_eff]: [0.0068, -1.2786, 6.8581, 1.6825, -0.0415, -0.0659, -0.0122, 0.1299, -11.7265, 11.2889, 1.5702, 0.5885, 0.4615, 0.5934]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6083, -0.585, -0.0189, -0.0387, 0.9992, 1.0027, 1.8778, 1.5696, -1.0538, 0.6842, 0.5758, 0.5471]\nstate[eef_state]: left_x=0.2646 left_y=0.0019 left_z=0.1366 left_yaw=0.0027 left_pitch=-0.2185 left_roll=0.0006 left_gripper=0.9992 right_x=0.3032 right_y=0.2741 right_z=0.1442 right_yaw=0.0487 right_pitch=-0.349 right_roll=-0.4397 right_gripper=0.5471\nstate[joint_eff]: [-0.0479, -0.9504, 7.0222, 1.6386, -0.0757, -0.0366, -0.0122, -0.0752, -10.4274, 6.9949, 1.1502, 0.6618, 0.0806, 0.1636]\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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.5858, -0.0189, -0.0383, 0.9992, 1.0023, 1.8778, 1.5661, -1.0534, 0.6846, 0.5762, 0.5498]\nstate[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1361 left_yaw=0.0025 left_pitch=-0.2208 left_roll=0.001 left_gripper=0.9992 right_x=0.303 right_y=0.2734 right_z=0.1432 right_yaw=0.047 right_pitch=-0.3504 right_roll=-0.4424 right_gripper=0.5498\nstate[joint_eff]: [-0.212, -1.1966, 6.8718, 1.5458, -0.0513, -0.0171, -0.0122, 0.0889, -10.5231, 7.3504, 1.1404, 0.696, 0.1197, 0.2662]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79e043f56175f7d05b74cdea0cc47467fc0b8cfd43bd1778628dbd17d243fe72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d8d8c70037d33d4fa241758f44ea50e906184e23416ac1ff5c7980b0dc56724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54a23fbb93082e11b1ecbfa0048745b1d91a5bdecd6afbcaeb0d418b92a11c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6wQKjgEIEhgCKkCmP9e+UCzzdMnTjEdI9MPO4TrU1OPfKy8s4g8fyQq5Cn+nBk1vRYTMbOhrfty8nrgN9AAr8WLLfKrA/9V+mVHmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSPzNUGEgxQjaWLsURjG/J35j0aDJ5cyqV+9zdY8vkrcCIwzPFyp7vHAJmalPqTRZRld0t1Wnm6IYa7ejlMrdenp3MjdeDKlG57dqAk2tVsIK1pKokDMcx62kijZ5Rl2JRv4Q9RVV4en91aWLsSV+9H/5t9WjtTzEA1HcC48jMaVwPeONix8HquwBMyjpOnj0uHyvgOhojw/CTJhaMJZx8wsWYMvKpjj6Tsw1r1ZIfqCvZpwj5u7YUkG71B2RfdSc1CtAeyEhZJgGpA4vJCqcpP9mRQxKy40t5fo0KkiVsCD7BlMR0s6/ZjcgUzod0HpyZyc4iS2J8irV/+DI5pg1H0lwr/k9CdPca26HucaC7ROZPvO+jeTyzi602ptGIhXeKbg5VNVsYqF0iZ9c6K0lwbwjKo7PpB1meq/G93sdQtboyS7OjopAn248p4TA3B8DMGjIboTg4VhP5HdnxyrDYZ5jWo7axRm+FhT82cl7SukhtQpUuJIMD8qh7vWpl6XXLOrUViZYdSUpV1Ax8LsR/Ey7bwR5WpHJy5uPgiA/TEbrq6f0AfYsSkriBkItQoBsl0jqWHVGMieGejYQhXhKHY8LqGLBdMhrHJcOQ5wKALVeVGgRCB5xKw8gSrxtMlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0149Lpj3urzAKmjUt3bouZJo",
      "input": {
        "note": "The arm has stopped tracking entirely — it appears jammed against the chest. Backing away to the right and up to recover a clean pose before retrying the drop.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.18,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0149Lpj3urzAKmjUt3bouZJo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.5903, -0.0189, -0.0383, 0.9992, 0.7773, 1.6817, 1.5074, -1.169, 0.6067, 0.3077, 0.5524]\nstate[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.1353 left_yaw=0.0025 left_pitch=-0.2254 left_roll=0.0011 left_gripper=0.9992 right_x=0.3171 right_y=0.1757 right_z=0.1815 right_yaw=0.011 right_pitch=-0.4638 right_roll=-0.5368 right_gripper=0.5524\nstate[joint_eff]: [-0.212, -1.2239, 6.8308, 1.5311, -0.0513, -0.0513, -0.0122, -0.1299, -11.8085, 10.2085, 1.4969, 0.3736, 0.232, 0.5543]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67fa6329fcfccaa3bb77bf63ab7e202cd681e7029b1674f818ad9c4b94626a66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba0bda21d316726979849f873bb4fd47960d2d3320709af3b1cbe2dae9294deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd904a98b816b5760ce426d22c70bcb5cd360d60b1dd06d78a6df467080e9ae0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 7.037 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6083, -0.585, -0.0189, -0.0387, 0.9992, 1.0027, 1.8778, 1.5696, -1.0538, 0.6842, 0.5758, 0.5471]\nstate[eef_state]: left_x=0.2646 left_y=0.0019 left_z=0.1366 left_yaw=0.0027 left_pitch=-0.2185 left_roll=0.0006 left_gripper=0.9992 right_x=0.3032 right_y=0.2741 right_z=0.1442 right_yaw=0.0487 right_pitch=-0.349 right_roll=-0.4397 right_gripper=0.5471\nstate[joint_eff]: [-0.0479, -0.9504, 7.0222, 1.6386, -0.0757, -0.0366, -0.0122, -0.0752, -10.4274, 6.9949, 1.1502, 0.6618, 0.0806, 0.1636]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.5858, -0.0189, -0.0383, 0.9992, 1.0023, 1.8778, 1.5661, -1.0534, 0.6846, 0.5762, 0.5498]\nstate[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1361 left_yaw=0.0025 left_pitch=-0.2208 left_roll=0.001 left_gripper=0.9992 right_x=0.303 right_y=0.2734 right_z=0.1432 right_yaw=0.047 right_pitch=-0.3504 right_roll=-0.4424 right_gripper=0.5498\nstate[joint_eff]: [-0.212, -1.1966, 6.8718, 1.5458, -0.0513, -0.0171, -0.0122, 0.0889, -10.5231, 7.3504, 1.1404, 0.696, 0.1197, 0.2662]\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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.5903, -0.0189, -0.0383, 0.9992, 0.7773, 1.6817, 1.5074, -1.169, 0.6067, 0.3077, 0.5524]\nstate[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.1353 left_yaw=0.0025 left_pitch=-0.2254 left_roll=0.0011 left_gripper=0.9992 right_x=0.3171 right_y=0.1757 right_z=0.1815 right_yaw=0.011 right_pitch=-0.4638 right_roll=-0.5368 right_gripper=0.5524\nstate[joint_eff]: [-0.212, -1.2239, 6.8308, 1.5311, -0.0513, -0.0513, -0.0122, -0.1299, -11.8085, 10.2085, 1.4969, 0.3736, 0.232, 0.5543]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67fa6329fcfccaa3bb77bf63ab7e202cd681e7029b1674f818ad9c4b94626a66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba0bda21d316726979849f873bb4fd47960d2d3320709af3b1cbe2dae9294deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd904a98b816b5760ce426d22c70bcb5cd360d60b1dd06d78a6df467080e9ae0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013LRKPbxjocfv4zUYHnCyFr",
      "input": {
        "note": "Recovered mobility. Now lifting the lemon high above everything (z=0.35) with the wrist levelled, so I can traverse over the chest rim without the forearm fouling it.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_z": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_013LRKPbxjocfv4zUYHnCyFr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6083, -0.5922, -0.0189, -0.0383, 0.9992, 0.7795, 1.4414, 1.5982, -1.2121, 0.6044, 0.4129, 0.5553]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1349 left_yaw=0.0025 left_pitch=-0.2277 left_roll=0.0011 left_gripper=0.9992 right_x=0.299 right_y=0.1594 right_z=0.284 right_yaw=0.029 right_pitch=-0.233 right_roll=-0.2569 right_gripper=0.5553\nstate[joint_eff]: [-0.0479, -1.1966, 7.0222, 1.5067, -0.0415, -0.0171, -0.0122, 0.0479, -9.2239, 11.5897, 2.8791, 0.3004, 0.5934, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da5acf0fc79532ea5ad6d238601bb73bb0cf6b7970d2218687e582bc60d4f815",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e2ed49252e4844012fce84af25d4bfbdf97f5bb8f8d0228b072200a917b0fd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:045632052500629c428aae2e9ce60a141696a923f0afc5a3c117c4eb4cab9a0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 8.957 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.5858, -0.0189, -0.0383, 0.9992, 1.0023, 1.8778, 1.5661, -1.0534, 0.6846, 0.5762, 0.5498]\nstate[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1361 left_yaw=0.0025 left_pitch=-0.2208 left_roll=0.001 left_gripper=0.9992 right_x=0.303 right_y=0.2734 right_z=0.1432 right_yaw=0.047 right_pitch=-0.3504 right_roll=-0.4424 right_gripper=0.5498\nstate[joint_eff]: [-0.212, -1.1966, 6.8718, 1.5458, -0.0513, -0.0171, -0.0122, 0.0889, -10.5231, 7.3504, 1.1404, 0.696, 0.1197, 0.2662]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.5903, -0.0189, -0.0383, 0.9992, 0.7773, 1.6817, 1.5074, -1.169, 0.6067, 0.3077, 0.5524]\nstate[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.1353 left_yaw=0.0025 left_pitch=-0.2254 left_roll=0.0011 left_gripper=0.9992 right_x=0.3171 right_y=0.1757 right_z=0.1815 right_yaw=0.011 right_pitch=-0.4638 right_roll=-0.5368 right_gripper=0.5524\nstate[joint_eff]: [-0.212, -1.2239, 6.8308, 1.5311, -0.0513, -0.0513, -0.0122, -0.1299, -11.8085, 10.2085, 1.4969, 0.3736, 0.232, 0.5543]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6083, -0.5922, -0.0189, -0.0383, 0.9992, 0.7795, 1.4414, 1.5982, -1.2121, 0.6044, 0.4129, 0.5553]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1349 left_yaw=0.0025 left_pitch=-0.2277 left_roll=0.0011 left_gripper=0.9992 right_x=0.299 right_y=0.1594 right_z=0.284 right_yaw=0.029 right_pitch=-0.233 right_roll=-0.2569 right_gripper=0.5553\nstate[joint_eff]: [-0.0479, -1.1966, 7.0222, 1.5067, -0.0415, -0.0171, -0.0122, 0.0479, -9.2239, 11.5897, 2.8791, 0.3004, 0.5934, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da5acf0fc79532ea5ad6d238601bb73bb0cf6b7970d2218687e582bc60d4f815",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e2ed49252e4844012fce84af25d4bfbdf97f5bb8f8d0228b072200a917b0fd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:045632052500629c428aae2e9ce60a141696a923f0afc5a3c117c4eb4cab9a0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5gYKjgEIEhgCKkC14RwFi3VmMCBQcJHNpeNwHtx2y0okE9TEYU3aQUpjlzN3Ftw3LtfvYWQ0NjcH2JK7oX/AqEa2ohAdryt3T0LsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfqPzNUGEgzOz9Gs30OBfYA0Z64aDB+ANrkQk1x64r0lRyIwi5kE898yNhNv6wzKDjtkOOGU4bwszLSMwmQ4NqVk8PF9HnyJ3UyRUPSKnNkJR+KhKoQFElDLtyrZYXW9WAXi36Eh0dE3gf6/fqMKEJXdrj7ofUd61SBgVjuXomNhmrWrBepUAJBU/r9QDoenNYG6luPB0PBVb7q1N8VWXJlo2otWKaX79mOD8mklGXQWa11GdfAXD1RkPs3RTDfCizcl6pdyTeGcI6/XIe7fTlKGrQ58Y1/hRCGuWfiVUFmGPXkov/o0Vkg7969R+MtX+d6WrJA7nxb8+bdtEInPCWDbaxhp3+mOatH7xhfwnj7A/L5H36z81TStgb8KRmlxGpng+qP/uiK8vrJ/mXgYdfKCWP3Xk1RCLsiC4KO6Ch6e3GWWRUyRGWx9zRiZlzJK3o1GC3gxduxbiLdLylpqSWzkxinFmdGGadrRtI3VxzrBwlz+bw+V/5DotjsM+41Bi70Mqr37T8eCvHFbgGLEX9JuESLROp0kbV2vMQM0WGQHs0wQJN2M0+FHeBMIFin8NjC1DMHscmjVj5TpmjOcIG8O0UL+6+TmToj2+rdUMj04AlDd794RaM1C6wvsBdricw5X0D+jLMwujO6tHNjEHRcqu3aDT7Z6rYyG17nK8FNpzDYCtVmC/xw8+qVR4+oF7/t2UMkA825+x6svvE9gQ0bjr8fbr/qp8sVEFb6amaQHivZ2P/dQEd2LT8bIZfUYMXYa33ul8fS3ClB6VNT+OsxNeZ1oV11Bxu4Q0/xbOIKhuufjsnWQU9stFbrVCDXvz2qfMbbB3hGgK/ovDiEqx9zOWEmJXBA/C+5O2NsA4TKmgFu9sJOdneVLJE5YyWG1GCjKqIb04lpBTbxPMA7YaKQLwEm2EHuqZLSSsczV1U1XTvGrcYg30QTbTvJFWMuzAfl0lYqlRiRVZQUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DHxjbtE9r9adFK1ECBLfcR",
      "input": {
        "note": "Lemon is now held high (z=0.28) above the table with the chest's red interior still off to the left in the wrist view; translating 16 cm left at this safe height to get over the opening.",
        "targets": {
          "right_y": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01DHxjbtE9r9adFK1ECBLfcR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.6079, -0.0189, -0.0383, 0.9992, 1.0737, 2.0716, 2.3039, -1.6241, 0.6819, 0.683, 0.5575]\nstate[eef_state]: left_x=0.2605 left_y=0.002 left_z=0.1323 left_yaw=0.0026 left_pitch=-0.2429 left_roll=0.0014 left_gripper=0.9992 right_x=0.2893 right_y=0.3073 right_z=0.2546 right_yaw=0.0535 right_pitch=-0.3434 right_roll=-0.3954 right_gripper=0.5575\nstate[joint_eff]: [-0.1846, -1.1829, 6.8171, 1.6972, -0.0269, -0.0317, -0.0122, 0.1983, -11.4393, 9.1556, 1.0867, 0.7692, 0.6129, 0.6569]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0c627f355bd2b60bd039b60f1ad3b517d20058cdc22ed1a386c53f13c4a789b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:613716539f3ea60070ebae1ff370695b587330e42888f5251a277eb418140c69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:611fd627849db7c1c60e6856410f0df820f73210913c6fedd457183f03dcf283",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 6.898 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.5903, -0.0189, -0.0383, 0.9992, 0.7773, 1.6817, 1.5074, -1.169, 0.6067, 0.3077, 0.5524]\nstate[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.1353 left_yaw=0.0025 left_pitch=-0.2254 left_roll=0.0011 left_gripper=0.9992 right_x=0.3171 right_y=0.1757 right_z=0.1815 right_yaw=0.011 right_pitch=-0.4638 right_roll=-0.5368 right_gripper=0.5524\nstate[joint_eff]: [-0.212, -1.2239, 6.8308, 1.5311, -0.0513, -0.0513, -0.0122, -0.1299, -11.8085, 10.2085, 1.4969, 0.3736, 0.232, 0.5543]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6083, -0.5922, -0.0189, -0.0383, 0.9992, 0.7795, 1.4414, 1.5982, -1.2121, 0.6044, 0.4129, 0.5553]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1349 left_yaw=0.0025 left_pitch=-0.2277 left_roll=0.0011 left_gripper=0.9992 right_x=0.299 right_y=0.1594 right_z=0.284 right_yaw=0.029 right_pitch=-0.233 right_roll=-0.2569 right_gripper=0.5553\nstate[joint_eff]: [-0.0479, -1.1966, 7.0222, 1.5067, -0.0415, -0.0171, -0.0122, 0.0479, -9.2239, 11.5897, 2.8791, 0.3004, 0.5934, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.6079, -0.0189, -0.0383, 0.9992, 1.0737, 2.0716, 2.3039, -1.6241, 0.6819, 0.683, 0.5575]\nstate[eef_state]: left_x=0.2605 left_y=0.002 left_z=0.1323 left_yaw=0.0026 left_pitch=-0.2429 left_roll=0.0014 left_gripper=0.9992 right_x=0.2893 right_y=0.3073 right_z=0.2546 right_yaw=0.0535 right_pitch=-0.3434 right_roll=-0.3954 right_gripper=0.5575\nstate[joint_eff]: [-0.1846, -1.1829, 6.8171, 1.6972, -0.0269, -0.0317, -0.0122, 0.1983, -11.4393, 9.1556, 1.0867, 0.7692, 0.6129, 0.6569]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0c627f355bd2b60bd039b60f1ad3b517d20058cdc22ed1a386c53f13c4a789b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:613716539f3ea60070ebae1ff370695b587330e42888f5251a277eb418140c69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:611fd627849db7c1c60e6856410f0df820f73210913c6fedd457183f03dcf283",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStQcKjgEIEhgCKkBpMmlcmIAHXMQ/585yBdqiVM+fJyhr8iX9prk2jh9KBtYfUNb6V7Jqje7RPlMCFOwIrGI1AWifbUWY2PfiY/E5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYSQzNUGEgz8BIn1iNPFRf8yxQkaDCXuOsYFNN0DIYwxdyIwcUKxfSrucyggGP1quqgAiDOx+p5SqCaAbK4rvzX2NVSh6OU9jhuyzIycSGo26VHnKtMFwcmJSebKJmCJGq+XHG3oU/Z+0yJP/bPSQOKWWzBamCLCORdt8sgeIQGh4++L8PLeORVl4JBpu64I1KBb5MML4CxB+Vo5AT3cZgp4psLNah6sEE8MJEuFA39bu81LLdXhnrff8dEhW4KttxRHbB3EnHEbqnAVF0T64ncETrkM4BxZNDuMiva8J6NKoVcAofzIJFOYYr7pcT1l9GPhxMfiraPx9viDZiJbdqlo9og622ztOKlcXxYyQgV0+tUv8Q/q26g0q++rzPuHx0f64YeR4yNfLfFLMmhMycx2peVLlp3M1a0V26ixMOeRUfFXrbB7Hhj91xoESmMtoU6RS4BXYF9iFrn4EYL13N4yNDudc/VeBSp1Sr38P2KLDL2/SY1zlfN4+YgM/xJ+6QrO9AtVY+pSFuVvdko76rv9MrOFObK+7J/tgLAO2yOECRlWeoaY4btEKNlFujSNgFyDxd8CXL24By6mAMhKedvN62PBgsCrT6XM844A40H5mb/cdm5RPGiv0N6jYmVm120B2Hpu6uyn5o5zoQ1GPzL1pCQLyoc1IW20SqW84Pz8zxK8iZSC04/qh7DuvQhTChg9/uoAKHegHJOifhv+Ag+GCW0x+HEPWXteh9EMaaCoVlmQIvWmM92Fa1YiQUMCjOlqrVvtGxbsumWjQdx+r5TT3yWm/gJNuCh6a6l3KFrep4PsB/UPcyCrmpCeLxbqNKBMjMUT+eSPCe1TeGb5BVIr8929PGXs9Pi7dj6MvN+iG0r4nyIYiYJlE7yp9q20jfakpaxCJvUalpMRn6v04v98ZDv1K5VE2Gn3qqI+RRyU0xsP2ExjN3EVOS6rXcMgbqYVQcF6+FdIZpVSJvZtavCwLqW21D5SmXwOrbHizteppQa/Ak1Ijal9mrzd/f7NMe7CSGs+5DY4P4JqImnW2wyk5pYpS0QA5Ae2wryguFMRnRTz5bXnN2ulGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013fJr65q7gEeqHcx36gVLvQ",
      "input": {
        "note": "Top view shows the gripper now over the open case; descending toward the interior, watching for contact with the rim.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_013fJr65q7gEeqHcx36gVLvQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6151, -0.0189, -0.0387, 0.9992, 1.0733, 1.9736, 1.5013, -0.9134, 0.6411, 0.6933, 0.5607]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1306 left_yaw=0.0029 left_pitch=-0.2521 left_roll=0.0014 left_gripper=0.9992 right_x=0.2843 right_y=0.3096 right_z=0.089 right_yaw=0.0647 right_pitch=-0.3721 right_roll=-0.3607 right_gripper=0.5607\nstate[joint_eff]: [0.0068, -1.1145, 6.9949, 1.5311, -0.0562, -0.0513, -0.0122, -0.0479, -8.5675, 5.4359, 0.2613, 0.7839, -0.1392, 0.315]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b14d7fc3d9834bb9d0ae7a27bed5ef9798e89d2de338c6d20eea370fbc77ee99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bcf3bd1e5f2eca94b0b3652853279488580327e968de05af7c6466d00a3722a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e3e8d95493b9db17d67be933794a79d0c41287a15d37a5a83fd10d77e444939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 19.39 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6083, -0.5922, -0.0189, -0.0383, 0.9992, 0.7795, 1.4414, 1.5982, -1.2121, 0.6044, 0.4129, 0.5553]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1349 left_yaw=0.0025 left_pitch=-0.2277 left_roll=0.0011 left_gripper=0.9992 right_x=0.299 right_y=0.1594 right_z=0.284 right_yaw=0.029 right_pitch=-0.233 right_roll=-0.2569 right_gripper=0.5553\nstate[joint_eff]: [-0.0479, -1.1966, 7.0222, 1.5067, -0.0415, -0.0171, -0.0122, 0.0479, -9.2239, 11.5897, 2.8791, 0.3004, 0.5934, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.6079, -0.0189, -0.0383, 0.9992, 1.0737, 2.0716, 2.3039, -1.6241, 0.6819, 0.683, 0.5575]\nstate[eef_state]: left_x=0.2605 left_y=0.002 left_z=0.1323 left_yaw=0.0026 left_pitch=-0.2429 left_roll=0.0014 left_gripper=0.9992 right_x=0.2893 right_y=0.3073 right_z=0.2546 right_yaw=0.0535 right_pitch=-0.3434 right_roll=-0.3954 right_gripper=0.5575\nstate[joint_eff]: [-0.1846, -1.1829, 6.8171, 1.6972, -0.0269, -0.0317, -0.0122, 0.1983, -11.4393, 9.1556, 1.0867, 0.7692, 0.6129, 0.6569]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6151, -0.0189, -0.0387, 0.9992, 1.0733, 1.9736, 1.5013, -0.9134, 0.6411, 0.6933, 0.5607]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1306 left_yaw=0.0029 left_pitch=-0.2521 left_roll=0.0014 left_gripper=0.9992 right_x=0.2843 right_y=0.3096 right_z=0.089 right_yaw=0.0647 right_pitch=-0.3721 right_roll=-0.3607 right_gripper=0.5607\nstate[joint_eff]: [0.0068, -1.1145, 6.9949, 1.5311, -0.0562, -0.0513, -0.0122, -0.0479, -8.5675, 5.4359, 0.2613, 0.7839, -0.1392, 0.315]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b14d7fc3d9834bb9d0ae7a27bed5ef9798e89d2de338c6d20eea370fbc77ee99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bcf3bd1e5f2eca94b0b3652853279488580327e968de05af7c6466d00a3722a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e3e8d95493b9db17d67be933794a79d0c41287a15d37a5a83fd10d77e444939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS4QcKjgEIEhgCKkCawgi0PGNNe2iNOWA0/pr14Ug/P2krtkGnLz0OfcHOE8eDHD+676O2Ircm273xwQYJYfT03LofX70XrpctPE+LMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYyQzNUGEgxjzqYgW3SY1bKWtjUaDIXs5X16bkBEZGN0fiIwvD7278tW7AX76B1DRkGByEIuDQmqeEckaj+7mmI3uYsOOiiWnz0lfAd68wfMoneUKv8F7OPZ6v+Y528zlBg6AQe9OiCjcL5+Jz42Su3tZjMv8I5ILQ+Rwp+upGlFt3RG3u8ftkLyTQoDY+26VtwKQMiC71sbMFLzrPyyC3V2YU09LHrMiGfl4WuVxzRFREIZftlnpf/d6Yd457wqxcwFDRatoa6LwUDdT8MJbUqZxh8aNwT+X2e6+sDBGFoklAZ6Rlf7Boolg+flkJjqXL2fLKtM5930i+/95YyLUL6vbuhoJ7v3Uq2pkUn58FBnq6CuUOjtxygK1Jem9phkJ2RFYifzGbIkgN7x9YYcNs6LvUnOl4ywMcIH1kl+aPpWn8EMq5mkqIjZ9PrnmRz8xnXfjVFFMhyATEAp3WW8cW5w/ZfDPC23y4x7W3v2fz12zfg0qQ06/l7/waiswU5EBrngk5qNvVLZ8pYUI2vCjZqadfVG1KkN4Ewys7IUdNNOe5fGQJ9gyOslk9Qkdqz0VepUBarZfMOquF8MZejkrHQhVcCtjLaOTHPkyRYRrYlOFVEz3pStKEmezYfxFdIAhDz/c+vx9nRk4sl3sjuUWb6NZZNgIJlq349sWSsHIgv18oAqQhgku9hRHp1muXS8PLADckQ7xUml1kW9T7qfag3Jo6zt8O3Gz2VPoVsD7W8XknURXe6X8x/LsxpIKw+R1mbKTLK2JDf+3V2scGSH5Uxiv8W2T2ocbfAR0yxByPv/iJOORsQkYiW8Wk5ZYcVsSXrwdJpQaZIzTV5Ae3WNJlIzi2CwIMysJNgCG0uqP4hgnhooFGIQCiDuolNsAKD4cIWhPF9RFIN+Cts80O3vw6gV91cB1k0nLLjMFSdHO9xQxbkZ8BCzuKfnKBEq6wyc0dk8ewmb93/qxCRgHpBPbo0kY1OTTm3zsHShwUBJ6IUlwiTc/MtSG6jao686hAGpWIw0goE0bLyfBfC+Vuz1ilFWsDGhY8aao19PiPMJvRrcttUisLG61d+NMIlkqXKfMDNhrz1gtzs+aNExB2N72DEiwyv5/65FWOlF9puVx61584SGtekYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SayjbDpsvMg8iftg4frgmY",
      "input": {
        "note": "Clear now: the lemon is just outside the case's right rim with the red interior immediately to its left. Lifting a little and pushing 7 cm further left to get over the interior.",
        "targets": {
          "right_y": 0.38,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01SayjbDpsvMg8iftg4frgmY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6312, -0.0193, -0.0387, 0.9992, 1.1446, 2.2433, 2.1147, -1.3075, 0.6281, 0.7517, 0.5633]\nstate[eef_state]: left_x=0.2563 left_y=0.0022 left_z=0.128 left_yaw=0.0033 left_pitch=-0.2681 left_roll=0.002 left_gripper=0.9992 right_x=0.2829 right_y=0.3807 right_z=0.1357 right_yaw=0.0905 right_pitch=-0.3976 right_roll=-0.364 right_gripper=0.5633\nstate[joint_eff]: [-0.294, -1.1966, 6.7761, 1.6288, -0.0317, -0.0757, -0.0122, 0.1846, -12.547, 7.6786, 0.3297, 0.5885, 0.2222, 0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c3cfc211a2f12b1619cfaeaa67d118ea5f88c9caf1af4addcbe6f34e81a145e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d50f0c3f65ceee278dc48f8d64f7a0c7713bb15c427d7c406688c3995899c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:268ba412c8411ebf34467bf3ac01861e8f64fd7103693a0b7fc14da847361d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 9.962 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6083, -0.6079, -0.0189, -0.0383, 0.9992, 1.0737, 2.0716, 2.3039, -1.6241, 0.6819, 0.683, 0.5575]\nstate[eef_state]: left_x=0.2605 left_y=0.002 left_z=0.1323 left_yaw=0.0026 left_pitch=-0.2429 left_roll=0.0014 left_gripper=0.9992 right_x=0.2893 right_y=0.3073 right_z=0.2546 right_yaw=0.0535 right_pitch=-0.3434 right_roll=-0.3954 right_gripper=0.5575\nstate[joint_eff]: [-0.1846, -1.1829, 6.8171, 1.6972, -0.0269, -0.0317, -0.0122, 0.1983, -11.4393, 9.1556, 1.0867, 0.7692, 0.6129, 0.6569]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6151, -0.0189, -0.0387, 0.9992, 1.0733, 1.9736, 1.5013, -0.9134, 0.6411, 0.6933, 0.5607]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1306 left_yaw=0.0029 left_pitch=-0.2521 left_roll=0.0014 left_gripper=0.9992 right_x=0.2843 right_y=0.3096 right_z=0.089 right_yaw=0.0647 right_pitch=-0.3721 right_roll=-0.3607 right_gripper=0.5607\nstate[joint_eff]: [0.0068, -1.1145, 6.9949, 1.5311, -0.0562, -0.0513, -0.0122, -0.0479, -8.5675, 5.4359, 0.2613, 0.7839, -0.1392, 0.315]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6312, -0.0193, -0.0387, 0.9992, 1.1446, 2.2433, 2.1147, -1.3075, 0.6281, 0.7517, 0.5633]\nstate[eef_state]: left_x=0.2563 left_y=0.0022 left_z=0.128 left_yaw=0.0033 left_pitch=-0.2681 left_roll=0.002 left_gripper=0.9992 right_x=0.2829 right_y=0.3807 right_z=0.1357 right_yaw=0.0905 right_pitch=-0.3976 right_roll=-0.364 right_gripper=0.5633\nstate[joint_eff]: [-0.294, -1.1966, 6.7761, 1.6288, -0.0317, -0.0757, -0.0122, 0.1846, -12.547, 7.6786, 0.3297, 0.5885, 0.2222, 0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c3cfc211a2f12b1619cfaeaa67d118ea5f88c9caf1af4addcbe6f34e81a145e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d50f0c3f65ceee278dc48f8d64f7a0c7713bb15c427d7c406688c3995899c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:268ba412c8411ebf34467bf3ac01861e8f64fd7103693a0b7fc14da847361d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FWJ1G6dP2dGZkQwnQqbT9c",
      "input": {
        "note": "The gripper has been nudging the case sideways because the lemon sits right against its rim; lifting to 28 cm (clear of the rim) and going to the y limit so the lemon hangs over the red interior.",
        "targets": {
          "right_y": 0.4,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FWJ1G6dP2dGZkQwnQqbT9c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6369, -0.0189, -0.0387, 0.9992, 1.1198, 2.2707, 2.3669, -1.6226, 0.5903, 0.6804, 0.5657]\nstate[eef_state]: left_x=0.2553 left_y=0.0021 left_z=0.127 left_yaw=0.003 left_pitch=-0.2738 left_roll=0.0019 left_gripper=0.9992 right_x=0.276 right_y=0.3525 right_z=0.1807 right_yaw=0.081 right_pitch=-0.4914 right_roll=-0.4718 right_gripper=0.5657\nstate[joint_eff]: [-0.0342, -1.1966, 6.7897, 1.5165, -0.0855, -0.0171, -0.0122, -0.4718, -17.7983, 6.2291, 1.072, 0.6422, 0.2955, 0.2369]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f729d9283fac66f80251b41987199b2c7f102d4499f01e16201d3ff2069662ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10efd50a6c3df210fbd1d2ca3366b1141b9ab6bfd7daef8ee0c9adafcc539450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4aacfa567566b743d81deb114ee56c65590f357eaa9f31850a43dcac40132997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 17.7 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6151, -0.0189, -0.0387, 0.9992, 1.0733, 1.9736, 1.5013, -0.9134, 0.6411, 0.6933, 0.5607]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1306 left_yaw=0.0029 left_pitch=-0.2521 left_roll=0.0014 left_gripper=0.9992 right_x=0.2843 right_y=0.3096 right_z=0.089 right_yaw=0.0647 right_pitch=-0.3721 right_roll=-0.3607 right_gripper=0.5607\nstate[joint_eff]: [0.0068, -1.1145, 6.9949, 1.5311, -0.0562, -0.0513, -0.0122, -0.0479, -8.5675, 5.4359, 0.2613, 0.7839, -0.1392, 0.315]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6312, -0.0193, -0.0387, 0.9992, 1.1446, 2.2433, 2.1147, -1.3075, 0.6281, 0.7517, 0.5633]\nstate[eef_state]: left_x=0.2563 left_y=0.0022 left_z=0.128 left_yaw=0.0033 left_pitch=-0.2681 left_roll=0.002 left_gripper=0.9992 right_x=0.2829 right_y=0.3807 right_z=0.1357 right_yaw=0.0905 right_pitch=-0.3976 right_roll=-0.364 right_gripper=0.5633\nstate[joint_eff]: [-0.294, -1.1966, 6.7761, 1.6288, -0.0317, -0.0757, -0.0122, 0.1846, -12.547, 7.6786, 0.3297, 0.5885, 0.2222, 0.2613]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6369, -0.0189, -0.0387, 0.9992, 1.1198, 2.2707, 2.3669, -1.6226, 0.5903, 0.6804, 0.5657]\nstate[eef_state]: left_x=0.2553 left_y=0.0021 left_z=0.127 left_yaw=0.003 left_pitch=-0.2738 left_roll=0.0019 left_gripper=0.9992 right_x=0.276 right_y=0.3525 right_z=0.1807 right_yaw=0.081 right_pitch=-0.4914 right_roll=-0.4718 right_gripper=0.5657\nstate[joint_eff]: [-0.0342, -1.1966, 6.7897, 1.5165, -0.0855, -0.0171, -0.0122, -0.4718, -17.7983, 6.2291, 1.072, 0.6422, 0.2955, 0.2369]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f729d9283fac66f80251b41987199b2c7f102d4499f01e16201d3ff2069662ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10efd50a6c3df210fbd1d2ca3366b1141b9ab6bfd7daef8ee0c9adafcc539450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aacfa567566b743d81deb114ee56c65590f357eaa9f31850a43dcac40132997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwsKjgEIEhgCKkC9J6xrZkeZ9rV3O9ClM9HPQv061ZgVnhjL1ok50XRuS8ZDtyzqgyFzPtW7sjnp1YVq1zCcBieY5U14Y+PdUWZnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAauQzNUGEgyv4mAqF6lmqHlpttQaDA3SssOxTDIZ951QrCIwpn5wf4dAIEj2XjZzL/P0shP1Sym7YoQsO7Kva85ayfWXCAbzWV59KG3qpjFj9/nAKt0JGL/+/ObRNec1DHXr7uVFRjd0fQe4XP/0FNbdmS0owomMoOq893qiExEmLzXHH01M9KA71SgaLsZzz1wt7E1YMwGLhxk7YPmOgXis2OLCEy3OF+5+wnZjYbnIwOZEe9PLw5JL8t9tBCLQtksN8f035ZlPlYIu8NZQnZ5yLSKajpEpeyW+0LWPAnEzPdnCgxNl/sV1cs3WY1QvZVqYKMBCXIoRqL6JnxU2oH7sWj3rXi2tqNzHaXidH3EhLdfymjPu8kfBR8arrjWLYB7C0aiVD9v4tuKixN32X1FzMedwCKahkcBGGQDFQOBTMax+luStxh5EYV1cxJQPi6jaXCpJG8+/oABi0GM2ZrbZxW8jeMZDQVhpBppNj8x5LYMLzQcmLYzVtxONeZWrKqRwxXRP0+mGkXrQji8ktlbNQS6PhAAaiLGC0bJl71o1y7TmOus0gGHY1gdbREOu3Wa/ytT+cxBPcIi8+/9TcHsQyZmyOY52Tj+jFJz6+upZsI+SoEHbGg8UqWWaRPZq/HDuqifyWv2wZHVd5rbC4xqDKTmESYyXOuihfG7d6TpzEgfeT4NsNWTSh7WdS4lL9IMarMLpQM4S7aqFxcntdf0zdFRsK9RqawclplohLqGVNmZ+MYpgwJOw9WjS4m+YVM4VZEVhWSi/WeH9PzfYRYOS7C7e8DxSxPVTSzcwCfg6eE47+PHDmVUi4RfxQIuZhQvwBh2EYRLUKvVaOgwc4IkCoNjlmeapZQPDVAAWK2Ffj5MujMnqmyPw4lVbMt8KNXm9yjHWEXdAsTQ30zg+jARZla68Hc3MHyXvdPvd8X4l0YL2redn4pneGpmKUf4dTkju8pbdcuL2inmoJh2D1yopXjKxjyxccLYjKjFf+h7KlIMCky/s40uWSEdSyVV8euhl+lMq+h/lusuTiA+fGAx0iew2crecQF6Yqxv345lfvf++TvSEVaFXA1jyeu7aFtS9/+sCawYK1zRB6OdtOiBKI9Sk7qVywpPmlgpdtd0lxdERBpCigwSBd3JQoinPOwRjJQ/Ria6iR3oOYNa95xdNHwY4t5/i2vyHcLf1EyjH0EvgQ/jWSnxi8DV2THEYaxEgwju0AxGyigZyEqeHJKDujh97+jgDkz8yCR4eWMqko2KKOsaIik+v7CUPu6mrozD0J7ucHL3/OtnzYyfAZHjtBqT6Zo+Uakml2AJnhBuZIeutOo414FqlFGFz3dx4mdS7Dnba4RHHGWK+6u3aHdsjxbwK36QmLXmz7rLXkodKWoLv+w9zszQw3PqjyK6Yph+C/m0pnC8D8irsZWSTh0LDvT5bevvgwN2QidjXXc4+CyiQVZwZnRlbdmP2vrDK9lnKOIgoT80c1+hAOiu9aw549OoiNtpEQeBTBB1DNdAmXz3K9AfIQqBwDsBUr+u4NJnwVCbjMhph5cbVfVlMYFBPCr0l650Eyon2NCRphYqFNf9sHxwliApgIhbK2uT4ef6pHddh/FrGGu3Q/XN7EqrskQ5IHnNaECSw7+8+MrTW4f+J06MBo9nFSGtZ4kvI3ZuDq7pnLwr7YKk2wZoSg7y57a/Zy7tgAbnU8iFIwk0yZgJ7up5ZGjnRZ4vzwReASFduaQtLNDvMu4/2BnkUoMrct093RwZrJAtTzB4oOzat8nF+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BTKT8G2TPWcNog4nPbsokF",
      "input": {
        "note": "The right arm is at its sideways reach limit and cannot get the lemon over the case; setting the lemon down on the table just right of the case so the left arm — which reaches this region comfortably — can place it inside.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01BTKT8G2TPWcNog4nPbsokF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6422, -0.0162, -0.0383, 0.9992, 1.1198, 2.2425, 1.7157, -1.0412, 0.5713, 0.6659, 0.9976]\nstate[eef_state]: left_x=0.2543 left_y=0.0017 left_z=0.1262 left_yaw=0.0005 left_pitch=-0.2792 left_roll=0.0002 left_gripper=0.9992 right_x=0.2687 right_y=0.3439 right_z=0.0288 right_yaw=0.0749 right_pitch=-0.5326 right_roll=-0.51 right_gripper=0.9976\nstate[joint_eff]: [0.1436, -1.1692, 6.9265, 1.4969, -0.105, -0.022, -0.0171, 0.0205, -10.7145, 5.9556, 0.3883, 0.4908, 0.1148, -0.1197]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a48b5cdfc9890181949fdc2faec3d78c59d124fda65ec41cb37c54d293af939f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0252be028ba6ad61410a8abb153247386059f506bbcee9df4e6b102aee434fe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20574f6d602afd4c0857c800220c77c0d8ec29ce1f924418f956f428fedf4ade",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 11.85 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6312, -0.0193, -0.0387, 0.9992, 1.1446, 2.2433, 2.1147, -1.3075, 0.6281, 0.7517, 0.5633]\nstate[eef_state]: left_x=0.2563 left_y=0.0022 left_z=0.128 left_yaw=0.0033 left_pitch=-0.2681 left_roll=0.002 left_gripper=0.9992 right_x=0.2829 right_y=0.3807 right_z=0.1357 right_yaw=0.0905 right_pitch=-0.3976 right_roll=-0.364 right_gripper=0.5633\nstate[joint_eff]: [-0.294, -1.1966, 6.7761, 1.6288, -0.0317, -0.0757, -0.0122, 0.1846, -12.547, 7.6786, 0.3297, 0.5885, 0.2222, 0.2613]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6369, -0.0189, -0.0387, 0.9992, 1.1198, 2.2707, 2.3669, -1.6226, 0.5903, 0.6804, 0.5657]\nstate[eef_state]: left_x=0.2553 left_y=0.0021 left_z=0.127 left_yaw=0.003 left_pitch=-0.2738 left_roll=0.0019 left_gripper=0.9992 right_x=0.276 right_y=0.3525 right_z=0.1807 right_yaw=0.081 right_pitch=-0.4914 right_roll=-0.4718 right_gripper=0.5657\nstate[joint_eff]: [-0.0342, -1.1966, 6.7897, 1.5165, -0.0855, -0.0171, -0.0122, -0.4718, -17.7983, 6.2291, 1.072, 0.6422, 0.2955, 0.2369]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6422, -0.0162, -0.0383, 0.9992, 1.1198, 2.2425, 1.7157, -1.0412, 0.5713, 0.6659, 0.9976]\nstate[eef_state]: left_x=0.2543 left_y=0.0017 left_z=0.1262 left_yaw=0.0005 left_pitch=-0.2792 left_roll=0.0002 left_gripper=0.9992 right_x=0.2687 right_y=0.3439 right_z=0.0288 right_yaw=0.0749 right_pitch=-0.5326 right_roll=-0.51 right_gripper=0.9976\nstate[joint_eff]: [0.1436, -1.1692, 6.9265, 1.4969, -0.105, -0.022, -0.0171, 0.0205, -10.7145, 5.9556, 0.3883, 0.4908, 0.1148, -0.1197]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a48b5cdfc9890181949fdc2faec3d78c59d124fda65ec41cb37c54d293af939f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0252be028ba6ad61410a8abb153247386059f506bbcee9df4e6b102aee434fe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20574f6d602afd4c0857c800220c77c0d8ec29ce1f924418f956f428fedf4ade",
        "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_01CM9En64sqLpjxG4yrjHC8z",
      "input": {
        "note": "The lemon rolled back out to the right of the case when released. Moving the right arm back over it to re-grasp; the case has been nudged closer so the drop should be easier this time.",
        "targets": {
          "right_pitch": -0.2,
          "right_roll": 0,
          "right_x": 0.44,
          "right_y": 0.06,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01CM9En64sqLpjxG4yrjHC8z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6083, -0.6533, -0.0189, -0.0387, 0.9992, 0.1642, 1.6577, 0.9756, -0.2016, 0.094, 0.0525, 0.9987]\nstate[eef_state]: left_x=0.2522 left_y=0.0022 left_z=0.1235 left_yaw=0.0031 left_pitch=-0.294 left_roll=0.0023 left_gripper=0.9992 right_x=0.4233 right_y=0.057 right_z=0.0771 right_yaw=0.0416 right_pitch=-0.2888 right_roll=-0.0331 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.1282, 6.8171, 1.5995, -0.0513, -0.0366, -0.0171, -0.1436, -8.9368, 8.0205, 1.8291, -0.0366, -0.0171, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e9bdc7a529216d9df82c5c235c7558af5143f3b623b84a1c666baf7dd9cc603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:302caaeb5f62ee688582eae4052d868260f262d5d229dc11d11a1fdd17f463ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb610a5eb23dad841eb1426556e7eace53c4f13717e6c398031dc9e6fb7f00b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 6.351 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6369, -0.0189, -0.0387, 0.9992, 1.1198, 2.2707, 2.3669, -1.6226, 0.5903, 0.6804, 0.5657]\nstate[eef_state]: left_x=0.2553 left_y=0.0021 left_z=0.127 left_yaw=0.003 left_pitch=-0.2738 left_roll=0.0019 left_gripper=0.9992 right_x=0.276 right_y=0.3525 right_z=0.1807 right_yaw=0.081 right_pitch=-0.4914 right_roll=-0.4718 right_gripper=0.5657\nstate[joint_eff]: [-0.0342, -1.1966, 6.7897, 1.5165, -0.0855, -0.0171, -0.0122, -0.4718, -17.7983, 6.2291, 1.072, 0.6422, 0.2955, 0.2369]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6422, -0.0162, -0.0383, 0.9992, 1.1198, 2.2425, 1.7157, -1.0412, 0.5713, 0.6659, 0.9976]\nstate[eef_state]: left_x=0.2543 left_y=0.0017 left_z=0.1262 left_yaw=0.0005 left_pitch=-0.2792 left_roll=0.0002 left_gripper=0.9992 right_x=0.2687 right_y=0.3439 right_z=0.0288 right_yaw=0.0749 right_pitch=-0.5326 right_roll=-0.51 right_gripper=0.9976\nstate[joint_eff]: [0.1436, -1.1692, 6.9265, 1.4969, -0.105, -0.022, -0.0171, 0.0205, -10.7145, 5.9556, 0.3883, 0.4908, 0.1148, -0.1197]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6083, -0.6533, -0.0189, -0.0387, 0.9992, 0.1642, 1.6577, 0.9756, -0.2016, 0.094, 0.0525, 0.9987]\nstate[eef_state]: left_x=0.2522 left_y=0.0022 left_z=0.1235 left_yaw=0.0031 left_pitch=-0.294 left_roll=0.0023 left_gripper=0.9992 right_x=0.4233 right_y=0.057 right_z=0.0771 right_yaw=0.0416 right_pitch=-0.2888 right_roll=-0.0331 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.1282, 6.8171, 1.5995, -0.0513, -0.0366, -0.0171, -0.1436, -8.9368, 8.0205, 1.8291, -0.0366, -0.0171, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e9bdc7a529216d9df82c5c235c7558af5143f3b623b84a1c666baf7dd9cc603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:302caaeb5f62ee688582eae4052d868260f262d5d229dc11d11a1fdd17f463ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb610a5eb23dad841eb1426556e7eace53c4f13717e6c398031dc9e6fb7f00b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lh5SQid1L8mdZmanTQSNz2",
      "input": {
        "note": "The case now sits open and square in the middle of the table; the teddy bear beside it is the easiest object to place. Moving above the teddy to grasp it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.33,
          "right_y": 0.1,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Lh5SQid1L8mdZmanTQSNz2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6083, -0.6605, -0.0189, -0.0383, 0.9992, 0.3981, 1.3514, 0.7784, -0.3534, 0.2123, 0.2039, 0.999]\nstate[eef_state]: left_x=0.2509 left_y=0.0022 left_z=0.1222 left_yaw=0.003 left_pitch=-0.3021 left_roll=0.0028 left_gripper=0.9992 right_x=0.3327 right_y=0.1034 right_z=0.0933 right_yaw=0.0834 right_pitch=-0.3078 right_roll=-0.0378 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.1145, 6.7487, 1.5263, -0.0855, -0.0611, -0.0122, 0.0205, -5.8598, 6.6803, 1.6581, 0.2466, 0.1343, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbf7655406640b7bfc3ed8c47f789e640d75952e857defab93bfddbc5a76c099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29d76e09f883030a6f10335cc3fdc6b62369320f64aa6c21cd6a25fdf009a8d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e2daf0c231f6c87ce310aa624a1b1e5e4560e692a0f83b964d2196837b9ff56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 9.226 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6083, -0.6422, -0.0162, -0.0383, 0.9992, 1.1198, 2.2425, 1.7157, -1.0412, 0.5713, 0.6659, 0.9976]\nstate[eef_state]: left_x=0.2543 left_y=0.0017 left_z=0.1262 left_yaw=0.0005 left_pitch=-0.2792 left_roll=0.0002 left_gripper=0.9992 right_x=0.2687 right_y=0.3439 right_z=0.0288 right_yaw=0.0749 right_pitch=-0.5326 right_roll=-0.51 right_gripper=0.9976\nstate[joint_eff]: [0.1436, -1.1692, 6.9265, 1.4969, -0.105, -0.022, -0.0171, 0.0205, -10.7145, 5.9556, 0.3883, 0.4908, 0.1148, -0.1197]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6083, -0.6533, -0.0189, -0.0387, 0.9992, 0.1642, 1.6577, 0.9756, -0.2016, 0.094, 0.0525, 0.9987]\nstate[eef_state]: left_x=0.2522 left_y=0.0022 left_z=0.1235 left_yaw=0.0031 left_pitch=-0.294 left_roll=0.0023 left_gripper=0.9992 right_x=0.4233 right_y=0.057 right_z=0.0771 right_yaw=0.0416 right_pitch=-0.2888 right_roll=-0.0331 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.1282, 6.8171, 1.5995, -0.0513, -0.0366, -0.0171, -0.1436, -8.9368, 8.0205, 1.8291, -0.0366, -0.0171, 0.1099]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6083, -0.6605, -0.0189, -0.0383, 0.9992, 0.3981, 1.3514, 0.7784, -0.3534, 0.2123, 0.2039, 0.999]\nstate[eef_state]: left_x=0.2509 left_y=0.0022 left_z=0.1222 left_yaw=0.003 left_pitch=-0.3021 left_roll=0.0028 left_gripper=0.9992 right_x=0.3327 right_y=0.1034 right_z=0.0933 right_yaw=0.0834 right_pitch=-0.3078 right_roll=-0.0378 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.1145, 6.7487, 1.5263, -0.0855, -0.0611, -0.0122, 0.0205, -5.8598, 6.6803, 1.6581, 0.2466, 0.1343, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbf7655406640b7bfc3ed8c47f789e640d75952e857defab93bfddbc5a76c099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29d76e09f883030a6f10335cc3fdc6b62369320f64aa6c21cd6a25fdf009a8d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e2daf0c231f6c87ce310aa624a1b1e5e4560e692a0f83b964d2196837b9ff56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AYKjgEIEhgCKkBZcp8vQFAdC1cMjMUyvYd4MtSIHMWyM1iqNNjLLBgTSBvA59Xhtrt/bT0EZ/Cac1hY1e/TWTZ2WS/hP0Dm9fR/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdOQzNUGEgwXrv48I75NtOXpsr8aDFxbM40uhBxCokoBASIwXt9A72LhMfau1sMAIhQKKLTGlzR7sz+4S9mUDuV3DgteWzVwOuX4dpyENz++tMheKoYFb2HRqoBxOqslxagee8Wh7xwaLJWrXbuBvJ5QkvvM3VTcsHEcED4+RHMhsY5SD8WpTPFNsRsE/0+J9PQ5aNmBgRbKFylm7ikSj5D0CaCuIqUrT9asL7VYt4j+SN3m9ytnvGGr1N8O8U/DzSqdi65wz9rkgiEnkZ6FcxgQPNNrH46HH0iK9gIBNQNUOXucg1alcRegzyHtykVG04wYFJq5Q8WvqRfseUmS5Wj8zsYBvbZ2lhzGUoYZtK6kkcJ2vuXcWJbVu6ulsEDm2AESOnUnlpfpp6PC2H7a+2mhPu+5O4MTQOG5Ys6v591TedP2+SVeqFuEJCpkzTHfhGzyFSuQYPRH/qIXV76Z4oS0D7lIlPrkfowQHItOuE8A4wjgIBgnuf2BegFSCbjMM/baymn5BmI+aoVwUXB7aRb5phnuAbPed2yduHtlu+75mVb5WOlYtV/UatPgS7RU6BY7HqiF8IN1PwCgD2+Ah8+hXSBnbCmOpSOljyClttCcn/1Xn3hAyTjGko1EgKxJ8nmIdZyYzoPZ9htz+701p9lsFkRFz0/2c9PXm0Voc91/SpvNbIcjykvgcPyKPQq2JZjyvAET03cunyiDdBOEJFP3sV3aG7n4KVm64gdJ5Z7xOoa6L1T48dbxC1/DTNWZhWSXyUPko0RA+Xftr6YfXcdMHXGNX3WKRC1okvPmz+HvOp6WTdI+UqDUOt9WmUlsljCN76zzxZdGMr8MfjAiEDmBhtwmJnfr0s2TlAcumODCGmhwgBNJEEKs0iJRzpYz0w7CFJqu78NMRbjf+692mlmQ3p9ihf7bMNZSDu5uxIRHsc0AZl6Nd6zX3p2SGXEc2XbF3rQBC67RG4jx4RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GDJVPifvYCWQYgg7m13wsj",
      "input": {
        "note": "Teddy bear is right under the jaws in the wrist view; descending onto it and closing to grasp its soft body.",
        "targets": {
          "right_gripper": 0.15,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01GDJVPifvYCWQYgg7m13wsj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6083, -0.6754, -0.0189, -0.0383, 0.9992, 0.3981, 1.5276, 0.5823, -0.0406, 0.2127, 0.2024, 0.1549]\nstate[eef_state]: left_x=0.248 left_y=0.0022 left_z=0.1198 left_yaw=0.0031 left_pitch=-0.3173 left_roll=0.0031 left_gripper=0.9992 right_x=0.3216 right_y=0.0987 right_z=0.01 right_yaw=0.0775 right_pitch=-0.3642 right_roll=-0.0588 right_gripper=0.1549\nstate[joint_eff]: [-0.0479, -1.1556, 6.7214, 1.5507, -0.0611, -0.0171, -0.0122, -0.0342, -5.3949, 5.6, 1.6825, 0.0904, 0.0317, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:731cdd65f8757054763cd8090c4a60ec4924501299434800641b2c2b5dc50c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff06317a7821841364c4f6d60e4145202968469f4c288eeb48e2c5d57639f123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2eba679be2e6bf2cd19231082dfe8d6695c7b7ddeb26bec1e328961848bdba49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 5.771 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6083, -0.6533, -0.0189, -0.0387, 0.9992, 0.1642, 1.6577, 0.9756, -0.2016, 0.094, 0.0525, 0.9987]\nstate[eef_state]: left_x=0.2522 left_y=0.0022 left_z=0.1235 left_yaw=0.0031 left_pitch=-0.294 left_roll=0.0023 left_gripper=0.9992 right_x=0.4233 right_y=0.057 right_z=0.0771 right_yaw=0.0416 right_pitch=-0.2888 right_roll=-0.0331 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.1282, 6.8171, 1.5995, -0.0513, -0.0366, -0.0171, -0.1436, -8.9368, 8.0205, 1.8291, -0.0366, -0.0171, 0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6083, -0.6605, -0.0189, -0.0383, 0.9992, 0.3981, 1.3514, 0.7784, -0.3534, 0.2123, 0.2039, 0.999]\nstate[eef_state]: left_x=0.2509 left_y=0.0022 left_z=0.1222 left_yaw=0.003 left_pitch=-0.3021 left_roll=0.0028 left_gripper=0.9992 right_x=0.3327 right_y=0.1034 right_z=0.0933 right_yaw=0.0834 right_pitch=-0.3078 right_roll=-0.0378 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.1145, 6.7487, 1.5263, -0.0855, -0.0611, -0.0122, 0.0205, -5.8598, 6.6803, 1.6581, 0.2466, 0.1343, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6083, -0.6754, -0.0189, -0.0383, 0.9992, 0.3981, 1.5276, 0.5823, -0.0406, 0.2127, 0.2024, 0.1549]\nstate[eef_state]: left_x=0.248 left_y=0.0022 left_z=0.1198 left_yaw=0.0031 left_pitch=-0.3173 left_roll=0.0031 left_gripper=0.9992 right_x=0.3216 right_y=0.0987 right_z=0.01 right_yaw=0.0775 right_pitch=-0.3642 right_roll=-0.0588 right_gripper=0.1549\nstate[joint_eff]: [-0.0479, -1.1556, 6.7214, 1.5507, -0.0611, -0.0171, -0.0122, -0.0342, -5.3949, 5.6, 1.6825, 0.0904, 0.0317, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:731cdd65f8757054763cd8090c4a60ec4924501299434800641b2c2b5dc50c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff06317a7821841364c4f6d60e4145202968469f4c288eeb48e2c5d57639f123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eba679be2e6bf2cd19231082dfe8d6695c7b7ddeb26bec1e328961848bdba49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS8AYKjgEIEhgCKkBfUJDHuOAmpq2pCEKl05zjVMJq4MBmcdZtC+e4UWp4nf+BWYFrrsH2+8HejOIrsVzka9mBcY2EGEixsU7udCngMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2QzNUGEgzCmASv/N2zNyvWUnAaDJwZhxNXMhixBSnUZCIwkRj4h4aDvJUvdoxJAiwpnSshWmkD7rDtRyooQqTk53b82dnPmMmzrLbmREtqYJRQKo4Fi5ewUS1SmsBZtwqZdM3RV53Zc94jHHWjtSUek35JKcjfRsF4Xm5CMwENg4QJ9k5jD97EMlX+39GBuv7lLc2B3CBMf46/30ofYgi2ZFGBFeui2a4jHpEqaOpOLjglhXmHsMNFoP4dmhOrVRCH0/ZBkqJXaniw6EAI6FSAdzQUhLqyAqnuNyKSc3yHRh6QWdqUMk+HNzbFrBYhV9+kSvaGCcYBTOAi6zOsXRw27/Bq+f8MLVxX5VEBCnRgCvGkl/mzpzY0lfWZ7jdQA998pRoeoIx3W+Of79VcFH9ZHr5K6OtFgNO58WG70pWRdZBracb/vMnmbfbvfmyHzND78np4A0g/AZNSruwXKaPYHrg63Xb6ZE9MbNuhXaRfk3oZkQ9Ql3NwOXpuNZCVlTWwKjdHFI+IlcFTy1hhrL2Hg8h+m61JdhFm/ocubQFbX8iLRpEY5rplbQXXDxqKVAPZa91cNIEk/UFdT/VzXq9IIlzm3OSGyxsQTlOYHYBHOwS3F+GlJapRXyKJFls/s0j5Z4ruoOSF4I2cn6p1aU7vMrlpDUn2SppnERJDe6BzIBM1pgBGRb428CG7zIT4JEjMf+nVsTwFzN5XVaiET2beiOOsvq7hUj2TfEhKJExAERoBO2jVBYTwbEteileErooRPDrGkHxFW62V8rsQKDoRF5dqeU661KSk50yAga2VYoNHwDI1ReLqN/6P/t8GQkAypt0XOHToca7VWNFSkvbgUIx40O97ZB274U5ad0GUAZ0Z+fVGFCqbjUlJ4bRLsEJ2rdHUu87ZEzZ2MBoq3JnQINuxd4oMqj7FuBHjVu1Y2GpBqAuJfLVuVgx17tk+MYqDNk253O0CvUb4pI4RZde2V8yvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YYVEbXt5Sco74b3KNAETfB",
      "input": {
        "note": "Gripper closed to 0.155 on the teddy's soft body; lifting it and carrying it left to hover over the open case's red interior.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.29,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01YYVEbXt5Sco74b3KNAETfB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8265, 0.6083, -0.6903, -0.0189, -0.0383, 0.9992, 0.9501, 1.7512, 1.6199, -1.0279, 0.4553, 0.6811, 0.1531]\nstate[eef_state]: left_x=0.2451 left_y=0.0023 left_z=0.1173 left_yaw=0.0032 left_pitch=-0.3329 left_roll=0.0035 left_gripper=0.9992 right_x=0.2985 right_y=0.2901 right_z=0.1897 right_yaw=0.118 right_pitch=-0.3784 right_roll=-0.059 right_gripper=0.1531\nstate[joint_eff]: [-0.212, -1.2103, 6.7077, 1.5116, -0.0269, -0.0122, -0.0171, 0.1709, -8.1299, 8.0889, 0.8669, 0.3736, 0.1392, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3676c49bbf704673873c397bf4a1d6a21132a0ab7590e5841e19f0568dff802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:884e89d09c9aa12bcab71d8ca608c0cdd34a3eaab4ad503ebcdf7853d5fd2359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e97def88197921defe9d1898a380abdf4bf0b94a73a891dd94065489cdb8aca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 14.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6083, -0.6605, -0.0189, -0.0383, 0.9992, 0.3981, 1.3514, 0.7784, -0.3534, 0.2123, 0.2039, 0.999]\nstate[eef_state]: left_x=0.2509 left_y=0.0022 left_z=0.1222 left_yaw=0.003 left_pitch=-0.3021 left_roll=0.0028 left_gripper=0.9992 right_x=0.3327 right_y=0.1034 right_z=0.0933 right_yaw=0.0834 right_pitch=-0.3078 right_roll=-0.0378 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.1145, 6.7487, 1.5263, -0.0855, -0.0611, -0.0122, 0.0205, -5.8598, 6.6803, 1.6581, 0.2466, 0.1343, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6083, -0.6754, -0.0189, -0.0383, 0.9992, 0.3981, 1.5276, 0.5823, -0.0406, 0.2127, 0.2024, 0.1549]\nstate[eef_state]: left_x=0.248 left_y=0.0022 left_z=0.1198 left_yaw=0.0031 left_pitch=-0.3173 left_roll=0.0031 left_gripper=0.9992 right_x=0.3216 right_y=0.0987 right_z=0.01 right_yaw=0.0775 right_pitch=-0.3642 right_roll=-0.0588 right_gripper=0.1549\nstate[joint_eff]: [-0.0479, -1.1556, 6.7214, 1.5507, -0.0611, -0.0171, -0.0122, -0.0342, -5.3949, 5.6, 1.6825, 0.0904, 0.0317, 0.1587]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8265, 0.6083, -0.6903, -0.0189, -0.0383, 0.9992, 0.9501, 1.7512, 1.6199, -1.0279, 0.4553, 0.6811, 0.1531]\nstate[eef_state]: left_x=0.2451 left_y=0.0023 left_z=0.1173 left_yaw=0.0032 left_pitch=-0.3329 left_roll=0.0035 left_gripper=0.9992 right_x=0.2985 right_y=0.2901 right_z=0.1897 right_yaw=0.118 right_pitch=-0.3784 right_roll=-0.059 right_gripper=0.1531\nstate[joint_eff]: [-0.212, -1.2103, 6.7077, 1.5116, -0.0269, -0.0122, -0.0171, 0.1709, -8.1299, 8.0889, 0.8669, 0.3736, 0.1392, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3676c49bbf704673873c397bf4a1d6a21132a0ab7590e5841e19f0568dff802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:884e89d09c9aa12bcab71d8ca608c0cdd34a3eaab4ad503ebcdf7853d5fd2359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e97def88197921defe9d1898a380abdf4bf0b94a73a891dd94065489cdb8aca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS6QQKjgEIEhgCKkCTJLlRTqvPLuDsj5nsJG15LD1cyZj+mz/fyvsFjszhlrnlrUOPjztPxOhbFEpXEQ4XbOks+8pEQePlOBgjdHbSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSQzNUGEgwR6H70ZBwd3L5XFVgaDGVTG0DUv1Xm8be5XiIwKgDSw00gJhhk19h4pa4Z82Cyb8Q2yp9JpB+sjzrBxaHxMovftobFYAGO5mq//OfLKocDg8L8FfdUMbUAfGyK42I7V+IygB+sU3dR9UEG3N0HdFBuhgZQTsNRR3g424X3aWjyJrki6zzvKK4kzGorAbTdqGfizgSSkN6Nh+FiGVUuRBFIObUGzAXN63O9dOoipX9vY+sT4J+yzAVdgNhLIhHxMThjP59RDLoeCLo07henz5QhEAeUm4ZcC8aheZ9pqwTShSgam+Gya+F4Kmoehw9qm/+POCIkHq+rbVWiFcO53Dd/GghPsJjYeU4HgdMHZoZZwEyPe0UdiXeCD0DS1GZ0jzMPH4DWrXgTsR6/4xjVy6QN1sR4GEbE+hk3V3g8yYYLcadjamRQtyRTyDmCNtUUXr1XYnZdv6bjkiVIGPeVjv6lOtm3TM26Iv6KlmKC0UiAt4Rsr4cK1cCzqYYSFeC3v3M2sulxo0CSNgiGR4vGKP9jApMf/BVgMFhppNR7O79YHv7Uss3jbkCiD0CkueeJvey4Db/Isiymu24id/PIxLhfiFKgXhVemNWkRZTt/aSofk8LS9sPgRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UmUx8QVdJ8EKKrkJiCUkLw",
      "input": {
        "note": "Wrist view shows the case's red interior directly left of the held teddy; moving 4 cm further over the opening, lowering into it and opening the jaws to drop the bear inside.",
        "targets": {
          "right_gripper": 1,
          "right_y": 0.33,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UmUx8QVdJ8EKKrkJiCUkLw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8276, 0.6083, -0.6971, -0.0189, -0.0383, 0.9992, 1.0061, 1.8874, 1.4654, -0.7925, 0.4717, 0.7307, 0.9947]\nstate[eef_state]: left_x=0.2438 left_y=0.0023 left_z=0.116 left_yaw=0.0032 left_pitch=-0.341 left_roll=0.0037 left_gripper=0.9992 right_x=0.2946 right_y=0.3218 right_z=0.1043 right_yaw=0.1168 right_pitch=-0.401 right_roll=-0.0851 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -1.2376, 6.7624, 1.409, -0.0611, -0.0366, -0.0122, 0.2667, -8.5812, 5.9282, 0.9548, 0.0171, 0.0952, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddc9b2e917c9246ead5834f7d18a4ab63be96ad1a43564acd2972ff3a8588950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dda37036ad349c088992cf863bcc6d89366e61111a1c0873883deb69fbe941e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:467f77991d2c9721f35d2b9a1002f23a01c52eb79bc49798abe8e03cca40bb4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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