adhoc

completed
2026-09-23T00:25:44.859638+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
360.4 s
total steps
359
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 noteScene: open red-lined safe in the middle, a yellow lemon to its right, a brown teddy below it, a small white toy to its left. Moving the right arm above the yellow lemon to grasp it first.
move_to
right_x0.3100right_y0.1550right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7921, 0.6033, -0.3927, -0.0196, -0.0341, 0.9993, -0.0212, 0.794, 0.606, -0.403, -0.0193, -0.033, 0.9996] state[eef_state]: left_x=0.2929 left_y=0.0014 left_z=0.1775 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2919 right_y=0.0008 right_z=0.1761 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.6222, -1.347, 10.3179, 2.0195, -0.0611, 0.1978, -0.0904, -0.4581, -1.4701, 9.7162, 2.0635, -0.0513, 0.1392, -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": 0.31, "right_y": 0.155, "right_z": 0.15, "right_gripper": 1}, "note": "Scene: open red-lined safe in the middle, a yellow lemon to its right, a brown teddy below it, a small white toy to its left. Moving the right arm above the yellow lemon to grasp it first."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteRight wrist view shows the lemon near the jaw column but high in frame, meaning it is still a few cm further out. Advancing radially and slightly right to line up over it.
move_to
right_x0.3450right_y0.1250right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4057, -0.0193, -0.0383, 0.9992, 0.7288, 1.2045, 0.6815, -0.2939, 0.5426, 0.3992, 0.9996] state[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1748 left_yaw=0.0022 left_pitch=-0.016 left_roll=-0.0037 left_gripper=0.9992 right_x=0.2965 right_y=0.1472 right_z=0.1269 right_yaw=0.0516 right_pitch=-0.0847 right_roll=-0.0654 right_gripper=0.9996 state[joint_eff]: [-0.1983, -1.7436, 7.0906, 1.8681, -0.0464, -0.0024, -0.0171, 0.1846, -4.1368, 9.1556, 1.8974, 0.4664, 0.2271, -0.0513] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.345, "right_y": 0.125, "right_z": 0.12}, "note": "Right wrist view shows the lemon near the jaw column but high in frame, meaning it is still a few cm further out. Advancing radially and slightly right to line up over it."})
tool
executing move_to over 4 steps (0.4s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteLemon is now centred on the jaw column but still high in the wrist frame, so it remains a few cm further out; advancing and descending toward grasp height.
move_to
right_x0.3750right_y0.1150right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8005, 0.6067, -0.4095, -0.0193, -0.0387, 0.9992, 0.5407, 1.3087, 0.6899, -0.2169, 0.4385, 0.2848, 0.9996] state[eef_state]: left_x=0.2915 left_y=0.0015 left_z=0.1734 left_yaw=0.0024 left_pitch=-0.0221 left_roll=-0.0039 left_gripper=0.9992 right_x=0.3285 right_y=0.1139 right_z=0.1033 right_yaw=0.0043 right_pitch=-0.1489 right_roll=-0.1004 right_gripper=0.9996 state[joint_eff]: [-0.0068, -1.4017, 7.2274, 1.7021, -0.0562, -0.0611, -0.0122, -0.253, -4.6701, 8.3897, 1.8974, 0.1978, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.115, "right_z": 0.06}, "note": "Lemon is now centred on the jaw column but still high in the wrist frame, so it remains a few cm further out; advancing and descending toward grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe previous step was clamped and the arm barely advanced; re-sending the same approach target over the lemon.
move_to
right_x0.3750right_y0.1150right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4274, -0.0193, -0.0387, 0.9992, 0.524, 1.3224, 0.6899, -0.1799, 0.3946, 0.2348, 0.9996] state[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1695 left_yaw=0.0024 left_pitch=-0.0408 left_roll=-0.0035 left_gripper=0.9992 right_x=0.334 right_y=0.1187 right_z=0.1024 right_yaw=0.0512 right_pitch=-0.1468 right_roll=-0.0979 right_gripper=0.9996 state[joint_eff]: [-0.3214, -1.3333, 6.9949, 1.873, -0.0757, -0.0415, -0.0122, -0.1436, -5.1897, 8.2803, 1.8437, 0.1245, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.115, "right_z": 0.06}, "note": "The previous step was clamped and the arm barely advanced; re-sending the same approach target over the lemon."})
tool
executing move_to over 4 steps (0.4s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteRight arm has stalled at x=0.334; trying a smaller increment forward and down with pitch levelled to see if it tracks.
move_to
right_x0.3550right_y0.1170right_z0.0850right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4355, -0.0193, -0.0383, 0.9992, 0.524, 1.3224, 0.6899, -0.1799, 0.3946, 0.2348, 0.9996] state[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0492 left_roll=-0.003 left_gripper=0.9992 right_x=0.334 right_y=0.1187 right_z=0.1024 right_yaw=0.0512 right_pitch=-0.1468 right_roll=-0.0979 right_gripper=0.9996 state[joint_eff]: [-0.0068, -1.265, 7.1726, 1.7802, -0.0806, -0.0415, -0.0122, -0.1983, -5.1487, 8.3214, 1.9463, 0.1294, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.355, "right_y": 0.117, "right_z": 0.085, "right_pitch": 0.0}, "note": "Right arm has stalled at x=0.334; trying a smaller increment forward and down with pitch levelled to see if it tracks."})
tool
executing move_to over 5 steps (0.5s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent notex has stopped tracking at 0.333 while z followed; commanding a larger forward target to test whether the arm will extend toward the lemon.
move_to
right_x0.4200right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4534, -0.0193, -0.0383, 0.9992, 0.5079, 1.4082, 0.5613, 0.0338, 0.4061, 0.1913, 0.9996] state[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1639 left_yaw=0.0022 left_pitch=-0.0686 left_roll=-0.0026 left_gripper=0.9992 right_x=0.333 right_y=0.1096 right_z=0.06 right_yaw=0.0505 right_pitch=-0.1465 right_roll=-0.1383 right_gripper=0.9996 state[joint_eff]: [-0.0342, -0.8137, 6.9812, 1.8535, -0.0855, -0.0366, -0.0122, -0.4308, -6.3658, 7.5419, 2.381, 0.2857, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_z": 0.07}, "note": "x has stopped tracking at 0.333 while z followed; commanding a larger forward target to test whether the arm will extend toward the lemon."})
tool
executing move_to over 7 steps (0.7s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteLemon now fills the upper-centre of the right wrist view on the jaw column; advancing ~4 cm more and lowering to mid-lemon height for the grasp.
move_to
right_x0.4400right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4675, -0.0193, -0.0383, 0.9992, 0.3794, 1.6676, 0.8265, 0.009, 0.3161, 0.0948, 0.9996] state[eef_state]: left_x=0.2834 left_y=0.0016 left_z=0.1599 left_yaw=0.0023 left_pitch=-0.0873 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4034 right_y=0.1056 right_z=0.0563 right_yaw=0.0465 right_pitch=-0.1973 right_roll=-0.1549 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.5932, 7.159, 1.7998, -0.0513, -0.0269, -0.0122, -0.3487, -7.1316, 7.8291, 1.7314, 0.0757, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_z": 0.035}, "note": "Lemon now fills the upper-centre of the right wrist view on the jaw column; advancing ~4 cm more and lowering to mid-lemon height for the grasp."})
tool
executing move_to over 3 steps (0.3s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteLemon is large and centred just above the jaws in the wrist view; nudging 3 cm further out and down so the jaws straddle it.
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, 0.8097, 0.6067, -0.4778, -0.0193, -0.0383, 0.9992, 0.347, 1.8137, 0.8928, 0.0238, 0.2901, 0.07, 0.9996] state[eef_state]: left_x=0.2819 left_y=0.0017 left_z=0.1574 left_yaw=0.0023 left_pitch=-0.0995 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4193 right_y=0.1017 right_z=0.0226 right_yaw=0.0446 right_pitch=-0.2673 right_roll=-0.1738 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.3744, 6.9675, 1.7656, -0.0464, -0.0317, -0.0122, -0.3214, -9.1282, 8.0889, 2.0147, 0.1197, 0.0611, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_z": 0.02}, "note": "Lemon is large and centred just above the jaws in the wrist view; nudging 3 cm further out and down so the jaws straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteLemon fills the wrist view right at the jaws; lowering to table level and closing the gripper on it.
move_to
right_z0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4805, -0.0193, -0.0383, 0.9992, 0.3389, 1.8439, 0.9016, 0.0242, 0.2897, 0.0589, 0.9996] state[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1569 left_yaw=0.0023 left_pitch=-0.1022 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4204 right_y=0.0985 right_z=0.0133 right_yaw=0.0414 right_pitch=-0.2885 right_roll=-0.1874 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.2376, 6.9538, 1.6679, -0.0317, -0.0415, -0.0122, -0.3897, -9.2923, 7.665, 1.9853, 0.0806, 0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0, "right_gripper": 0.0}, "note": "Lemon fills the wrist view right at the jaws; lowering to table level and closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe close was empty (0.009) — the lemon sits just beyond the fingertips. Reopening, lifting slightly and pitching the tool forward to extend reach another few cm.
move_to
right_gripper1.0000right_z0.0500right_x0.4600right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4957, -0.0193, -0.0383, 0.9992, 0.3389, 1.8709, 0.8898, 0.0441, 0.2905, 0.0544, 0.0088] state[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.154 left_yaw=0.0023 left_pitch=-0.1175 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4173 right_y=0.0973 right_z=0.0012 right_yaw=0.0417 right_pitch=-0.307 right_roll=-0.1969 right_gripper=0.0088 state[joint_eff]: [0.0068, -1.265, 6.9402, 1.7411, -0.0757, -0.0366, -0.0122, -0.3624, -7.6513, 4.9709, 1.4481, -0.0366, 0.0317, 0.7497] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.05, "right_x": 0.46, "right_pitch": 0.3}, "note": "The close was empty (0.009) \u2014 the lemon sits just beyond the fingertips. Reopening, lifting slightly and pitching the tool forward to extend reach another few cm."})
tool
executing move_to over 21 steps (2.1s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe lemon is now between the open jaws in the wrist view, slightly left of centre; shifting 1 cm left, dropping to mid-lemon height and closing.
move_to
right_y0.1070right_z0.0200right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.511, -0.0193, -0.0387, 0.9992, 0.3473, 2.0151, 0.6559, 0.9688, 0.3813, -0.0868, 0.9976] state[eef_state]: left_x=0.2766 left_y=0.0018 left_z=0.1512 left_yaw=0.0026 left_pitch=-0.1327 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4539 right_y=0.0982 right_z=0.0346 right_yaw=0.0606 right_pitch=0.2175 right_roll=-0.2088 right_gripper=0.9976 state[joint_eff]: [-0.212, -1.2513, 6.9265, 1.7216, -0.0073, -0.0708, -0.0122, -0.3214, -7.7607, 4.2462, 2.2589, 0.2173, -0.0171, -0.022] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.107, "right_z": 0.02, "right_gripper": 0.05}, "note": "The lemon is now between the open jaws in the wrist view, slightly left of centre; shifting 1 cm left, dropping to mid-lemon height and closing."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteClosed on the lemon; lifting 7 cm to check in the overhead view whether it came with the jaws.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5186, -0.0193, -0.0383, 0.9992, 0.3676, 2.0689, 0.6533, 0.9833, 0.3893, -0.0792, 0.0543] state[eef_state]: left_x=0.2754 left_y=0.0018 left_z=0.1497 left_yaw=0.0024 left_pitch=-0.1403 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4479 right_y=0.1044 right_z=0.0135 right_yaw=0.0723 right_pitch=0.1792 right_roll=-0.217 right_gripper=0.0543 state[joint_eff]: [-0.0479, -1.2103, 7.1043, 1.6581, -0.0659, -0.0611, -0.0122, 0.4444, -7.2684, 5.559, 2.1661, 0.2711, -0.0317, 0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.09}, "note": "Closed on the lemon; lifting 7 cm to check in the overhead view whether it came with the jaws."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe lemon is still visible ahead of the jaws in the wrist view, so the grasp missed again; reopening and moving 4 cm further out at low height to get the jaws around it.
move_to
right_gripper1.0000right_x0.4800right_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.5289, -0.0193, -0.0387, 0.9992, 0.3672, 1.7981, 0.6773, 0.6785, 0.3809, -0.0811, 0.0535] state[eef_state]: left_x=0.2737 left_y=0.0018 left_z=0.1475 left_yaw=0.0027 left_pitch=-0.1518 left_roll=-0.0011 left_gripper=0.9992 right_x=0.444 right_y=0.1042 right_z=0.0747 right_yaw=0.0805 right_pitch=0.1684 right_roll=-0.2182 right_gripper=0.0535 state[joint_eff]: [-0.0889, -0.8274, 6.8991, 1.7118, -0.0708, -0.0708, -0.0073, -0.2803, -9.0188, 7.4598, 2.1758, 0.1148, 0.0024, -0.0952] 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_gripper": 1, "right_x": 0.48, "right_z": 0.055}, "note": "The lemon is still visible ahead of the jaws in the wrist view, so the grasp missed again; reopening and moving 4 cm further out at low height to get the jaws around it."})
tool
executing move_to over 10 steps (1.0s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe lemon now sits between the two open jaws in the wrist view; descending to table level and closing to about lemon width to grip it.
move_to
right_z0.0100right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.812, 0.6067, -0.54, -0.0193, -0.0387, 0.9992, 0.3653, 1.8122, 0.6868, 0.6258, 0.3775, -0.0872, 0.9947] state[eef_state]: left_x=0.2719 left_y=0.0019 left_z=0.1452 left_yaw=0.0027 left_pitch=-0.164 left_roll=-0.0008 left_gripper=0.9992 right_x=0.441 right_y=0.1028 right_z=0.0611 right_yaw=0.087 right_pitch=0.1123 right_roll=-0.2383 right_gripper=0.9947 state[joint_eff]: [-0.3214, -1.2786, 7.0906, 1.7167, -0.0757, -0.0562, -0.0122, -0.4034, -7.6923, 5.5316, 2.3321, 0.0122, -0.0171, -0.0952] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.01, "right_gripper": 0.3}, "note": "The lemon now sits between the two open jaws in the wrist view; descending to table level and closing to about lemon width to grip it."})
tool
executing move_to over 7 steps (0.7s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe jaws are still short of the lemon and x has stalled near 0.44; pitching the tool well forward (which extends the fingertips) and commanding x=0.49 to finally reach past the lemon's centre.
move_to
right_gripper1.0000right_pitch0.5000right_x0.4900right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5556, -0.0193, -0.0387, 0.9992, 0.3653, 1.9968, 0.6537, 0.7944, 0.3771, -0.0929, 0.305] state[eef_state]: left_x=0.2693 left_y=0.0019 left_z=0.1418 left_yaw=0.0028 left_pitch=-0.1819 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4356 right_y=0.1008 right_z=0.0052 right_yaw=0.0916 right_pitch=0.0641 right_roll=-0.2566 right_gripper=0.305 state[joint_eff]: [-0.0615, -1.2923, 6.8855, 1.7314, -0.0659, -0.0415, -0.0122, -0.2667, -7.2821, 4.1915, 1.9463, 0.0611, 0.0171, 0.188] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_pitch": 0.5, "right_x": 0.49, "right_z": 0.03}, "note": "The jaws are still short of the lemon and x has stalled near 0.44; pitching the tool well forward (which extends the fingertips) and commanding x=0.49 to finally reach past the lemon's centre."})
tool
executing move_to over 15 steps (1.5s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe lemon is now down between the open jaws at the bottom of the wrist view; lowering slightly and closing on it.
move_to
right_z0.0150right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5636, -0.0189, -0.0383, 0.9992, 0.3305, 2.3421, 0.7574, 1.4807, 0.3679, -0.1963, 0.9971] state[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.14 left_yaw=0.0023 left_pitch=-0.1918 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4872 right_y=0.1038 right_z=0.0314 right_yaw=0.0925 right_pitch=0.4801 right_roll=-0.2392 right_gripper=0.9971 state[joint_eff]: [-0.0615, -1.388, 6.8718, 1.6386, -0.0708, -0.0562, -0.0122, -0.759, -7.9658, 3.8359, 1.7949, 0.0757, -0.2027, -0.022] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.015, "right_gripper": 0.35}, "note": "The lemon is now down between the open jaws at the bottom of the wrist view; lowering slightly and closing on it."})
tool
executing move_to over 7 steps (0.7s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteGripper closed to 0.63 with high effort — the lemon is grasped. Lifting it clear of the table before carrying it to the safe.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5781, -0.0193, -0.0387, 0.9992, 0.3317, 2.384, 0.77, 1.5425, 0.3656, -0.2066, 0.6344] state[eef_state]: left_x=0.2655 left_y=0.002 left_z=0.1374 left_yaw=0.0029 left_pitch=-0.2063 left_roll=0.0001 left_gripper=0.9992 right_x=0.4883 right_y=0.1052 right_z=0.0295 right_yaw=0.0981 right_pitch=0.5103 right_roll=-0.2419 right_gripper=0.6344 state[joint_eff]: [-0.0205, -1.2376, 6.8581, 1.6386, -0.0806, -0.0562, -0.0122, -0.4171, -7.6103, 3.7812, 1.5653, 0.0073, 0.0708, 0.9499] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "Gripper closed to 0.63 with high effort \u2014 the lemon is grasped. Lifting it clear of the table before carrying it to the safe."})
tool
executing move_to over 9 steps (0.9s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteLemon is securely held; carrying it high and left over the open safe's red interior.
move_to
right_x0.4700right_y0.3000right_z0.2400right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5854, -0.0193, -0.0387, 0.9992, 0.3317, 1.8973, 0.7368, 1.0542, 0.3584, -0.21, 0.6363] state[eef_state]: left_x=0.2643 left_y=0.002 left_z=0.1355 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.0003 left_gripper=0.9992 right_x=0.4841 right_y=0.105 right_z=0.1366 right_yaw=0.1113 right_pitch=0.4758 right_roll=-0.2539 right_gripper=0.6363 state[joint_eff]: [0.1436, -1.1419, 6.8444, 1.5604, -0.0757, -0.0659, -0.0122, -0.3487, -10.4137, 7.706, 2.044, 0.0513, -0.0024, 0.188] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.3, "right_z": 0.24, "right_pitch": 0.2}, "note": "Lemon is securely held; carrying it high and left over the open safe's red interior."})
tool
executing move_to over 17 steps (1.7s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteWrist view shows the red safe interior just left of the held lemon; shifting 4 cm further left and down to centre over the open compartment.
move_to
right_y0.3400right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.7723, 1.945, 1.5902, -0.1581, 0.7158, 0.0353, 0.639] state[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0026 left_pitch=-0.2235 left_roll=0.0002 left_gripper=0.9992 right_x=0.4684 right_y=0.2994 right_z=0.2293 right_yaw=0.1538 right_pitch=0.1888 right_roll=-0.2814 right_gripper=0.639 state[joint_eff]: [-0.1162, -1.2103, 6.8308, 1.5653, -0.0171, -0.0513, -0.0122, 0.1436, -10.7419, 8.8684, 1.8437, 0.3687, 0.1929, 0.2613] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.34, "right_z": 0.19}, "note": "Wrist view shows the red safe interior just left of the held lemon; shifting 4 cm further left and down to centre over the open compartment."})
tool
executing move_to over 4 steps (0.4s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteWrist view shows red safe lining all around the held lemon, so we are over the compartment; opening the gripper to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.593, -0.0193, -0.0383, 0.9992, 0.8268, 2.0666, 1.6176, -0.1555, 0.746, 0.0574, 0.6407] state[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1341 left_yaw=0.0027 left_pitch=-0.2242 left_roll=0.0008 left_gripper=0.9992 right_x=0.4627 right_y=0.331 right_z=0.1785 right_yaw=0.1816 right_pitch=0.128 right_roll=-0.329 right_gripper=0.6407 state[joint_eff]: [-0.0889, -1.0872, 7.0359, 1.4725, -0.0659, -0.0171, -0.0122, 0.3487, -11.7675, 9.1692, 2.083, 0.4274, 0.149, 0.1587] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Wrist view shows red safe lining all around the held lemon, so we are over the compartment; opening the gripper to drop it in."})
tool
executing move_to over 4 steps (0.4s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteLemon is in the safe. Parking the right arm back toward home and bringing the left arm above the small cream-coloured toy to the left of the safe.
move_to
right_x0.2900right_y0.0200right_z0.2000right_pitch0.0000left_x0.3770left_y-0.1690left_z0.1300left_pitch0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.593, -0.0193, -0.0387, 0.9992, 0.8383, 2.1025, 1.6176, -0.1398, 0.7486, 0.062, 0.9948] state[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1341 left_yaw=0.0029 left_pitch=-0.2242 left_roll=0.0005 left_gripper=0.9992 right_x=0.4616 right_y=0.3387 right_z=0.1619 right_yaw=0.19 right_pitch=0.1136 right_roll=-0.3384 right_gripper=0.9948 state[joint_eff]: [0.0068, -1.0188, 6.8444, 1.5214, -0.0611, -0.0562, -0.0122, -0.4444, -13.3675, 9.1145, 1.9072, 0.3932, 0.1294, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.02, "right_z": 0.2, "right_pitch": 0.0, "left_x": 0.377, "left_y": -0.169, "left_z": 0.13, "left_pitch": 0.3, "left_gripper": 1}, "note": "Lemon is in the safe. Parking the right arm back toward home and bringing the left arm above the small cream-coloured toy to the left of the safe."})
tool
executing move_to over 27 steps (2.7s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteLemon is visibly inside the safe. The cream toy sits just left of the left gripper's jaw column near the bottom of the wrist view; nudging left and forward and descending to table level around it.
move_to
left_y-0.1450left_x0.3850left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6949, 1.5509, 0.5381, 0.5346, -0.6495, -0.2783, 0.9993, 0.1684, 0.7982, 0.6682, -0.4377, 0.2108, -0.2893, 0.9953] state[eef_state]: left_x=0.3646 left_y=-0.1602 left_z=0.1031 left_yaw=-0.018 left_pitch=0.2051 left_roll=0.045 left_gripper=0.9993 right_x=0.2928 right_y=0.0159 right_z=0.1983 right_yaw=0.138 right_pitch=-0.0 right_roll=-0.339 right_gripper=0.9953 state[joint_eff]: [-0.5538, -5.9145, 8.2256, 2.1514, -0.4274, 0.1001, -0.0855, -0.0889, -1.0462, 7.1726, 2.0635, -0.0269, -0.0806, 0.0415] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.145, "left_x": 0.385, "left_z": 0.02}, "note": "Lemon is visibly inside the safe. The cream toy sits just left of the left gripper's jaw column near the bottom of the wrist view; nudging left and forward and descending to table level around it."})
tool
executing move_to over 6 steps (0.6s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe toy is between the jaws but sitting left of centre; shifting 2 cm left and closing the gripper on it.
move_to
left_y-0.1280left_z0.0100left_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6144, 1.9221, 0.4847, 1.0008, -0.5919, -0.2668, 0.9991, 0.1673, 0.8021, 0.667, -0.4774, 0.1982, -0.3069, 0.9954] state[eef_state]: left_x=0.3853 left_y=-0.1468 left_z=0.0336 left_yaw=0.0143 left_pitch=0.2224 left_roll=0.0094 left_gripper=0.9991 right_x=0.2877 right_y=0.0169 right_z=0.1885 right_yaw=0.1567 right_pitch=-0.048 right_roll=-0.3473 right_gripper=0.9954 state[joint_eff]: [0.5675, -5.2991, 3.453, 0.7009, -0.0269, 0.3883, -0.0269, -0.0068, -1.5521, 7.0359, 2.044, 0.1197, 0.1685, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.128, "left_z": 0.01, "left_gripper": 0.15}, "note": "The toy is between the jaws but sitting left of centre; shifting 2 cm left and closing the gripper on it."})
tool
executing move_to over 9 steps (0.9s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteGripper closed to 0.16; lifting to check in the overhead view whether the cream toy came up with it.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.606, 1.9656, 0.482, 1.0561, -0.5835, -0.2363, 0.1572, 0.1673, 0.8024, 0.667, -0.4999, 0.1974, -0.3107, 0.9954] state[eef_state]: left_x=0.3869 left_y=-0.1453 left_z=0.0269 left_yaw=-0.0003 left_pitch=0.2274 left_roll=0.0304 left_gripper=0.1572 right_x=0.2846 right_y=0.0165 right_z=0.184 right_yaw=0.1593 right_pitch=-0.0717 right_roll=-0.3501 right_gripper=0.9954 state[joint_eff]: [0.3214, -6.8718, 3.0564, 1.6142, 0.0122, 0.0855, 0.4469, -0.0479, -1.2103, 6.9538, 1.8926, 0.0024, -0.0366, -0.0122] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Gripper closed to 0.16; lifting to check in the overhead view whether the cream toy came up with it."})
tool
executing move_to over 7 steps (0.7s)
step 211
top_cam
camera top_cam step 211
assistant
agent noteSomething cream-coloured appears held in the left jaws; carrying it high over the open safe compartment.
move_to
left_x0.4600left_y-0.3350left_z0.2600left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6071, 1.5841, 0.5438, 0.5999, -0.588, -0.2451, 0.159, 0.1673, 0.8043, 0.667, -0.5232, 0.1974, -0.3115, 0.9954] state[eef_state]: left_x=0.383 left_y=-0.1424 left_z=0.1027 left_yaw=0.0056 left_pitch=0.218 left_roll=0.0312 left_gripper=0.159 right_x=0.2813 right_y=0.016 right_z=0.179 right_yaw=0.1597 right_pitch=-0.097 right_roll=-0.3509 right_gripper=0.9954 state[joint_eff]: [0.0479, -7.7197, 8.5538, 2.1026, -0.1538, 0.0415, 0.1685, -0.1846, -1.2376, 7.1863, 1.8535, 0.022, -0.0415, -0.0122] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.335, "left_z": 0.26, "left_pitch": 0.2}, "note": "Something cream-coloured appears held in the left jaws; carrying it high over the open safe compartment."})
tool
executing move_to over 18 steps (1.8s)
step 229
assistant
agent noteOverhead view shows the left gripper slightly right of the safe's red opening; shifting 4 cm left and lowering toward the compartment before releasing.
move_to
left_y-0.3700left_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8558, 2.0243, 1.7954, -0.3393, -0.7879, -0.4259, 0.1598, 0.1673, 0.8089, 0.667, -0.5549, 0.1974, -0.3141, 0.9954] state[eef_state]: left_x=0.4592 left_y=-0.3325 left_z=0.2476 left_yaw=0.0013 left_pitch=0.1916 left_roll=0.0197 left_gripper=0.1598 right_x=0.2768 right_y=0.0152 right_z=0.1718 right_yaw=0.1611 right_pitch=-0.1337 right_roll=-0.3532 right_gripper=0.9954 state[joint_eff]: [-0.4581, -11.7265, 8.9231, 1.4188, -0.4615, 0.0415, 0.0708, -0.1436, -1.5385, 6.8855, 1.9072, 0.0269, -0.0122, -0.0122] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.37, "left_z": 0.21}, "note": "Overhead view shows the left gripper slightly right of the safe's red opening; shifting 4 cm left and lowering toward the compartment before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 233
assistant
agent noteWrist view now shows the red safe interior clearly to the image-left of the jaws, meaning I overshot to the right; moving 6 cm back to the left to centre over the opening.
move_to
left_y-0.3050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8974, 2.138, 1.8317, -0.3294, -0.8059, -0.4561, 0.1612, 0.1669, 0.8097, 0.667, -0.5781, 0.1978, -0.3145, 0.9954] state[eef_state]: left_x=0.4569 left_y=-0.3627 left_z=0.2039 left_yaw=-0.019 left_pitch=0.1563 left_roll=0.0506 left_gripper=0.1612 right_x=0.2732 right_y=0.0145 right_z=0.1673 right_yaw=0.1606 right_pitch=-0.1578 right_roll=-0.3539 right_gripper=0.9954 state[joint_eff]: [-0.4718, -12.6291, 9.2923, 1.7314, -0.5592, -0.1245, 0.1441, -0.1846, -1.2376, 6.8581, 1.8486, 0.0708, -0.0757, -0.0122] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.305}, "note": "Wrist view now shows the red safe interior clearly to the image-left of the jaws, meaning I overshot to the right; moving 6 cm back to the left to centre over the opening."})
tool
executing move_to over 6 steps (0.6s)
step 239
assistant
agent noteThe left arm is over-extended and y stopped tracking; pulling back in x while moving left so the arm can actually reach over the safe's red opening.
move_to
left_x0.3800left_y-0.3000left_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9085, 2.1761, 1.832, -0.3176, -0.8093, -0.466, 0.1627, 0.1669, 0.8101, 0.667, -0.6121, 0.1974, -0.3145, 0.9954] state[eef_state]: left_x=0.4558 left_y=-0.3708 left_z=0.1851 left_yaw=-0.025 left_pitch=0.1418 left_roll=0.063 left_gripper=0.1627 right_x=0.2677 right_y=0.0136 right_z=0.1611 right_yaw=0.1609 right_pitch=-0.1922 right_roll=-0.3538 right_gripper=0.9954 state[joint_eff]: [0.0479, -14.106, 8.6769, 1.7314, -0.5543, -0.0562, 0.1441, -0.0752, -1.1829, 6.8718, 1.8681, 0.0464, -0.0611, -0.0171] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.3, "left_z": 0.22}, "note": "The left arm is over-extended and y stopped tracking; pulling back in x while moving left so the arm can actually reach over the safe's red opening."})
tool
executing move_to over 7 steps (0.7s)
step 246
assistant
agent noteThe left wrist view is now filled with the red safe interior below the jaws; lowering slightly and opening to drop the toy inside.
move_to
left_gripper1.0000left_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9417, 1.9091, 1.4967, -0.3393, -0.8101, -0.4904, 0.1641, 0.1669, 0.8158, 0.667, -0.6357, 0.1978, -0.3145, 0.9954] state[eef_state]: left_x=0.3984 left_y=-0.3239 left_z=0.1869 left_yaw=-0.0522 left_pitch=0.0865 left_roll=0.1116 left_gripper=0.1641 right_x=0.264 right_y=0.0129 right_z=0.1556 right_yaw=0.1605 right_pitch=-0.2215 right_roll=-0.3543 right_gripper=0.9954 state[joint_eff]: [-0.212, -13.8462, 10.9197, 2.8059, -0.6178, -0.1001, 0.1343, -0.1709, -1.2103, 7.1726, 1.8144, 0.0562, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.16}, "note": "The left wrist view is now filled with the red safe interior below the jaws; lowering slightly and opening to drop the toy inside."})
tool
executing move_to over 9 steps (0.9s)
step 255
assistant
agent noteLemon and cream toy are both inside the safe. Parking the left arm away and bringing the right arm over the brown teddy bear in front of the safe.
move_to
left_x0.2800left_y-0.0500left_z0.2200left_gripper1.0000right_x0.2300right_y0.1900right_z0.1600right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9466, 1.9465, 1.4246, -0.2722, -0.8055, -0.4992, 0.9954, 0.1673, 0.8181, 0.6662, -0.6575, 0.1974, -0.3145, 0.9954] state[eef_state]: left_x=0.3951 left_y=-0.3244 left_z=0.1504 left_yaw=-0.0579 left_pitch=0.058 left_roll=0.1349 left_gripper=0.9954 right_x=0.2603 right_y=0.0125 right_z=0.151 right_yaw=0.1612 right_pitch=-0.2463 right_roll=-0.3542 right_gripper=0.9954 state[joint_eff]: [0.294, -11.8085, 6.188, 1.619, -0.4176, 0.0562, -0.1441, -0.1983, -1.1829, 7.0222, 1.6825, 0.0415, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": -0.05, "left_z": 0.22, "left_gripper": 1, "right_x": 0.23, "right_y": 0.19, "right_z": 0.16, "right_pitch": 0.2}, "note": "Lemon and cream toy are both inside the safe. Parking the left arm away and bringing the right arm over the brown teddy bear in front of the safe."})
tool
executing move_to over 25 steps (2.5s)
step 280
assistant
agent noteThe teddy bear appears at the lower-left of the right wrist view, so it is to the arm's left; shifting ~8 cm left and descending toward it.
move_to
right_y0.2700right_x0.2400right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4549, 0.7921, 0.7341, -0.5018, -0.4538, -0.1551, 0.9985, 1.2285, 1.2011, 0.6079, -0.3851, 1.0649, 0.4385, 0.9954] state[eef_state]: left_x=0.2842 left_y=-0.0488 left_z=0.2243 left_yaw=-0.0108 left_pitch=0.0786 left_roll=0.1183 left_gripper=0.9985 right_x=0.2255 right_y=0.1832 right_z=0.1419 right_yaw=0.2062 right_pitch=0.1252 right_roll=-0.4183 right_gripper=0.9954 state[joint_eff]: [0.0479, -0.759, 6.4068, 1.8632, -0.0415, 0.1343, -0.1587, 0.1983, -3.6171, 8.6085, 1.3114, 0.735, 0.1392, -0.0122] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.27, "right_x": 0.24, "right_z": 0.1}, "note": "The teddy bear appears at the lower-left of the right wrist view, so it is to the arm's left; shifting ~8 cm left and descending toward it."})
tool
executing move_to over 8 steps (0.8s)
step 288
assistant
agent noteThe teddy fills the lower-left of the wrist view; shifting 4 cm further left and descending onto its body to grasp.
move_to
right_y0.3000right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.453, 0.7963, 0.7319, -0.5316, -0.4419, -0.1581, 0.9985, 1.2774, 1.6463, 0.7948, -0.2611, 1.0683, 0.5087, 0.9954] state[eef_state]: left_x=0.281 left_y=-0.0488 left_z=0.216 left_yaw=-0.0177 left_pitch=0.0433 left_roll=0.1252 left_gripper=0.9985 right_x=0.2359 right_y=0.2578 right_z=0.0915 right_yaw=0.2296 right_pitch=0.0759 right_roll=-0.474 right_gripper=0.9954 state[joint_eff]: [-0.1573, -1.4154, 7.0496, 1.9512, -0.3346, -0.022, -0.022, 0.4034, -6.8034, 7.3504, 1.1062, 0.7155, 0.1783, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.3, "right_z": 0.04}, "note": "The teddy fills the lower-left of the wrist view; shifting 4 cm further left and descending onto its body to grasp."})
tool
executing move_to over 4 steps (0.4s)
step 292
assistant
agent noteThe teddy is directly under the jaws filling the lower wrist view; pressing down slightly and closing the gripper on its body.
move_to
right_z0.0250right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5404, -0.4412, -0.1612, 0.9985, 1.3098, 1.898, 0.8799, -0.1894, 1.0908, 0.5568, 0.9954] state[eef_state]: left_x=0.28 left_y=-0.0484 left_z=0.2138 left_yaw=-0.0169 left_pitch=0.034 left_roll=0.1266 left_gripper=0.9985 right_x=0.2352 right_y=0.2874 right_z=0.0433 right_yaw=0.2357 right_pitch=0.0604 right_roll=-0.5257 right_gripper=0.9954 state[joint_eff]: [0.0479, -1.1829, 6.9675, 1.7753, -0.232, 0.0122, -0.0122, 0.3761, -7.2137, 6.0239, 0.8376, 0.2613, 0.105, -0.0122] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.025, "right_gripper": 0.05}, "note": "The teddy is directly under the jaws filling the lower wrist view; pressing down slightly and closing the gripper on its body."})
tool
executing move_to over 10 steps (1.0s)
step 302
assistant
agent noteGripper closed to 0.05 (mostly fur); lifting to see whether the teddy comes up with it.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5556, -0.4412, -0.1619, 0.9985, 1.3128, 1.9133, 0.8959, -0.1585, 1.0767, 0.5766, 0.0544] state[eef_state]: left_x=0.2782 left_y=-0.0475 left_z=0.211 left_yaw=-0.0166 left_pitch=0.0202 left_roll=0.1324 left_gripper=0.9985 right_x=0.2356 right_y=0.2973 right_z=0.0419 right_yaw=0.2321 right_pitch=0.0691 right_roll=-0.4744 right_gripper=0.0544 state[joint_eff]: [-0.0615, -1.0735, 6.8171, 1.7802, -0.1734, -0.0464, -0.0171, 0.1299, -7.241, 5.4769, 0.9304, 0.5006, 0.0415, 0.1245] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "Gripper closed to 0.05 (mostly fur); lifting to see whether the teddy comes up with it."})
tool
executing move_to over 8 steps (0.8s)
step 310
assistant
agent noteTeddy stayed on the table — the last close only caught fur. Its body is at the lower-left of the wrist view, so shifting 4 cm left and pressing down into its torso before closing.
move_to
right_y0.3400right_x0.2150right_z0.0150right_gripper0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5629, -0.4408, -0.165, 0.9985, 1.3125, 1.7065, 1.1015, -0.5888, 1.0607, 0.5762, 0.0535] state[eef_state]: left_x=0.2773 left_y=-0.0472 left_z=0.2096 left_yaw=-0.0153 left_pitch=0.0138 left_roll=0.1327 left_gripper=0.9985 right_x=0.2347 right_y=0.2988 right_z=0.1384 right_yaw=0.2384 right_pitch=0.0474 right_roll=-0.4835 right_gripper=0.0535 state[joint_eff]: [-0.0752, -0.8957, 6.8034, 1.7216, -0.149, -0.0024, -0.0122, -0.0342, -9.7162, 8.0889, 0.9548, 0.5397, -0.0073, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.34, "right_x": 0.215, "right_z": 0.015, "right_gripper": 0.12}, "note": "Teddy stayed on the table \u2014 the last close only caught fur. Its body is at the lower-left of the wrist view, so shifting 4 cm left and pressing down into its torso before closing."})
tool
executing move_to over 8 steps (0.8s)
step 318
assistant
agent noteThe teddy now appears clamped in the jaws; carrying it up and forward over the open safe compartment.
move_to
right_x0.4400right_y0.3300right_z0.2500right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5777, -0.4412, -0.1654, 0.9985, 1.3891, 2.0823, 1.0843, -0.3794, 1.0901, 0.709, 0.1189] state[eef_state]: left_x=0.2755 left_y=-0.0462 left_z=0.2069 left_yaw=-0.0149 left_pitch=0.0004 left_roll=0.1389 left_gripper=0.9985 right_x=0.2158 right_y=0.3279 right_z=0.0201 right_yaw=0.2487 right_pitch=0.0269 right_roll=-0.5478 right_gripper=0.1189 state[joint_eff]: [-0.1436, -0.9504, 6.9265, 1.7411, -0.2222, -0.0122, -0.0122, 0.4308, -8.8137, 6.4205, 0.7302, 0.1587, 0.1978, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.33, "right_z": 0.25, "right_pitch": 0.2}, "note": "The teddy now appears clamped in the jaws; carrying it up and forward over the open safe compartment."})
tool
executing move_to over 18 steps (1.8s)
step 336
assistant
agent noteThe teddy slipped out and is still on the table, but budget is nearly spent, so I am switching to closing the safe: moving the closed gripper up and behind the raised lid.
move_to
right_x0.5400right_z0.3600right_y0.3300right_gripper0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5854, -0.4412, -0.1658, 0.9985, 0.8989, 1.9518, 1.6104, -0.1955, 0.8955, -0.1638, 0.1192] state[eef_state]: left_x=0.2746 left_y=-0.0458 left_z=0.2055 left_yaw=-0.0146 left_pitch=-0.0064 left_roll=0.1418 left_gripper=0.9985 right_x=0.4315 right_y=0.3268 right_z=0.2394 right_yaw=0.2442 right_pitch=0.1783 right_roll=-0.554 right_gripper=0.1192 state[joint_eff]: [-0.1573, -1.0325, 6.9812, 1.6728, -0.1929, -0.0366, -0.0171, -0.4444, -9.9624, 8.4034, 1.6484, 0.1832, -0.0317, 0.0073] camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.54, "right_z": 0.36, "right_y": 0.33, "right_gripper": 0.0, "right_pitch": 0.0}, "note": "The teddy slipped out and is still on the table, but budget is nearly spent, so I am switching to closing the safe: moving the closed gripper up and behind the raised lid."})
tool
executing move_to over 9 steps (0.9s)
step 345
assistant
agent noteThe closed gripper is above and behind the raised safe lid; sweeping forward toward the base and downward to push the lid shut.
move_to
right_x0.3600right_z0.0900right_y0.3100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4519, 0.8021, 0.7315, -0.5922, -0.4412, -0.1658, 0.9985, 0.7238, 2.5229, 2.8414, -1.1137, 0.6979, -0.2111, 0.0063] state[eef_state]: left_x=0.2741 left_y=-0.0452 left_z=0.2031 left_yaw=-0.0134 left_pitch=-0.0168 left_roll=0.1467 left_gripper=0.9985 right_x=0.517 right_y=0.3103 right_z=0.2523 right_yaw=0.2491 right_pitch=-0.1191 right_roll=-0.6281 right_gripper=0.0063 state[joint_eff]: [-0.253, -1.2786, 6.7897, 1.707, -0.2271, -0.0415, -0.0122, -0.3487, -19.5761, 8.7726, 1.917, 0.2955, 0.0855, 0.5739] camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_z": 0.09, "right_y": 0.31}, "note": "The closed gripper is above and behind the raised safe lid; sweeping forward toward the base and downward to push the lid shut."})
tool
executing move_to over 13 steps (1.3s)
step 358
assistant
agent notePartially completed: the yellow lemon and the small cream toy are inside the safe. The teddy bear resisted grasping (plush fur slipped from the jaws twice) and remains on the table, and I ran out of call budget before the lid could be pushed shut.
done
hindsightKey lessons on this rig: (1) The overhead camera's forward (row) scale is much weaker than I assumed — an object I estimated at x=0.31 was actually at x=0.49. Calibrate row->x with a known end-effector readback before reaching. (2) The right arm's x stalls around 0.42-0.44 at low z with neutral/negative pitch; commanding right_pitch≈0.5 (tool pitched forward) immediately extended reach to 0.49. Use forward pitch for anything past x≈0.42. (3) The same applies laterally: at large x the cross-over y target simply doesn't track; reduce x first, then move y. (4) In the wrist view an object that looks like it sits between the open jaws is typically still 3-5 cm beyond the fingertips; keep advancing until it is at/below the bottom edge. (5) Closing to a partial command (e.g. 0.15) makes the gripper reading useless for grasp verification — always command 0 and read the settled value, or watch for the reading stalling above the command with high effort (that is a real grasp, as with the lemon at 0.63). (6) Plush objects need the jaws around the torso and a full close; fur alone reads ~0.05 and slips. (7) Many moves report "delta_clamped" and barely advance — re-send or issue larger targets, and budget calls accordingly.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4519, 0.8032, 0.7315, -0.5926, -0.4408, -0.1688, 0.9985, 0.7879, 2.5908, 3.131, -1.309, 0.8036, -0.1581, 0.0094] state[eef_state]: left_x=0.2742 left_y=-0.0453 left_z=0.2027 left_yaw=-0.0121 left_pitch=-0.018 left_roll=0.1446 left_gripper=0.9985 right_x=0.4845 right_y=0.3118 right_z=0.2938 right_yaw=0.2101 right_pitch=-0.0415 right_roll=-0.6374 right_gripper=0.0094 state[joint_eff]: [-0.0889, -1.0188, 6.8171, 1.6874, -0.2027, -0.0171, -0.0122, 7.0085, -7.6239, 3.535, 0.8181, -0.0513, 0.0464, 0.3101] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]
assistant
done({"summary": "Partially completed: the yellow lemon and the small cream toy are inside the safe. The teddy bear resisted grasping (plush fur slipped from the jaws twice) and remains on the table, and I ran out of call budget before the lid could be pushed shut.", "hindsight": "Key lessons on this rig: (1) The overhead camera's forward (row) scale is much weaker than I assumed \u2014 an object I estimated at x=0.31 was actually at x=0.49. Calibrate row->x with a known end-effector readback before reaching. (2) The right arm's x stalls around 0.42-0.44 at low z with neutral/negative pitch; commanding right_pitch\u22480.5 (tool pitched forward) immediately extended reach to 0.49. Use forward pitch for anything past x\u22480.42. (3) The same applies laterally: at large x the cross-over y target simply doesn't track; reduce x first, then move y. (4) In the wrist view an object that looks like it sits between the open jaws is typically still 3-5 cm beyond the fingertips; keep advancing until it is at/below the bottom edge. (5) Closing to a partial command (e.g. 0.15) makes the gripper reading useless for grasp verification \u2014 always command 0 and read the settled value, or watch for the reading stalling above the command with high effort (that is a real grasp, as with the lemon at 0.63). (6) Plush objects need the jaws around the torso and a full close; fur alone reads ~0.05 and slips. (7) Many moves report \"delta_clamped\" and barely advance \u2014 re-send or issue larger targets, and budget calls accordingly."})
tool
done: Partially completed: the yellow lemon and the small cream toy are inside the safe. The teddy bear resisted grasping (plush fur slipped from the jaws twice) and remains on the table, and I ran out of call budget before the lid could be pushed shut.
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 · 19.33 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]: [-0.0193, 0.7921, 0.6033, -0.3927, -0.0196, -0.0341, 0.9993, -0.0212, 0.794, 0.606, -0.403, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0014 left_z=0.1775 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2919 right_y=0.0008 right_z=0.1761 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -1.347, 10.3179, 2.0195, -0.0611, 0.1978, -0.0904, -0.4581, -1.4701, 9.7162, 2.0635, -0.0513, 0.1392, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1284b8f87a18c068d7cb1715f9eb0feab8a8f30cd4b0c0b917a2be8879c458c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b50fe633aa0f84faa86ff57e3705dd0909dbc90612f8a9da3daa776ee4483b36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bac3838119191d60df01dd554992fcd631f5fcd3696edd235e402128d4723933",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.983 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]: [-0.0193, 0.7921, 0.6033, -0.3927, -0.0196, -0.0341, 0.9993, -0.0212, 0.794, 0.606, -0.403, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0014 left_z=0.1775 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2919 right_y=0.0008 right_z=0.1761 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -1.347, 10.3179, 2.0195, -0.0611, 0.1978, -0.0904, -0.4581, -1.4701, 9.7162, 2.0635, -0.0513, 0.1392, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1284b8f87a18c068d7cb1715f9eb0feab8a8f30cd4b0c0b917a2be8879c458c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b50fe633aa0f84faa86ff57e3705dd0909dbc90612f8a9da3daa776ee4483b36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bac3838119191d60df01dd554992fcd631f5fcd3696edd235e402128d4723933",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013Bp3YTibxD6Se2dxf5kXLP",
      "input": {
        "note": "Scene: open red-lined safe in the middle, a yellow lemon to its right, a brown teddy below it, a small white toy to its left. Moving the right arm above the yellow lemon to grasp it first.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.31,
          "right_y": 0.155,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_013Bp3YTibxD6Se2dxf5kXLP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4057, -0.0193, -0.0383, 0.9992, 0.7288, 1.2045, 0.6815, -0.2939, 0.5426, 0.3992, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1748 left_yaw=0.0022 left_pitch=-0.016 left_roll=-0.0037 left_gripper=0.9992 right_x=0.2965 right_y=0.1472 right_z=0.1269 right_yaw=0.0516 right_pitch=-0.0847 right_roll=-0.0654 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.7436, 7.0906, 1.8681, -0.0464, -0.0024, -0.0171, 0.1846, -4.1368, 9.1556, 1.8974, 0.4664, 0.2271, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fffa7ce4181c51c637323a56058c2353fcb4c46d6f673e341aca89a454532568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a4321a078b10f09bae80c98f29238bb973bc065128db335aaf7fe36f95ada6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e123da917e03527e2d959e8c331e4bf10db0da2b959a5ac41d4a26c52450c55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 4.699 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]: [-0.0193, 0.7921, 0.6033, -0.3927, -0.0196, -0.0341, 0.9993, -0.0212, 0.794, 0.606, -0.403, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0014 left_z=0.1775 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2919 right_y=0.0008 right_z=0.1761 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -1.347, 10.3179, 2.0195, -0.0611, 0.1978, -0.0904, -0.4581, -1.4701, 9.7162, 2.0635, -0.0513, 0.1392, -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, 0.7982, 0.6067, -0.4057, -0.0193, -0.0383, 0.9992, 0.7288, 1.2045, 0.6815, -0.2939, 0.5426, 0.3992, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1748 left_yaw=0.0022 left_pitch=-0.016 left_roll=-0.0037 left_gripper=0.9992 right_x=0.2965 right_y=0.1472 right_z=0.1269 right_yaw=0.0516 right_pitch=-0.0847 right_roll=-0.0654 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.7436, 7.0906, 1.8681, -0.0464, -0.0024, -0.0171, 0.1846, -4.1368, 9.1556, 1.8974, 0.4664, 0.2271, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fffa7ce4181c51c637323a56058c2353fcb4c46d6f673e341aca89a454532568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a4321a078b10f09bae80c98f29238bb973bc065128db335aaf7fe36f95ada6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e123da917e03527e2d959e8c331e4bf10db0da2b959a5ac41d4a26c52450c55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxAcKjgEIEhgCKkA1TVqnLA5Qp2Trm0zyn6plG6UamSXmQ8FeWVlXE4ROBDZfaJFwKYDlpE7yq8zdXQqfZshinmytRL5/4HhgHTr5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa25zNUGEgyblcQYQTL1k53Ae3saDLIJpDCEd2UJHoLj1yIwxmdD6L2lpJA2AIfsw5sHM5VAZJCfZc2m/bZt9qohyd5zgjIKzhZl9LFgWlMj+5WXKuIFki/9R28+OyFMVeTpUB9D33gYIkf4SKHp45rbg/Z4VsxCB3xYnaPFxps745UxGNnhgUJ5V5NIr/YbnYzsinRu6EJ3uStgo+AkXgQTiMVz+yzPdIy/cdZ1+xi4KNRF/aEAgr3HaPTfn+6rJNVXtRKKUglgZy+HBmlAoK5rWi4hUalKrYzi4D9z6DzObTBAPFwrdGdazNH9dGWrmdPWD8LvfO6dDFaQpDpE73V/H6iDxmCIry3uB7nOtNK630Jgovwj9Ud6R4tBL6LjHGf6wjWczVpf6QrPOt+HcMnFMMT0ypvwIwAGa3Q9yWNg5YJ22kk078WnzJEjOAyiLfU/WTVkQuwCVE52xoHTNsAO60otyFDwrgpmBGaX2KMs72zr2YUpoEB5X8kQgKtA0TXrGKjvN5CgMw1HN/utZOsplfi2Hrrv6bbZQvucV1jIL2X8ydAR8j07xg4B0VqsDAbOZ67VVO39jiNOueuSes2IpGIlOAiNbeUXcHxUUOS6gS1abBxloXEYJRucd9mP9HPSm7t14++tGEC6tqauVvm1BUQroBYWCoIyfxo3e4ykfJmBlP47bOoGxUVSE1ZyQsdQnwRhfEz8x29nL4bqjflmmvy1uf/SSxtS7npqAmNJx3o8fK/ehDEf8JxgmRfiMH3ZX7Sx7UqwzS6PXdIzMyusJNNxAMKEk0gfQ1NGTDyLB6PxtkJLmmQYPww6aTEEmXL+O6N+gdndV7Owy3tx3rkx30XOE+U9xl2QK8j7SBTknaX4XESE0Oh+4/9rZBra5CfemRzXhs4FWLS0eX+Vgl3q+3wrgGWmclaI2uuaDBEx9oXvqw0HcIpQAvwyMk2TtmksLc8s2TrZ2W3s54lYP68ce1mwil1GycA1Km64iYyW66MFoNKaMZvoyggIhU9A5+GGK7ov+ME0zFsaSMY4EHJTbEBBr19ghPj48FfnPFyvY/s1WXvX27cGr9fKWRJniI1uy7MjVoUIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MX9XpLJCh9PM5XqwNkYNGp",
      "input": {
        "note": "Right wrist view shows the lemon near the jaw column but high in frame, meaning it is still a few cm further out. Advancing radially and slightly right to line up over it.",
        "targets": {
          "right_x": 0.345,
          "right_y": 0.125,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MX9XpLJCh9PM5XqwNkYNGp",
      "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, 0.8005, 0.6067, -0.4095, -0.0193, -0.0387, 0.9992, 0.5407, 1.3087, 0.6899, -0.2169, 0.4385, 0.2848, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0015 left_z=0.1734 left_yaw=0.0024 left_pitch=-0.0221 left_roll=-0.0039 left_gripper=0.9992 right_x=0.3285 right_y=0.1139 right_z=0.1033 right_yaw=0.0043 right_pitch=-0.1489 right_roll=-0.1004 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.4017, 7.2274, 1.7021, -0.0562, -0.0611, -0.0122, -0.253, -4.6701, 8.3897, 1.8974, 0.1978, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8df39ab1dbfa58a7f0359e53af3d2fa093f473a31733ede8000e63c2472e1e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec86c95eaeb002b2402b2346a9c1e58d3d66db39976442e2805e573ea898fd34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1326891a14ed098a0a2fd4b7e99e453ac422ee0f06589ddafed331609fb53d22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.177 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]: [-0.0193, 0.7921, 0.6033, -0.3927, -0.0196, -0.0341, 0.9993, -0.0212, 0.794, 0.606, -0.403, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0014 left_z=0.1775 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2919 right_y=0.0008 right_z=0.1761 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -1.347, 10.3179, 2.0195, -0.0611, 0.1978, -0.0904, -0.4581, -1.4701, 9.7162, 2.0635, -0.0513, 0.1392, -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, 0.7982, 0.6067, -0.4057, -0.0193, -0.0383, 0.9992, 0.7288, 1.2045, 0.6815, -0.2939, 0.5426, 0.3992, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1748 left_yaw=0.0022 left_pitch=-0.016 left_roll=-0.0037 left_gripper=0.9992 right_x=0.2965 right_y=0.1472 right_z=0.1269 right_yaw=0.0516 right_pitch=-0.0847 right_roll=-0.0654 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.7436, 7.0906, 1.8681, -0.0464, -0.0024, -0.0171, 0.1846, -4.1368, 9.1556, 1.8974, 0.4664, 0.2271, -0.0513]",
      "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, 0.8005, 0.6067, -0.4095, -0.0193, -0.0387, 0.9992, 0.5407, 1.3087, 0.6899, -0.2169, 0.4385, 0.2848, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0015 left_z=0.1734 left_yaw=0.0024 left_pitch=-0.0221 left_roll=-0.0039 left_gripper=0.9992 right_x=0.3285 right_y=0.1139 right_z=0.1033 right_yaw=0.0043 right_pitch=-0.1489 right_roll=-0.1004 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.4017, 7.2274, 1.7021, -0.0562, -0.0611, -0.0122, -0.253, -4.6701, 8.3897, 1.8974, 0.1978, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8df39ab1dbfa58a7f0359e53af3d2fa093f473a31733ede8000e63c2472e1e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec86c95eaeb002b2402b2346a9c1e58d3d66db39976442e2805e573ea898fd34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1326891a14ed098a0a2fd4b7e99e453ac422ee0f06589ddafed331609fb53d22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgMKjgEIEhgCKkC+XAP3p1isfoTBPas/lUA7LTAW8jeMPmoYdJPeB9KXqANuQvCVKva5GuWrROFlc5mQcWzS6mnXy8PNeRIwU4BNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbK5zNUGEgzDYK5sBjldSP8S4t4aDNgEm5BxlUqbzfNyJSIwfxvBjoTHZeQ2jTytd0QYGoBUTIpNn94M0OgpzXMDtP0RLOlHkvVWmXOKcchyiJoxKuABuC4XDJSIM1KpRc/gXtqyl6FxuqLLHTVeT478E3DayK5rI6+Mev8Vk2p1soWIbUwsiQMjcPNFfx3rKk0mbUGdna6NoXqbVur5MRlztROFz+qkl+A0/UBgtD52fmTn5WoPFQRzVFcIySoX1SWmvYn7en+xr/ZuRQhbF2ujrYI5p/dzs5bqKJMzu3Lkjy+CUJypcJ4kvnNznV7xjY9jEtIcGw/6mWLls22l/UxX3m0xgRU/zN1jtZT/lohOU/baARVeDAHqW7/k+9Iu35wWcHnIdCV7ZNO2l3E8qvLoF0qo4dYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014grU8wCLCsqC3nQBXCWFfs",
      "input": {
        "note": "Lemon is now centred on the jaw column but still high in the wrist frame, so it remains a few cm further out; advancing and descending toward grasp height.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.115,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014grU8wCLCsqC3nQBXCWFfs",
      "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, 0.8013, 0.6067, -0.4274, -0.0193, -0.0387, 0.9992, 0.524, 1.3224, 0.6899, -0.1799, 0.3946, 0.2348, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1695 left_yaw=0.0024 left_pitch=-0.0408 left_roll=-0.0035 left_gripper=0.9992 right_x=0.334 right_y=0.1187 right_z=0.1024 right_yaw=0.0512 right_pitch=-0.1468 right_roll=-0.0979 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3333, 6.9949, 1.873, -0.0757, -0.0415, -0.0122, -0.1436, -5.1897, 8.2803, 1.8437, 0.1245, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7151c194fe8fef24f66fc5d77394868d3e8fda256201044d8d17d8148c727fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c3d9966e95c50890930de6d19cef12f4ffaa0f695f24900d7457f0884a0e94e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5534bed478c7432f8acfc1c0872b2aeaf6559c863ed35ab9d7257450d6783808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 8.861 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, 0.7982, 0.6067, -0.4057, -0.0193, -0.0383, 0.9992, 0.7288, 1.2045, 0.6815, -0.2939, 0.5426, 0.3992, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1748 left_yaw=0.0022 left_pitch=-0.016 left_roll=-0.0037 left_gripper=0.9992 right_x=0.2965 right_y=0.1472 right_z=0.1269 right_yaw=0.0516 right_pitch=-0.0847 right_roll=-0.0654 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.7436, 7.0906, 1.8681, -0.0464, -0.0024, -0.0171, 0.1846, -4.1368, 9.1556, 1.8974, 0.4664, 0.2271, -0.0513]",
      "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, 0.8005, 0.6067, -0.4095, -0.0193, -0.0387, 0.9992, 0.5407, 1.3087, 0.6899, -0.2169, 0.4385, 0.2848, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0015 left_z=0.1734 left_yaw=0.0024 left_pitch=-0.0221 left_roll=-0.0039 left_gripper=0.9992 right_x=0.3285 right_y=0.1139 right_z=0.1033 right_yaw=0.0043 right_pitch=-0.1489 right_roll=-0.1004 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.4017, 7.2274, 1.7021, -0.0562, -0.0611, -0.0122, -0.253, -4.6701, 8.3897, 1.8974, 0.1978, -0.0757, -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, 0.8013, 0.6067, -0.4274, -0.0193, -0.0387, 0.9992, 0.524, 1.3224, 0.6899, -0.1799, 0.3946, 0.2348, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1695 left_yaw=0.0024 left_pitch=-0.0408 left_roll=-0.0035 left_gripper=0.9992 right_x=0.334 right_y=0.1187 right_z=0.1024 right_yaw=0.0512 right_pitch=-0.1468 right_roll=-0.0979 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3333, 6.9949, 1.873, -0.0757, -0.0415, -0.0122, -0.1436, -5.1897, 8.2803, 1.8437, 0.1245, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7151c194fe8fef24f66fc5d77394868d3e8fda256201044d8d17d8148c727fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c3d9966e95c50890930de6d19cef12f4ffaa0f695f24900d7457f0884a0e94e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5534bed478c7432f8acfc1c0872b2aeaf6559c863ed35ab9d7257450d6783808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS3wMKjgEIEhgCKkBmfbBkI0nkQ1dCAird815/5XR2PkoO40RiyObSKsPipCSakT0lirGzaAKBsInrno0jL0vz8l41P1uOTIZoDxb+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbe5zNUGEgw7BBH5rl3Rq9CnZk8aDAN8hUQMVf108CJ2EyIw9TngXDI2pJnkAzR77h1kq5Fg4EbSwlvHQULqs7uG58asjDowmF/u962T3kosClxeKv0Bq9LNAzQg8F2zHcgWkyNZVwGrnheLoqL88mde/vdQXCIOVLRWcrdOdHXq9bipBfNNfRu7wWsMiWuH8Ujx3TtPanDNvUtBJ3xMoui1GVmexygRV9RYYCshEgpnxktewi5m9s7XizTwmh7YrIT8CCXYtGchn4LXYNiR0KtxegqIXeEYH3hVu295fucfvuqG/TnjjARbKShBnKodf5U/KIg/+d8rHqoqVcMDAgpmlYz/S/5k+/avq5Fny2s3x0+XK1UHL9B/l2NRCO93XyAmhnoFJLM+IGfiL6I6tOUNT9QPwgpILlOXqs2iehCaQQsQWsTw/7PovvFIQDPznlZGjRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DMn2a94V48RCaSAQdhT5Uq",
      "input": {
        "note": "The previous step was clamped and the arm barely advanced; re-sending the same approach target over the lemon.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.115,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DMn2a94V48RCaSAQdhT5Uq",
      "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, 0.8017, 0.6067, -0.4355, -0.0193, -0.0383, 0.9992, 0.524, 1.3224, 0.6899, -0.1799, 0.3946, 0.2348, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0492 left_roll=-0.003 left_gripper=0.9992 right_x=0.334 right_y=0.1187 right_z=0.1024 right_yaw=0.0512 right_pitch=-0.1468 right_roll=-0.0979 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.265, 7.1726, 1.7802, -0.0806, -0.0415, -0.0122, -0.1983, -5.1487, 8.3214, 1.9463, 0.1294, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fee876a9107a71f2c46b0ae5c6183c58e222e9554f24f3ab35059d617293651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f49f89f32b04296201f160bd0b869c1891886c6dccbbfe80f38a542e4b666385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f86932d12962cc52ba8ba3f72b7e78a453581b5e434852bd74e8dd481a1fd5b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 8.208 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, 0.8005, 0.6067, -0.4095, -0.0193, -0.0387, 0.9992, 0.5407, 1.3087, 0.6899, -0.2169, 0.4385, 0.2848, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0015 left_z=0.1734 left_yaw=0.0024 left_pitch=-0.0221 left_roll=-0.0039 left_gripper=0.9992 right_x=0.3285 right_y=0.1139 right_z=0.1033 right_yaw=0.0043 right_pitch=-0.1489 right_roll=-0.1004 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.4017, 7.2274, 1.7021, -0.0562, -0.0611, -0.0122, -0.253, -4.6701, 8.3897, 1.8974, 0.1978, -0.0757, -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, 0.8013, 0.6067, -0.4274, -0.0193, -0.0387, 0.9992, 0.524, 1.3224, 0.6899, -0.1799, 0.3946, 0.2348, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1695 left_yaw=0.0024 left_pitch=-0.0408 left_roll=-0.0035 left_gripper=0.9992 right_x=0.334 right_y=0.1187 right_z=0.1024 right_yaw=0.0512 right_pitch=-0.1468 right_roll=-0.0979 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3333, 6.9949, 1.873, -0.0757, -0.0415, -0.0122, -0.1436, -5.1897, 8.2803, 1.8437, 0.1245, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8017, 0.6067, -0.4355, -0.0193, -0.0383, 0.9992, 0.524, 1.3224, 0.6899, -0.1799, 0.3946, 0.2348, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0492 left_roll=-0.003 left_gripper=0.9992 right_x=0.334 right_y=0.1187 right_z=0.1024 right_yaw=0.0512 right_pitch=-0.1468 right_roll=-0.0979 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.265, 7.1726, 1.7802, -0.0806, -0.0415, -0.0122, -0.1983, -5.1487, 8.3214, 1.9463, 0.1294, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fee876a9107a71f2c46b0ae5c6183c58e222e9554f24f3ab35059d617293651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f49f89f32b04296201f160bd0b869c1891886c6dccbbfe80f38a542e4b666385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f86932d12962cc52ba8ba3f72b7e78a453581b5e434852bd74e8dd481a1fd5b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/AYKjgEIEhgCKkC2ZYthXzPqHxLa2krFspPY8UwLlMTxZonAnock67g9nOpLeks4ROis7p9z9PhyhnCoV6b6JMvxoveoy56KTTw7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb+5zNUGEgy0378hfORxmYz0wnUaDPs/VUsmG/pAl7Q/oSIw+DwhdnNvNVu+kjNHShQ2wDQp0KiTZKY4m6rzHvJ+3EeKWrrWs8QQXL/9FgcSoMlIKpoFmOju8xqvmT7OLNJg6M3Xg/nJacrYrBUWj/WVXq0IR8uc0KQvqbZnJ9nPfmw2aDSNlFtpUUiuZCj0Z5cErRhycXsCmKXVpC4pAq/PRp7dD9tBVebB/S+nBEPd6QFAvPI9CnlFhAX/O1Sn2ufYNGoyVRNZt041KKBapl8nFMh2vDfu16F92vX8zzds1G4F56EXspBdAVPl/egt//oGD3l9IpjXhFgX+HKDE1F7fdQ2DdXLBLO2BgcUntRkAxl14pE++BL5JGzxzg8ZllpH/XGLheZB0X57VTYF/+EiFm1f1e9+yjzdmdQkyuwEw9jlpaWrFa+w4xSA4LLtywNlrDEYiqMnlk22mNVGuQIpiiZP7h1QIW16tXpjaZcAvKi+Tm/5EbKhsAYoHsWLI0BncE/JODQLwqdPnAfPWErYuM0GiDCEbOfDmbTeIGMVJyTmsI1RwZhWr8ihlGTBkVjOifHTW+0UHNuiMKLA69WLY6lv66A9C1jiX4QgxO6+zP6E0iG5M4vDDdXVoKJ460bFxXfmNKsL4UJWs9TguIVDe+yp8UmlJvBRVqmbxRqv5qZqrrcN0hQ02wp8chLM7Ro+qICH0gsUHu+NkL8PxPaoB8Oav1YUXz+EBdB+oNOniBxlzHLUOvJccNe5Uq36j5pM9o3spuFi06pruLL2H+Qi/mypQsGiBLyqRBNVSmJeE/NwxALuxl+qdjZwkwcS2FQCm13qILJpIjeoUe0ur/Pgzl7CBgYSbOunVkfXLeZ+JZaB5twX6zl7IGNbTGcfwSsFXGx9mIO/zo7zK8BcU9HVDmmWYj8XUp5MHV+v/99W9Z7SLeE7y+vCjR9LIhl7DlFazU3eGmPYAYC8y6nTnmhU8QfaQsWQ1YoaFvKZYrW3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VkTTufoTAhKeMJAMWjFnNP",
      "input": {
        "note": "Right arm has stalled at x=0.334; trying a smaller increment forward and down with pitch levelled to see if it tracks.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.355,
          "right_y": 0.117,
          "right_z": 0.085
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VkTTufoTAhKeMJAMWjFnNP",
      "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, 0.6067, -0.4534, -0.0193, -0.0383, 0.9992, 0.5079, 1.4082, 0.5613, 0.0338, 0.4061, 0.1913, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1639 left_yaw=0.0022 left_pitch=-0.0686 left_roll=-0.0026 left_gripper=0.9992 right_x=0.333 right_y=0.1096 right_z=0.06 right_yaw=0.0505 right_pitch=-0.1465 right_roll=-0.1383 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -0.8137, 6.9812, 1.8535, -0.0855, -0.0366, -0.0122, -0.4308, -6.3658, 7.5419, 2.381, 0.2857, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:265ad79361aeb68d83dc222aa1f81035c4f4c8c5a29b261efc808db5d77f3a37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dab80a910d4a6fa3db69f8b7826fdadcc1c4823c547ce7c1ff1087d5721239ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16d02efd0149612f16e26b1a22e3316e97fb44ac49e56378538204527c594602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 5.598 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, 0.8013, 0.6067, -0.4274, -0.0193, -0.0387, 0.9992, 0.524, 1.3224, 0.6899, -0.1799, 0.3946, 0.2348, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1695 left_yaw=0.0024 left_pitch=-0.0408 left_roll=-0.0035 left_gripper=0.9992 right_x=0.334 right_y=0.1187 right_z=0.1024 right_yaw=0.0512 right_pitch=-0.1468 right_roll=-0.0979 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3333, 6.9949, 1.873, -0.0757, -0.0415, -0.0122, -0.1436, -5.1897, 8.2803, 1.8437, 0.1245, -0.0415, -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, 0.8017, 0.6067, -0.4355, -0.0193, -0.0383, 0.9992, 0.524, 1.3224, 0.6899, -0.1799, 0.3946, 0.2348, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0492 left_roll=-0.003 left_gripper=0.9992 right_x=0.334 right_y=0.1187 right_z=0.1024 right_yaw=0.0512 right_pitch=-0.1468 right_roll=-0.0979 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.265, 7.1726, 1.7802, -0.0806, -0.0415, -0.0122, -0.1983, -5.1487, 8.3214, 1.9463, 0.1294, -0.0171, -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, 0.6067, -0.4534, -0.0193, -0.0383, 0.9992, 0.5079, 1.4082, 0.5613, 0.0338, 0.4061, 0.1913, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1639 left_yaw=0.0022 left_pitch=-0.0686 left_roll=-0.0026 left_gripper=0.9992 right_x=0.333 right_y=0.1096 right_z=0.06 right_yaw=0.0505 right_pitch=-0.1465 right_roll=-0.1383 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -0.8137, 6.9812, 1.8535, -0.0855, -0.0366, -0.0122, -0.4308, -6.3658, 7.5419, 2.381, 0.2857, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:265ad79361aeb68d83dc222aa1f81035c4f4c8c5a29b261efc808db5d77f3a37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dab80a910d4a6fa3db69f8b7826fdadcc1c4823c547ce7c1ff1087d5721239ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16d02efd0149612f16e26b1a22e3316e97fb44ac49e56378538204527c594602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISgwkKjgEIEhgCKkDi3a7/4HJzHHGx+uT8FUQx2bHdwHey8bZXTCNJMTX8S1+4Ue/2RYt46eR2qYgbs/2J5zA8UPXK6pb94gKAVQaaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAci5zNUGEgzBHhPOM5rNyqxG0P0aDBId6KzUJQSXJQ8RGCIwpj/lzwlfF4DbN4NIz7O2btg0qTivT5hG2ztgfIzwtiDhmxVoLGhLhVEMQ3ihpAiuKqEHqcWwq+xpwwujWrn7Vd9WFc9NkUMiJRFzFv4O3H2VC1sSvNbQZMdZklSc2X02VJyVaTJHIXiKjvDPsvTrxLjdg6hyIzfXZJukyDEyUcu7jSQnf1DP+VnVxB8m4CovtS/SlMi/qHnDAT37BbPLEFXHZilt7GaQeufSaClYjQ3NeIycoOFwLOG/qfAQJ9FZyY//O7G0UvWkw3js2198cQNkMQgPhkZBGWKv3owgTiWLyaKTBI+JqvjWg+/KTEkt5Y4xIkNcPiM5HKfdquoMdAzHGJN/CMiHB5xt1rRIAtW5xVQKjxP15oCF18gFNbjkxvSofMStnyBm64rCm8wT9VsSjFQ0LnFw1GBpgaDwfaCMnV0UuoaHFz2jCcu47eWMdCsCQLFyoQC+q1FeFctm3/hbZEubhQBBiIR7cPPGKMOA7bcbQu36vnglzFvryY+MqHVTwYgNIrpsVsI/XsTClJGn0XmbEj6thGKb6tbNHau99aXzKx5xApjybzxSquAElzcxvEhfQOSED3uBnfdtYTsAx63R2vGuQxm6f6UfHJNUGk4T/ViP4p7eO8ezXLhUYpuSMPf5NAKQ9mViANxL00g28vRs/icEs9BgKRpAfDtrTerVVQ47/MgQ9NR8lWPoOUWDwAJvyF1yAAWxoelnaiilrmz03OszXJe85rzJqQpQdJXsZwDQ0Ck/wh0xxYrA+7BQURLzf8d0/oC27odf8P14jUyz7w1XgoUiNbxPkH+f3Sln3867DtZZJiPyMjUPraPAwMAhNeS863r/+P+AL7yF4If8gKx9FDjlHKkCiiq3Xj3gblsrN+/KF2nwd5vbKSIjQ+or+h/3NHT2eOPseBi//zGEq4nce9hx70w+x8ZzHoaoLaOQ2UlUt/2t9EolyjaW/wgbPJv2BRSRnURrrBO0CPQvAUeLLQOhtP06z+1lGyDa/F1HF7osstvc2bibdL8sKeq/3TuA5yNNKf7xsfaGeKV1EJ6PJz29qx4Bk/jzOc3RIsjse4RVyIeTeNdO7ABEs7nUxkHtm/CSzL/dqvo5TrbmZBSS+aGg32AQIxEXu8z/oVpazW2JUIkrEW1+TzL3gMQcRcY3TaJmohSX8J40F3ulTLwi7D3/Pm1T1qrPTtBEqYdiWLS60W5+E9tSTgUxmiuMEWg8cmsMUjewrNBFZ9YkrACSffeAmcPifxrZPSoQv/qWTEhGKhD0n0D/e243WJrFFcCWRfdRi+pe6ZXCXwoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JZMmqbafd4fuBZu5B5pPqa",
      "input": {
        "note": "x has stopped tracking at 0.333 while z followed; commanding a larger forward target to test whether the arm will extend toward the lemon.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JZMmqbafd4fuBZu5B5pPqa",
      "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, 0.6067, -0.4675, -0.0193, -0.0383, 0.9992, 0.3794, 1.6676, 0.8265, 0.009, 0.3161, 0.0948, 0.9996]\nstate[eef_state]: left_x=0.2834 left_y=0.0016 left_z=0.1599 left_yaw=0.0023 left_pitch=-0.0873 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4034 right_y=0.1056 right_z=0.0563 right_yaw=0.0465 right_pitch=-0.1973 right_roll=-0.1549 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5932, 7.159, 1.7998, -0.0513, -0.0269, -0.0122, -0.3487, -7.1316, 7.8291, 1.7314, 0.0757, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:341354e01bc4918a0d7d1b4c9851d2a5e60843bdeb0ad3b171a8cc0088fc1a4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea5981b669c2513aac480eee964218abcc120ce20a6a11515e609933bc5ab954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4953c7d10db4a98757a5d5fb552ba673f049738f25a7a74afc4f81eeb3bd1f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 5.242 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, 0.8017, 0.6067, -0.4355, -0.0193, -0.0383, 0.9992, 0.524, 1.3224, 0.6899, -0.1799, 0.3946, 0.2348, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0492 left_roll=-0.003 left_gripper=0.9992 right_x=0.334 right_y=0.1187 right_z=0.1024 right_yaw=0.0512 right_pitch=-0.1468 right_roll=-0.0979 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.265, 7.1726, 1.7802, -0.0806, -0.0415, -0.0122, -0.1983, -5.1487, 8.3214, 1.9463, 0.1294, -0.0171, -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, 0.6067, -0.4534, -0.0193, -0.0383, 0.9992, 0.5079, 1.4082, 0.5613, 0.0338, 0.4061, 0.1913, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1639 left_yaw=0.0022 left_pitch=-0.0686 left_roll=-0.0026 left_gripper=0.9992 right_x=0.333 right_y=0.1096 right_z=0.06 right_yaw=0.0505 right_pitch=-0.1465 right_roll=-0.1383 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -0.8137, 6.9812, 1.8535, -0.0855, -0.0366, -0.0122, -0.4308, -6.3658, 7.5419, 2.381, 0.2857, 0.0024, -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 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, 0.8078, 0.6067, -0.4675, -0.0193, -0.0383, 0.9992, 0.3794, 1.6676, 0.8265, 0.009, 0.3161, 0.0948, 0.9996]\nstate[eef_state]: left_x=0.2834 left_y=0.0016 left_z=0.1599 left_yaw=0.0023 left_pitch=-0.0873 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4034 right_y=0.1056 right_z=0.0563 right_yaw=0.0465 right_pitch=-0.1973 right_roll=-0.1549 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5932, 7.159, 1.7998, -0.0513, -0.0269, -0.0122, -0.3487, -7.1316, 7.8291, 1.7314, 0.0757, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:341354e01bc4918a0d7d1b4c9851d2a5e60843bdeb0ad3b171a8cc0088fc1a4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea5981b669c2513aac480eee964218abcc120ce20a6a11515e609933bc5ab954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4953c7d10db4a98757a5d5fb552ba673f049738f25a7a74afc4f81eeb3bd1f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgQKjgEIEhgCKkDzDOg58ZOn50OvJ66J/p6WLEEnQWbf5AuyYnWq3hQ/BPlhpfP9Sbx5xkiqJvVWPeAs9NFoXUOdu8R/qJ7xAhNkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc65zNUGEgwnPONXToM5zsjaPagaDDseJpFuz3kdi2G4lCIwpPkzHWlGlIsB83ZjYE/EtTv1yZP9rGsz0sMpurzdw6nU0MIbc69qhyqq3S9p43liKuACXNv9/kOzJpGmQ/+ATl3D4jt0ngit4iNBHkXWXKX3F6i50ET5D3QVL8Vy8295Icwr2AGtWcBrWy2H6PXWgTNBCAJhBfbNYTn9x5aeiIutJM2PGaDjQzoh/MwqP+u5VNIEVPtxbOzWbdu/QwsmT5sINSbFUWoWGN3BaCuwsaHMwsKdqBYHg6P8uF0Lm0zwbh4lhz3/AU3wgEfaGzmZLyuk4+SZya+78PnP6OIPGZj/nu9GjxCm52jskmMdy+EKWVYyKkduS5cPKQKLKaFcTTXAepRuW8mqb9toSQnVfwfDey05EGi0AwDBI23xEq4cJw/nEKDQc2xxQa7+mB7Cf2bWmSc0FVGXpUh+lb4hREHI3sgoSoNU/HRpCTlHOUi5YgG3ztcfGp/Cu6AT2hoRPYOaoIKxRiP87GFVHDlbHtY518xzrB9akprjam/7A7B8Pm07auxMOgmSHSVlr0c5E/W+exgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BBeFasBwLFjJdZGp9V6QEu",
      "input": {
        "note": "Lemon now fills the upper-centre of the right wrist view on the jaw column; advancing ~4 cm more and lowering to mid-lemon height for the grasp.",
        "targets": {
          "right_x": 0.44,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BBeFasBwLFjJdZGp9V6QEu",
      "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, 0.8097, 0.6067, -0.4778, -0.0193, -0.0383, 0.9992, 0.347, 1.8137, 0.8928, 0.0238, 0.2901, 0.07, 0.9996]\nstate[eef_state]: left_x=0.2819 left_y=0.0017 left_z=0.1574 left_yaw=0.0023 left_pitch=-0.0995 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4193 right_y=0.1017 right_z=0.0226 right_yaw=0.0446 right_pitch=-0.2673 right_roll=-0.1738 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.3744, 6.9675, 1.7656, -0.0464, -0.0317, -0.0122, -0.3214, -9.1282, 8.0889, 2.0147, 0.1197, 0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e70b42d7cb7e1a2f1723a14a2215657caf3e070bddf18d1129ea681f2c4a85f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e2085f2dc4cfabf6de307e2640d3dc23e9c64e53e2dc1a617fc96896b6cb088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a2569f9b91b0eb4f0572cfcc61036019b0008504bbaa30f3686e27ee196021f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 4.726 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, 0.6067, -0.4534, -0.0193, -0.0383, 0.9992, 0.5079, 1.4082, 0.5613, 0.0338, 0.4061, 0.1913, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1639 left_yaw=0.0022 left_pitch=-0.0686 left_roll=-0.0026 left_gripper=0.9992 right_x=0.333 right_y=0.1096 right_z=0.06 right_yaw=0.0505 right_pitch=-0.1465 right_roll=-0.1383 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -0.8137, 6.9812, 1.8535, -0.0855, -0.0366, -0.0122, -0.4308, -6.3658, 7.5419, 2.381, 0.2857, 0.0024, -0.0122]\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, 0.8078, 0.6067, -0.4675, -0.0193, -0.0383, 0.9992, 0.3794, 1.6676, 0.8265, 0.009, 0.3161, 0.0948, 0.9996]\nstate[eef_state]: left_x=0.2834 left_y=0.0016 left_z=0.1599 left_yaw=0.0023 left_pitch=-0.0873 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4034 right_y=0.1056 right_z=0.0563 right_yaw=0.0465 right_pitch=-0.1973 right_roll=-0.1549 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5932, 7.159, 1.7998, -0.0513, -0.0269, -0.0122, -0.3487, -7.1316, 7.8291, 1.7314, 0.0757, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8097, 0.6067, -0.4778, -0.0193, -0.0383, 0.9992, 0.347, 1.8137, 0.8928, 0.0238, 0.2901, 0.07, 0.9996]\nstate[eef_state]: left_x=0.2819 left_y=0.0017 left_z=0.1574 left_yaw=0.0023 left_pitch=-0.0995 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4193 right_y=0.1017 right_z=0.0226 right_yaw=0.0446 right_pitch=-0.2673 right_roll=-0.1738 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.3744, 6.9675, 1.7656, -0.0464, -0.0317, -0.0122, -0.3214, -9.1282, 8.0889, 2.0147, 0.1197, 0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e70b42d7cb7e1a2f1723a14a2215657caf3e070bddf18d1129ea681f2c4a85f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e2085f2dc4cfabf6de307e2640d3dc23e9c64e53e2dc1a617fc96896b6cb088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a2569f9b91b0eb4f0572cfcc61036019b0008504bbaa30f3686e27ee196021f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgQKjgEIEhgCKkBERcDRAOawMjQ3Q5E3ViXYicuCyeoqHHjpG3UcCwNBWRDK60l8uNlSytegUrFIiNztq8+Xnyh0wVGx/onSQSgDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdS5zNUGEgxhlQ/JkZZJRDkH7woaDKwuk0BdmT1JDgx4OSIwOkeIb/JUiAR4JtypkvJD50HUC0Xfr/tywi3ClzNGCnXn1cNi/6pV4xxghhAR1D7dKuACeUpbzw32HwX2r6AgnkMe3WR685gbtnvPsjveOyVkJblQm1FRtVOOtq94tUoxAWzv2n878rXJkG0S4gJt7DtmgYF1grCVRLpDwH8v2usyp4ZLj6dR7qV7k42BrTakwGeAw/Z9HGdDSChqO/9eSZ4azTkBmJsTAuMxm13HnpJJ9DS7Lj6WR7lBpk2Be1UHqloj+LeJfhPGw8m+nhRrb/1Yz3+DjoKUjt+uIlEXCB52VIroAUToBJy2eCn3m/+zCf+5Jq7IwvNeRLNp7yMKGfq1z0tUkenLFF5rtL30+PyZXMivtyS4uMQpZtLR6qgBYWQ7z2fm2D7tNx0RdOy6gRtSdeFbK1b40pn4SWflWOLkiUsGG1DjlvUoB2InayB9A9hn975OEYuwqK6U+Lf7qwNx8qVXvuxTp5o1OSFL8Wy651TmFwO6hiUi/hQOcAEn989v1GkmgYdVlOQ7MgNzkXNyCxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YUFS4Kdq9RtfaBDisyeahD",
      "input": {
        "note": "Lemon is large and centred just above the jaws in the wrist view; nudging 3 cm further out and down so the jaws straddle it.",
        "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_01YUFS4Kdq9RtfaBDisyeahD",
      "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, 0.8097, 0.6067, -0.4805, -0.0193, -0.0383, 0.9992, 0.3389, 1.8439, 0.9016, 0.0242, 0.2897, 0.0589, 0.9996]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1569 left_yaw=0.0023 left_pitch=-0.1022 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4204 right_y=0.0985 right_z=0.0133 right_yaw=0.0414 right_pitch=-0.2885 right_roll=-0.1874 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2376, 6.9538, 1.6679, -0.0317, -0.0415, -0.0122, -0.3897, -9.2923, 7.665, 1.9853, 0.0806, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84f58abef314f5becc7592d79695e9bca505035a7351bc7a3601e50a750a705a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:012591a0088997829d2f725839f8b76b9c184d15d3b35673023de52347bf7f96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a302ddf311b8a1d48e68ef00b146bdb033aa22c7d63c7896b2642bc9fd47431",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 7.124 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, 0.8078, 0.6067, -0.4675, -0.0193, -0.0383, 0.9992, 0.3794, 1.6676, 0.8265, 0.009, 0.3161, 0.0948, 0.9996]\nstate[eef_state]: left_x=0.2834 left_y=0.0016 left_z=0.1599 left_yaw=0.0023 left_pitch=-0.0873 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4034 right_y=0.1056 right_z=0.0563 right_yaw=0.0465 right_pitch=-0.1973 right_roll=-0.1549 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5932, 7.159, 1.7998, -0.0513, -0.0269, -0.0122, -0.3487, -7.1316, 7.8291, 1.7314, 0.0757, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8097, 0.6067, -0.4778, -0.0193, -0.0383, 0.9992, 0.347, 1.8137, 0.8928, 0.0238, 0.2901, 0.07, 0.9996]\nstate[eef_state]: left_x=0.2819 left_y=0.0017 left_z=0.1574 left_yaw=0.0023 left_pitch=-0.0995 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4193 right_y=0.1017 right_z=0.0226 right_yaw=0.0446 right_pitch=-0.2673 right_roll=-0.1738 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.3744, 6.9675, 1.7656, -0.0464, -0.0317, -0.0122, -0.3214, -9.1282, 8.0889, 2.0147, 0.1197, 0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4805, -0.0193, -0.0383, 0.9992, 0.3389, 1.8439, 0.9016, 0.0242, 0.2897, 0.0589, 0.9996]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1569 left_yaw=0.0023 left_pitch=-0.1022 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4204 right_y=0.0985 right_z=0.0133 right_yaw=0.0414 right_pitch=-0.2885 right_roll=-0.1874 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2376, 6.9538, 1.6679, -0.0317, -0.0415, -0.0122, -0.3897, -9.2923, 7.665, 1.9853, 0.0806, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84f58abef314f5becc7592d79695e9bca505035a7351bc7a3601e50a750a705a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:012591a0088997829d2f725839f8b76b9c184d15d3b35673023de52347bf7f96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a302ddf311b8a1d48e68ef00b146bdb033aa22c7d63c7896b2642bc9fd47431",
        "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/wMKjgEIEhgCKkAwFTz00u3NxjDn5VGPgELIvKs67eaT3a4cTEy5V97LoxbczZm+RVSgyaY4qtxDjM5cAlNgolcrF4N4zbyebOZLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdm5zNUGEgzKno1aseSixOydWPEaDN8Wn0D84ESbzwoqfiIwlEuCYV48PC5xq4Rs79JU0v0lQAEfU0hj4VbkDzsxlbwwkX99S8oLxt6jse7D/VQEKp0C1981rJ5GBAHsTlDmLo9tb7+I86gUq/57T0/1e6dWwfnTHvDhqATXUyDRCtL/xyKrFLnCTMR7BeKpI+CuWrKbjelaxZhmfB6IYfdcrXiAd0RJbPQPXvbGYdYcW5H1TfnR88xS5G3S4f8gei12sgEzF9faHVReuCG7DBN4AB5m+geXkvAttGGPnAXBkxEUk0gfvpeUjxa3xEx2KV5/EqeibERc/9imq3/x9cQCTj9NV1weBYnfpq9VlLlpOQBj5p4o++10e+yQZQOoffiEOCAom8Og5C8PShgkvvuKq9qrWZS4nTi8YUHb6FUsMJh+RmuayCFMLXYCbeYGu+GOqgD45owyP0BopVYnjtLHdkXefqEYRnGw+r0Yy+MRAfe0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CsKy33bo6sBMMg97RxmaeF",
      "input": {
        "note": "Lemon fills the wrist view right at the jaws; lowering to table level and closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CsKy33bo6sBMMg97RxmaeF",
      "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, 0.8097, 0.6067, -0.4957, -0.0193, -0.0383, 0.9992, 0.3389, 1.8709, 0.8898, 0.0441, 0.2905, 0.0544, 0.0088]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.154 left_yaw=0.0023 left_pitch=-0.1175 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4173 right_y=0.0973 right_z=0.0012 right_yaw=0.0417 right_pitch=-0.307 right_roll=-0.1969 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -1.265, 6.9402, 1.7411, -0.0757, -0.0366, -0.0122, -0.3624, -7.6513, 4.9709, 1.4481, -0.0366, 0.0317, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6dff8f3ee6b6b2c89ed7c50df4ec7645b9e044b7f358dc313d16f73c40b23c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fb3182dadf2776ef1caae2e2ff80b4119a319cf19e0c0f7344748bf2bff79ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe09e3b8d8ad130267f7ed2ec8a543140f6ef4c980295ae83ecf3164446b8f7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 8.374 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, 0.8097, 0.6067, -0.4778, -0.0193, -0.0383, 0.9992, 0.347, 1.8137, 0.8928, 0.0238, 0.2901, 0.07, 0.9996]\nstate[eef_state]: left_x=0.2819 left_y=0.0017 left_z=0.1574 left_yaw=0.0023 left_pitch=-0.0995 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4193 right_y=0.1017 right_z=0.0226 right_yaw=0.0446 right_pitch=-0.2673 right_roll=-0.1738 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.3744, 6.9675, 1.7656, -0.0464, -0.0317, -0.0122, -0.3214, -9.1282, 8.0889, 2.0147, 0.1197, 0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4805, -0.0193, -0.0383, 0.9992, 0.3389, 1.8439, 0.9016, 0.0242, 0.2897, 0.0589, 0.9996]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1569 left_yaw=0.0023 left_pitch=-0.1022 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4204 right_y=0.0985 right_z=0.0133 right_yaw=0.0414 right_pitch=-0.2885 right_roll=-0.1874 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2376, 6.9538, 1.6679, -0.0317, -0.0415, -0.0122, -0.3897, -9.2923, 7.665, 1.9853, 0.0806, 0.0317, -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 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, 0.8097, 0.6067, -0.4957, -0.0193, -0.0383, 0.9992, 0.3389, 1.8709, 0.8898, 0.0441, 0.2905, 0.0544, 0.0088]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.154 left_yaw=0.0023 left_pitch=-0.1175 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4173 right_y=0.0973 right_z=0.0012 right_yaw=0.0417 right_pitch=-0.307 right_roll=-0.1969 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -1.265, 6.9402, 1.7411, -0.0757, -0.0366, -0.0122, -0.3624, -7.6513, 4.9709, 1.4481, -0.0366, 0.0317, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6dff8f3ee6b6b2c89ed7c50df4ec7645b9e044b7f358dc313d16f73c40b23c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fb3182dadf2776ef1caae2e2ff80b4119a319cf19e0c0f7344748bf2bff79ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe09e3b8d8ad130267f7ed2ec8a543140f6ef4c980295ae83ecf3164446b8f7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStQcKjgEIEhgCKkCEhB0aja4AW5cEimYUtF7PEawnRrsf92avAhu5P0JgGC3CxATDVCwdkD7HD2Z8tsBLZwogSEqsTMQ0APAYzDcdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeG5zNUGEgw6O1B4rT6gRluSwMwaDGbm7rJxEC4jQbBiayIwBjLw6XwZUp4lNXgeE6OfTQAPD7K1VwC4EeJI0CRreJAakWUVuNP0uJDT5ubUjEujKtMFe1DurRoV0w3bcywspMqXDZtC2yJykiMIeLfamYb+ott74VQhr7FY9NGbQMf+UmXAR8Hqkgy9udtdobiQBfhk29OK79jurXhGvaO59hV2JmRmeCHs9zgi++YfqPKkFjNm5i1eCNlMx4FRAFxNLiLlh5lUWlV8q6P0SoKra++wUdFlAXRNAXHuaZqrj4nuxlw/3RhDsh0KslucOeGb95kG0r3BAF6rXtLRlxzOI1d2QFPS2SR88ClJ54woYNrGwUAFenRZ265CkuF63gtUgc56l0+hPc+yCLHmNSGUEPQVTO/24DPMH8AR9fU2FcwDV9wAXCIZqOwy7kfRH99IztV7vudizO5cjNErzViQVgzQWdiOLb7LBfbDN8uNYGIaZKS+XW0Di9YIGkrgppD4TQUiVc2TvZPkYwKZQaVQzRdNe67nJSEY1NiH6ziEdKyaRIeYrDkGGiHQj1Jn4JpddVJNvKO1kJJVQFs5RKKSEI5/UeoEpKIXB3UKNhLgmpds9CCcaJrhpHZNtHAAwnXtr8or1W0gHQlFjbT+c69VPBLzBjPK4SMflAbdjOgbkQx2nb+tAam3nlgxI3cfC7nGvt/oY5IC+DttPLXVpsplt6T37tf7yRf5V/T7tfIi+CqD5XdAN5VYtHsUVVD8M5cLUBlpKT6iHZUcUiL9fguqAFx5s/GL5SKhfw+ePTMQ7R7OVt2pKq6HHFB8sPMWHaaUofrEG1EfaNsE+lSpjE42U3f+C/Yl98/inZ5+eH3fG70o54He/U46PfUaa/a9FojtHwn6nMKW4LJyG/I4qbazA3wj4hdgpZ0w5VYYJ0jUpl+dzao4dBrtX39kamKse4P/1aBYtxJ37YMKuuHPJaJVkoDuycIHqQJoLO3kpffUoP0PP6g+BBJVA2+gpuNUikvJWLcGv2ucnh5g0o1suIB/AZZ19T2o89mVg6aLWFmDjgVQVYC9SYyHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Bnx5QYgCZxfNixeC7ErQE",
      "input": {
        "note": "The close was empty (0.009) — the lemon sits just beyond the fingertips. Reopening, lifting slightly and pitching the tool forward to extend reach another few cm.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.3,
          "right_x": 0.46,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_014Bnx5QYgCZxfNixeC7ErQE",
      "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, 0.8097, 0.6067, -0.511, -0.0193, -0.0387, 0.9992, 0.3473, 2.0151, 0.6559, 0.9688, 0.3813, -0.0868, 0.9976]\nstate[eef_state]: left_x=0.2766 left_y=0.0018 left_z=0.1512 left_yaw=0.0026 left_pitch=-0.1327 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4539 right_y=0.0982 right_z=0.0346 right_yaw=0.0606 right_pitch=0.2175 right_roll=-0.2088 right_gripper=0.9976\nstate[joint_eff]: [-0.212, -1.2513, 6.9265, 1.7216, -0.0073, -0.0708, -0.0122, -0.3214, -7.7607, 4.2462, 2.2589, 0.2173, -0.0171, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1335369ae2794b8dbce3fbf5b727e0c3448e5c107894371858f1a1b63e64db8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e507dcde7b413d101a8178ef6814b6736025d81dc37dd15550d446596f28d61a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bce55654ef89a8a0882da7a9399b3fd91b5d875ca8905e9cd3b8b172591daff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 5.175 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, 0.8097, 0.6067, -0.4805, -0.0193, -0.0383, 0.9992, 0.3389, 1.8439, 0.9016, 0.0242, 0.2897, 0.0589, 0.9996]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1569 left_yaw=0.0023 left_pitch=-0.1022 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4204 right_y=0.0985 right_z=0.0133 right_yaw=0.0414 right_pitch=-0.2885 right_roll=-0.1874 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2376, 6.9538, 1.6679, -0.0317, -0.0415, -0.0122, -0.3897, -9.2923, 7.665, 1.9853, 0.0806, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4957, -0.0193, -0.0383, 0.9992, 0.3389, 1.8709, 0.8898, 0.0441, 0.2905, 0.0544, 0.0088]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.154 left_yaw=0.0023 left_pitch=-0.1175 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4173 right_y=0.0973 right_z=0.0012 right_yaw=0.0417 right_pitch=-0.307 right_roll=-0.1969 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -1.265, 6.9402, 1.7411, -0.0757, -0.0366, -0.0122, -0.3624, -7.6513, 4.9709, 1.4481, -0.0366, 0.0317, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.511, -0.0193, -0.0387, 0.9992, 0.3473, 2.0151, 0.6559, 0.9688, 0.3813, -0.0868, 0.9976]\nstate[eef_state]: left_x=0.2766 left_y=0.0018 left_z=0.1512 left_yaw=0.0026 left_pitch=-0.1327 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4539 right_y=0.0982 right_z=0.0346 right_yaw=0.0606 right_pitch=0.2175 right_roll=-0.2088 right_gripper=0.9976\nstate[joint_eff]: [-0.212, -1.2513, 6.9265, 1.7216, -0.0073, -0.0708, -0.0122, -0.3214, -7.7607, 4.2462, 2.2589, 0.2173, -0.0171, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1335369ae2794b8dbce3fbf5b727e0c3448e5c107894371858f1a1b63e64db8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e507dcde7b413d101a8178ef6814b6736025d81dc37dd15550d446596f28d61a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce55654ef89a8a0882da7a9399b3fd91b5d875ca8905e9cd3b8b172591daff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8QQKjgEIEhgCKkBb6Q/Ac3eFGsODZtWnyFOIv8q64oD0yFJ8kKzsDUD8O8dsEV5ziBPjbTMpBLGk1eqCHRqKG9/YNzrj1C+j6aYXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeu5zNUGEgzdIlli8lfSNX7STJcaDIopeqOL52oXyycfFCIwVKoameNlL9Z9XJnHUKNfNwaiJVDuwCqaHT0bFS+/AHDtI96/AVg8q40xEfAKLGmIKo8DePA/6ZJxRihPTKLCkNyJoZHeU5EYeHq0D5I6/cAOWBiex37dVjYfvlHqpCyvXc0ByRxb4TlZ7f3eC0YTkO1/+OBo7NxL8BRU31iWhJ+iBnUJI9uu+RyDiSHiZXD/JyIYjbHTsAqUoqIDqxjYjMRR2hDAgqkrEvt4ukSc0Wq0v02qlKYAwhj/j2CVB1PTpspGVwFxhb51sjRxhB7v8UE1uIjzxdRG2Itcl5F49RBzS7zeJ27TzhqmGgaePDEQlvADJnYuQYulB+ANs+SsWlnJCM1wLp/dXVKZARNxPaU8CqMgucoXfkju7XDJM/Vi38UU2zaK/0tMDPrdq0ZZwp7AbSHISCz+6lpEZK3shPRNtqSYqIgYiPhjWFX2U8w9yFWVQlvLKjUZk9/L+jO1sKYxuYzlMn01xDCb3tpcwLPLMBwr78poqkmYr3e3N8RqfYHdRuhJ3BzE3GyTqW9ubxciNkK0PDVZg29mUmEl3wkp0JmOB/Kn6+XM0giwJvhV9SNiVSVpzxu/nAxHxJtMUnBrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012aWgfNa97fjw7yfQihsLLH",
      "input": {
        "note": "The lemon is now between the open jaws in the wrist view, slightly left of centre; shifting 1 cm left, dropping to mid-lemon height and closing.",
        "targets": {
          "right_gripper": 0.05,
          "right_y": 0.107,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012aWgfNa97fjw7yfQihsLLH",
      "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, 0.8097, 0.6067, -0.5186, -0.0193, -0.0383, 0.9992, 0.3676, 2.0689, 0.6533, 0.9833, 0.3893, -0.0792, 0.0543]\nstate[eef_state]: left_x=0.2754 left_y=0.0018 left_z=0.1497 left_yaw=0.0024 left_pitch=-0.1403 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4479 right_y=0.1044 right_z=0.0135 right_yaw=0.0723 right_pitch=0.1792 right_roll=-0.217 right_gripper=0.0543\nstate[joint_eff]: [-0.0479, -1.2103, 7.1043, 1.6581, -0.0659, -0.0611, -0.0122, 0.4444, -7.2684, 5.559, 2.1661, 0.2711, -0.0317, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5a2b2e30b870ef868ac8e40faf0f0d324e46c706b467ed2a7ce752e2cac5454",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2337acb807228b7c89d6447e05e6020c45b732cadd6d5365ff4f7d01ec76b353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4c98e5d8351cdd0d83185ec55a9c9051b253268cca4f5027211da463528eb62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 15.39 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, 0.8097, 0.6067, -0.4957, -0.0193, -0.0383, 0.9992, 0.3389, 1.8709, 0.8898, 0.0441, 0.2905, 0.0544, 0.0088]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.154 left_yaw=0.0023 left_pitch=-0.1175 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4173 right_y=0.0973 right_z=0.0012 right_yaw=0.0417 right_pitch=-0.307 right_roll=-0.1969 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -1.265, 6.9402, 1.7411, -0.0757, -0.0366, -0.0122, -0.3624, -7.6513, 4.9709, 1.4481, -0.0366, 0.0317, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.511, -0.0193, -0.0387, 0.9992, 0.3473, 2.0151, 0.6559, 0.9688, 0.3813, -0.0868, 0.9976]\nstate[eef_state]: left_x=0.2766 left_y=0.0018 left_z=0.1512 left_yaw=0.0026 left_pitch=-0.1327 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4539 right_y=0.0982 right_z=0.0346 right_yaw=0.0606 right_pitch=0.2175 right_roll=-0.2088 right_gripper=0.9976\nstate[joint_eff]: [-0.212, -1.2513, 6.9265, 1.7216, -0.0073, -0.0708, -0.0122, -0.3214, -7.7607, 4.2462, 2.2589, 0.2173, -0.0171, -0.022]",
      "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, 0.8097, 0.6067, -0.5186, -0.0193, -0.0383, 0.9992, 0.3676, 2.0689, 0.6533, 0.9833, 0.3893, -0.0792, 0.0543]\nstate[eef_state]: left_x=0.2754 left_y=0.0018 left_z=0.1497 left_yaw=0.0024 left_pitch=-0.1403 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4479 right_y=0.1044 right_z=0.0135 right_yaw=0.0723 right_pitch=0.1792 right_roll=-0.217 right_gripper=0.0543\nstate[joint_eff]: [-0.0479, -1.2103, 7.1043, 1.6581, -0.0659, -0.0611, -0.0122, 0.4444, -7.2684, 5.559, 2.1661, 0.2711, -0.0317, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5a2b2e30b870ef868ac8e40faf0f0d324e46c706b467ed2a7ce752e2cac5454",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2337acb807228b7c89d6447e05e6020c45b732cadd6d5365ff4f7d01ec76b353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4c98e5d8351cdd0d83185ec55a9c9051b253268cca4f5027211da463528eb62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuQUKjgEIEhgCKkBNXzysMJEq2/a90+vnv7KIOxV+T0T/p+b89/bI9cD/wfAGeyobBXDjaLgqRwuj2YokEKmJnya6zu9TlR5YOgv3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfK5zNUGEgzcfoJwEP4drg+MjhUaDITdFMgQDm4NdGHzCCIwxoopvr+XKAqf29uBcIi8KjL5PqT8+hGGdftbVASsSyZ6Pw1YohlMMZpnVWS91Qx8KtcDo2hJ7jGi9K92LUGR8B0oT820n6gSKvEOXU8+1kfWGB6egR89E1CwhiOQqWY+fkWAH03JTtSZaJgy+BUzsAvkCOI8jiC6TdeGzT8n4UqTnLub5O3A/eWXlXf3e0vV7FK0+88W08xm7tCagsgGUS4/L6Qnzdbq2UHTOpmLAtZY9dLVwXwEe1brGnS+Y8PmPIXWVf4vm/2CXRrRJ/v1+tr9Q29qOj3ccB4cH/au1PtHSvLSlH1WYlGAwR5q+76eozG2i1il5A1FhesEKei/ndCIJ929x6y8dGT8NZwhR2fQW7fctxTDNfFYvYRdX6iuriSr/PPmCe09hwgxA5uF+i4Zmcj2ywjck4eEk2tR9DoLBbsahz8ETVIeMdYiUokDxYk0LypMuzGNsdh71naXXLF2dAYoJtnuUx0/2AaqtkSuY26eN6FQfuxB1yYQG74QFsbJCQ5vcLsRHcsHfKs2K+jBjR/iZoqs/mJ+JCSRvNBcG64Zhi5Vy5hsGVWDUBomlXxlbh1SA/h8q5rAT/YriZRnfogZQXwFQBPucTJQk2zX7SaXAtS3Fh+Jzj+Vc8O53W4Y7vTrzAlfUNPFV9kwX1S+Ko379SncDMioSGFks7Ysz8+CTzftQ7hCGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JYA6WFJ583NAYGMZyvGu5c",
      "input": {
        "note": "Closed on the lemon; lifting 7 cm to check in the overhead view whether it came with the jaws.",
        "targets": {
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JYA6WFJ583NAYGMZyvGu5c",
      "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, 0.6067, -0.5289, -0.0193, -0.0387, 0.9992, 0.3672, 1.7981, 0.6773, 0.6785, 0.3809, -0.0811, 0.0535]\nstate[eef_state]: left_x=0.2737 left_y=0.0018 left_z=0.1475 left_yaw=0.0027 left_pitch=-0.1518 left_roll=-0.0011 left_gripper=0.9992 right_x=0.444 right_y=0.1042 right_z=0.0747 right_yaw=0.0805 right_pitch=0.1684 right_roll=-0.2182 right_gripper=0.0535\nstate[joint_eff]: [-0.0889, -0.8274, 6.8991, 1.7118, -0.0708, -0.0708, -0.0073, -0.2803, -9.0188, 7.4598, 2.1758, 0.1148, 0.0024, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5724db8c0e8f41cf3687b0c89e5ee1bb95362f85e15dd07abea4d7d63771554f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe2e116223dafcc10ecea76cfc97650b54c8ea298cebdf4a6ba7bc8eece96f6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5abf619a7499edefdee184f3f844a52920421559800a4eaa953b63bbc1006107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 9.739 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, 0.8097, 0.6067, -0.511, -0.0193, -0.0387, 0.9992, 0.3473, 2.0151, 0.6559, 0.9688, 0.3813, -0.0868, 0.9976]\nstate[eef_state]: left_x=0.2766 left_y=0.0018 left_z=0.1512 left_yaw=0.0026 left_pitch=-0.1327 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4539 right_y=0.0982 right_z=0.0346 right_yaw=0.0606 right_pitch=0.2175 right_roll=-0.2088 right_gripper=0.9976\nstate[joint_eff]: [-0.212, -1.2513, 6.9265, 1.7216, -0.0073, -0.0708, -0.0122, -0.3214, -7.7607, 4.2462, 2.2589, 0.2173, -0.0171, -0.022]",
      "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, 0.8097, 0.6067, -0.5186, -0.0193, -0.0383, 0.9992, 0.3676, 2.0689, 0.6533, 0.9833, 0.3893, -0.0792, 0.0543]\nstate[eef_state]: left_x=0.2754 left_y=0.0018 left_z=0.1497 left_yaw=0.0024 left_pitch=-0.1403 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4479 right_y=0.1044 right_z=0.0135 right_yaw=0.0723 right_pitch=0.1792 right_roll=-0.217 right_gripper=0.0543\nstate[joint_eff]: [-0.0479, -1.2103, 7.1043, 1.6581, -0.0659, -0.0611, -0.0122, 0.4444, -7.2684, 5.559, 2.1661, 0.2711, -0.0317, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.5289, -0.0193, -0.0387, 0.9992, 0.3672, 1.7981, 0.6773, 0.6785, 0.3809, -0.0811, 0.0535]\nstate[eef_state]: left_x=0.2737 left_y=0.0018 left_z=0.1475 left_yaw=0.0027 left_pitch=-0.1518 left_roll=-0.0011 left_gripper=0.9992 right_x=0.444 right_y=0.1042 right_z=0.0747 right_yaw=0.0805 right_pitch=0.1684 right_roll=-0.2182 right_gripper=0.0535\nstate[joint_eff]: [-0.0889, -0.8274, 6.8991, 1.7118, -0.0708, -0.0708, -0.0073, -0.2803, -9.0188, 7.4598, 2.1758, 0.1148, 0.0024, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5724db8c0e8f41cf3687b0c89e5ee1bb95362f85e15dd07abea4d7d63771554f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe2e116223dafcc10ecea76cfc97650b54c8ea298cebdf4a6ba7bc8eece96f6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5abf619a7499edefdee184f3f844a52920421559800a4eaa953b63bbc1006107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgwsKjgEIEhgCKkCrDq4WeGLic2r2J1UQy8PQVCUzKLKzAhlihTX+outgGLIEnwsPdIcRvfSKGzVjtYbBo/QYB75BlWTTJAvnSiBBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYG6zNUGEgy4pEiXRZOPJBf61egaDDSrPB9DynPUuOzY6yIwLi5ckrnZ9nPCIui6y5lcNj8m1gb1oCc0m0WD8qPdBtNEdOuxjtgTgebtRD+S7EhiKqEJtJG233qno4Fzy3wvi+kQWnGsZEQ+ok0CZS7BuALcPA7qmcZ0H2Lmzdbffwgd4vM0biHSD3Cn3xtpo8xyMQKRGatott2YAHziHwqNc36uFC7WlPkrXyhX9F2P1aNxOR+FmzAfEXerpCglF3x+jzC+E34iJD0B3yPHDip+FlC3SHmrhofDzHUFLeli4QU16IZtsGDJPKfvoH0tnVOqtPNlNiuLoor9coqjjhzetJNBSZYiHXZt2ctNfvfebz3S6H6ggYMoIFOVLyph9gjWgk/o4uw41toPkuverH+pJTSShS2IQEMvrHKMqgM44HG+FoEBYBRRPJ65TMVEyZH6SawOyhQLAgUdwXN/PdTW15AdeMsOiHp4ito0+cP0dj632BdNUZUkSFmp7ENPhm6+O4swR8mPCMfk3KdGQPef+M0c9pteeqBZ1pllSRRw7JXsDkixU7hPoUI849c5o1sna8jbPgNpkIyDucYEhbb/rBpYYmYsBho6X0qWYlJbLeeVUywNh/Ba/Gl+MgqUdZyM+GK+pwnqrBR0GTEvudP1FLDsa3dM8B9wrbBymjPx0/W0TCVX/tjxnhIEZkkGI0B+yENHGbitYz7ihL88Q6ChI7k5z1QjLosVlZx7iNhIRHZedJpNOAwALZgdQft7KBssYxh1EaLO9RqxqJI79QW5HsTHkwB3te78tUARgyD7WS7MfIXEVgZaoPvQVAChH6QskSk59ssX+gbEMFLyXU79Vnds65ucSQx5uIavxS9+rqhUX4dZbFu7wUmw1zy78mSETE2Bro0p6BsZXjZ3af7DLoOOEaWtgNF7SV6BsK/1HRucLJQ2cxStNfqmK69HBQPego5gnkhY+TWrxmHmjBXtHyzV6MeDGX1riICc9IJQU8O6UyzvAlfxCXjlzVHFf7+Siaj8MPZguJ0GkRep7JI3v0mur5rTeLO4omwcjIHmE3iIAA9CvW4e2rnhKOX+c0oASFnVh3XXDvNHnhBb655EGXfzj/D7lWOAvJaU2c9eQAh6BTeiWHk8vX0TUtxLaDzkY3opcFgcseHgh+r6/Kv3iEeVjnnxv4iUJfg1VQZUpXEAisys2mSkNb/CtsSxNKf/HyheQlzP0g8pPzzFi4eW7WPfTnOoUXLli2ljeJkQSFtTzxNC27JGfzIqRH5/2vk4jsAuUwpTSBgnyQ8eXtai7MjR+3CMOpBTqA2uv2CDuE3Xx6JGLrxrMKrMkF9YBqYL0vGa90Zy16a8oFLMDM7+ZvCZR7IkrVpmcj+iwei1YKObES2I84PqpbNozuGnASUm6b2JyokWRcD7O0JmN7AlQ7ZAIgQfzp1TQdOH+/zsotJp25Sn7cdHipqzbW9+Iyf6eHbfrLXAXSfn/9DcwM6ssApk5cWhYkxwznI70yhM+8uaAsuHpLaFZiIciBZ6d9VVY/q5m5xFvHjHcbtRd08DgQCbXk5qB1PFMYQIg9nesQOw8TawbVZcdsYzewb1WTutZobg5kSEjJjCAHUW1/tOc8XP+G9jfaPPML4jETXw+Ddb3+YAIdq4yAGJ+6q5S+nlg9q/ZndfFW+1ZUU5Wvu7XhISOHlyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nhm7y8zPcMDaoXn5mw2RsR",
      "input": {
        "note": "The lemon is still visible ahead of the jaws in the wrist view, so the grasp missed again; reopening and moving 4 cm further out at low height to get the jaws around it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.48,
          "right_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Nhm7y8zPcMDaoXn5mw2RsR",
      "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, 0.6067, -0.54, -0.0193, -0.0387, 0.9992, 0.3653, 1.8122, 0.6868, 0.6258, 0.3775, -0.0872, 0.9947]\nstate[eef_state]: left_x=0.2719 left_y=0.0019 left_z=0.1452 left_yaw=0.0027 left_pitch=-0.164 left_roll=-0.0008 left_gripper=0.9992 right_x=0.441 right_y=0.1028 right_z=0.0611 right_yaw=0.087 right_pitch=0.1123 right_roll=-0.2383 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.2786, 7.0906, 1.7167, -0.0757, -0.0562, -0.0122, -0.4034, -7.6923, 5.5316, 2.3321, 0.0122, -0.0171, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87b36a441303ac16d433951521920a301cf010e9ab5b1a1ac597a34d5de4505",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d147ec7c9d513cd5b6b354919a0045ac120e2b4bef6f1582316342c4ae63d114",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dfb3aba49128845f0eb209b3f3055c97affdba0efa7e7ada31d4008dfbb86f51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 10.39 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, 0.8097, 0.6067, -0.5186, -0.0193, -0.0383, 0.9992, 0.3676, 2.0689, 0.6533, 0.9833, 0.3893, -0.0792, 0.0543]\nstate[eef_state]: left_x=0.2754 left_y=0.0018 left_z=0.1497 left_yaw=0.0024 left_pitch=-0.1403 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4479 right_y=0.1044 right_z=0.0135 right_yaw=0.0723 right_pitch=0.1792 right_roll=-0.217 right_gripper=0.0543\nstate[joint_eff]: [-0.0479, -1.2103, 7.1043, 1.6581, -0.0659, -0.0611, -0.0122, 0.4444, -7.2684, 5.559, 2.1661, 0.2711, -0.0317, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.5289, -0.0193, -0.0387, 0.9992, 0.3672, 1.7981, 0.6773, 0.6785, 0.3809, -0.0811, 0.0535]\nstate[eef_state]: left_x=0.2737 left_y=0.0018 left_z=0.1475 left_yaw=0.0027 left_pitch=-0.1518 left_roll=-0.0011 left_gripper=0.9992 right_x=0.444 right_y=0.1042 right_z=0.0747 right_yaw=0.0805 right_pitch=0.1684 right_roll=-0.2182 right_gripper=0.0535\nstate[joint_eff]: [-0.0889, -0.8274, 6.8991, 1.7118, -0.0708, -0.0708, -0.0073, -0.2803, -9.0188, 7.4598, 2.1758, 0.1148, 0.0024, -0.0952]",
      "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, 0.812, 0.6067, -0.54, -0.0193, -0.0387, 0.9992, 0.3653, 1.8122, 0.6868, 0.6258, 0.3775, -0.0872, 0.9947]\nstate[eef_state]: left_x=0.2719 left_y=0.0019 left_z=0.1452 left_yaw=0.0027 left_pitch=-0.164 left_roll=-0.0008 left_gripper=0.9992 right_x=0.441 right_y=0.1028 right_z=0.0611 right_yaw=0.087 right_pitch=0.1123 right_roll=-0.2383 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.2786, 7.0906, 1.7167, -0.0757, -0.0562, -0.0122, -0.4034, -7.6923, 5.5316, 2.3321, 0.0122, -0.0171, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87b36a441303ac16d433951521920a301cf010e9ab5b1a1ac597a34d5de4505",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d147ec7c9d513cd5b6b354919a0045ac120e2b4bef6f1582316342c4ae63d114",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfb3aba49128845f0eb209b3f3055c97affdba0efa7e7ada31d4008dfbb86f51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4goKjgEIEhgCKkBOR5zV/jSb9osBEThkMRFqfQnRNBwQKSpYvrisMhynHxBIhu6qaQZ8HLt4BJLXLr8+c7ysOjtBot0Pa7uP0YOsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYy6zNUGEgzQ0OksHxxKYx30n70aDKwxXfgqrome7s8iviIwsmKxCZpxoSFOR9ldO3Ptkw3L4rtdWFTEQhWJDVPXKFDl0sLA9VKt0kZkckJvs17iKoAJMNi7ToAvTj/rCcZf7W/wDLX+uSGkqhV6Ra9W1dWFuQdiZEhUq3JMmYDvZi9xqO59GefTYKrSpbbTz5FOegXhtgmTIwQ6PQY0a/0gSAMm+84OdV3FdqSD0l3yGBqhFHlv1GofuWMe5jww1u6Af4qOlYTBJvKM25XDVKylo4TXcfK0zttDWTqFERBKmuKpXCig63EmgNwp/ghpUsO7cI/9Fnxk7eSB3X23yR/U343y9nHNJSBJo3jZZIS7P0iOIEcHDgjYUS3BJPUPoHlkvg5hzClwxGAdsVKC5zKrH6Pbl42/RrlT7ykuGzuriuAnTFEAkskRQORKuxpJOFuRVCX16AN/bdqFc3KTdUyuRalE/FrK9XcB78+UqpDB5zWbAbYgAwUxZyoaMCUbfIc8VER9Oqa9Ql0XjElfbYpG9NPNRg1IcrSxdxj1f1eiH+gXJd3H9EpY11l2Y1zDjodebbol5kipAZGl0TSxD/zLrDnGZ4clUZEkxIWmEFpIcwI3hCJ40O/Ddgqv+7FvheZz6H5jofU6lHZ4LQ5XL/3TDvBHXJw87KaXvjTJz8Y9Yvm3ruUepmamrlHewR2Ai4kIO0wU6pqjz6yw3QnasFlEREzQTmx1VhsdEEtGhxPe8OY48/M35llqnOmq3k1H2oTR9WxVsRV7w+oJ1nUHpdVwFl5WAIOP7jV+9NXAP73gesJ6w8m82mFOuToAVytOwDq8J79IGaN9eDDaXJYR1axw6rU2OU8jmQxf3vw3DbU7CPgRnilgMW1uVPn/vO2TydveHWqaugbKe8v4KoWsnHe0/7jS3cyyHydVAI9DhlUyUYxX0WwYk1WOY4ogsQ+matEdTrhLm5XAd7bWtu7PYnAVnMDKz3eJ5+NABcH+qvqbSQMeK5i1v4LJ2WnU/KoBy6pZO8HLd+JN+jt7rl0DeDe8MkjyOy0QRkKi5KiJ9HLvzcLYJlopB3rMG3z8XEmj9osZJHzSbxmwIOluHfunrUlX3BcdDSv+hXRJsRftS6Nuw1pMNviD8U4oLkCeNPz9zR49JlTFcDGCJtFe6ct26F4eIgz4krCTpThRvOxso45kpWQMvPl/olnWN/8WpY7rumscDcxECSUJBktowDYYzt1Cc6s8wb8nXhLmzrIj+xaJRdP2PIiswvL3EVUmFhXzYaBYS2KvV2dQkaQBQxo5weJICefaj9p3v0i7h66NAq1lPjKGsY138r+Ph6lAByjFvcldG3lQyy3ME6v5Swqxj10mP+wyHPAtAlAQ5mYp2gGgjLQAU+JzK3OJ22uNZN3zeA9iT1O8U94xJsuBmDyK5/yY7VVFucvyrgsrVBNe6UJULEIGNheF7jIxKw6fXVTNsN2vfun+26LOepBgrtAKbBpySWEKbJyMoJMHgzwBxi7VS98my4X8VR9Z9nxGejPvvZCb7Z92FSA79yWUk0vRCLGQnFvhBt9c0phKJHW6Tw6V8owIfVvq7l+VY3in9eg8n4DFSv+bDwESM5M2hs0Ku2KnA4RmVQB2vhg7A1EnZZ/f1TdO8TPwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018xjVqrzTEQTtX1DMLAX7J3",
      "input": {
        "note": "The lemon now sits between the two open jaws in the wrist view; descending to table level and closing to about lemon width to grip it.",
        "targets": {
          "right_gripper": 0.3,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018xjVqrzTEQTtX1DMLAX7J3",
      "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, 0.8143, 0.6067, -0.5556, -0.0193, -0.0387, 0.9992, 0.3653, 1.9968, 0.6537, 0.7944, 0.3771, -0.0929, 0.305]\nstate[eef_state]: left_x=0.2693 left_y=0.0019 left_z=0.1418 left_yaw=0.0028 left_pitch=-0.1819 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4356 right_y=0.1008 right_z=0.0052 right_yaw=0.0916 right_pitch=0.0641 right_roll=-0.2566 right_gripper=0.305\nstate[joint_eff]: [-0.0615, -1.2923, 6.8855, 1.7314, -0.0659, -0.0415, -0.0122, -0.2667, -7.2821, 4.1915, 1.9463, 0.0611, 0.0171, 0.188]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a9e669259a55fc4467fe376e751f1358b02bb7fa994cd578f90d69d08df854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfbb360d25041db115bd184c2ae62e1352781c5cc6a4c085e6c5de3fab70c81d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c0a093a8a946c9c9431e9985104849a200a0b8420827004d629f71637e92fdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.102 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, 0.8108, 0.6067, -0.5289, -0.0193, -0.0387, 0.9992, 0.3672, 1.7981, 0.6773, 0.6785, 0.3809, -0.0811, 0.0535]\nstate[eef_state]: left_x=0.2737 left_y=0.0018 left_z=0.1475 left_yaw=0.0027 left_pitch=-0.1518 left_roll=-0.0011 left_gripper=0.9992 right_x=0.444 right_y=0.1042 right_z=0.0747 right_yaw=0.0805 right_pitch=0.1684 right_roll=-0.2182 right_gripper=0.0535\nstate[joint_eff]: [-0.0889, -0.8274, 6.8991, 1.7118, -0.0708, -0.0708, -0.0073, -0.2803, -9.0188, 7.4598, 2.1758, 0.1148, 0.0024, -0.0952]",
      "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, 0.812, 0.6067, -0.54, -0.0193, -0.0387, 0.9992, 0.3653, 1.8122, 0.6868, 0.6258, 0.3775, -0.0872, 0.9947]\nstate[eef_state]: left_x=0.2719 left_y=0.0019 left_z=0.1452 left_yaw=0.0027 left_pitch=-0.164 left_roll=-0.0008 left_gripper=0.9992 right_x=0.441 right_y=0.1028 right_z=0.0611 right_yaw=0.087 right_pitch=0.1123 right_roll=-0.2383 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.2786, 7.0906, 1.7167, -0.0757, -0.0562, -0.0122, -0.4034, -7.6923, 5.5316, 2.3321, 0.0122, -0.0171, -0.0952]",
      "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, 0.8143, 0.6067, -0.5556, -0.0193, -0.0387, 0.9992, 0.3653, 1.9968, 0.6537, 0.7944, 0.3771, -0.0929, 0.305]\nstate[eef_state]: left_x=0.2693 left_y=0.0019 left_z=0.1418 left_yaw=0.0028 left_pitch=-0.1819 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4356 right_y=0.1008 right_z=0.0052 right_yaw=0.0916 right_pitch=0.0641 right_roll=-0.2566 right_gripper=0.305\nstate[joint_eff]: [-0.0615, -1.2923, 6.8855, 1.7314, -0.0659, -0.0415, -0.0122, -0.2667, -7.2821, 4.1915, 1.9463, 0.0611, 0.0171, 0.188]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a9e669259a55fc4467fe376e751f1358b02bb7fa994cd578f90d69d08df854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfbb360d25041db115bd184c2ae62e1352781c5cc6a4c085e6c5de3fab70c81d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c0a093a8a946c9c9431e9985104849a200a0b8420827004d629f71637e92fdf",
        "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_01HDPWm2EW8sQR1mbgKEjKDm",
      "input": {
        "note": "The jaws are still short of the lemon and x has stalled near 0.44; pitching the tool well forward (which extends the fingertips) and commanding x=0.49 to finally reach past the lemon's centre.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.5,
          "right_x": 0.49,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01HDPWm2EW8sQR1mbgKEjKDm",
      "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, 0.6067, -0.5636, -0.0189, -0.0383, 0.9992, 0.3305, 2.3421, 0.7574, 1.4807, 0.3679, -0.1963, 0.9971]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.14 left_yaw=0.0023 left_pitch=-0.1918 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4872 right_y=0.1038 right_z=0.0314 right_yaw=0.0925 right_pitch=0.4801 right_roll=-0.2392 right_gripper=0.9971\nstate[joint_eff]: [-0.0615, -1.388, 6.8718, 1.6386, -0.0708, -0.0562, -0.0122, -0.759, -7.9658, 3.8359, 1.7949, 0.0757, -0.2027, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf55afcd3be4298a1b6b6495bd10d957be3d8b148fd9751842d7eb4a2b7dd715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3155ce5d696d7a2eb821100ae0976808f4c5eb90d50f4d06383a0b6b477650ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e0700789e48bed7431277a1f7ff564e14f9b41f8391477315fe9de1bc2efb0a",
        "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 · 12.51 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, 0.812, 0.6067, -0.54, -0.0193, -0.0387, 0.9992, 0.3653, 1.8122, 0.6868, 0.6258, 0.3775, -0.0872, 0.9947]\nstate[eef_state]: left_x=0.2719 left_y=0.0019 left_z=0.1452 left_yaw=0.0027 left_pitch=-0.164 left_roll=-0.0008 left_gripper=0.9992 right_x=0.441 right_y=0.1028 right_z=0.0611 right_yaw=0.087 right_pitch=0.1123 right_roll=-0.2383 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.2786, 7.0906, 1.7167, -0.0757, -0.0562, -0.0122, -0.4034, -7.6923, 5.5316, 2.3321, 0.0122, -0.0171, -0.0952]",
      "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, 0.8143, 0.6067, -0.5556, -0.0193, -0.0387, 0.9992, 0.3653, 1.9968, 0.6537, 0.7944, 0.3771, -0.0929, 0.305]\nstate[eef_state]: left_x=0.2693 left_y=0.0019 left_z=0.1418 left_yaw=0.0028 left_pitch=-0.1819 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4356 right_y=0.1008 right_z=0.0052 right_yaw=0.0916 right_pitch=0.0641 right_roll=-0.2566 right_gripper=0.305\nstate[joint_eff]: [-0.0615, -1.2923, 6.8855, 1.7314, -0.0659, -0.0415, -0.0122, -0.2667, -7.2821, 4.1915, 1.9463, 0.0611, 0.0171, 0.188]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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, 0.8162, 0.6067, -0.5636, -0.0189, -0.0383, 0.9992, 0.3305, 2.3421, 0.7574, 1.4807, 0.3679, -0.1963, 0.9971]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.14 left_yaw=0.0023 left_pitch=-0.1918 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4872 right_y=0.1038 right_z=0.0314 right_yaw=0.0925 right_pitch=0.4801 right_roll=-0.2392 right_gripper=0.9971\nstate[joint_eff]: [-0.0615, -1.388, 6.8718, 1.6386, -0.0708, -0.0562, -0.0122, -0.759, -7.9658, 3.8359, 1.7949, 0.0757, -0.2027, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf55afcd3be4298a1b6b6495bd10d957be3d8b148fd9751842d7eb4a2b7dd715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3155ce5d696d7a2eb821100ae0976808f4c5eb90d50f4d06383a0b6b477650ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e0700789e48bed7431277a1f7ff564e14f9b41f8391477315fe9de1bc2efb0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gIKjgEIEhgCKkBXe6e4h2AzXr+a+Md089RhBjJjiHxMRkKHThYCqCxL5iVUV2c/zMn4nQre7zOIBksu+JPw1a2hS5b32BaWs2PPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ26zNUGEgyg8SRSq6nAkdVs2WcaDCpD3zKP/Wm2YwHpXCIwvEROX1ZFDydjcMpwJQl8TeKwk1MEyHuovhh34AmQ4uYWeY28HxjPT+NwwMfoY6oGKnm5pw2atZEgSNiBsq+gJ6Xp5ahZKL7fECerRehNxJSulplQKrlFCZEpALZMmUoJgUPXmovW3nHgcFxWlp51wDVRIuvAczvjM3m2EVpNm+lF6u4ojoqkulG9o0JY3BYrr6wclvxioSqX/2UmT8SKsUtIlsqW+yCgZb9RGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PccBugeNkHCEUvvmEW68V3",
      "input": {
        "note": "The lemon is now down between the open jaws at the bottom of the wrist view; lowering slightly and closing on it.",
        "targets": {
          "right_gripper": 0.35,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01PccBugeNkHCEUvvmEW68V3",
      "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, 0.6067, -0.5781, -0.0193, -0.0387, 0.9992, 0.3317, 2.384, 0.77, 1.5425, 0.3656, -0.2066, 0.6344]\nstate[eef_state]: left_x=0.2655 left_y=0.002 left_z=0.1374 left_yaw=0.0029 left_pitch=-0.2063 left_roll=0.0001 left_gripper=0.9992 right_x=0.4883 right_y=0.1052 right_z=0.0295 right_yaw=0.0981 right_pitch=0.5103 right_roll=-0.2419 right_gripper=0.6344\nstate[joint_eff]: [-0.0205, -1.2376, 6.8581, 1.6386, -0.0806, -0.0562, -0.0122, -0.4171, -7.6103, 3.7812, 1.5653, 0.0073, 0.0708, 0.9499]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e4a5c17a871a8a993f8621e55f5bfbc77f6c83cb488557ce550480a1ffbc048",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:768c55222dbe49dde96b141203cd87c8839a84598b33b2dad2c160abc9970ac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7b2c1403d258d455e90353b4b48be7fbe8854307636c8fe61f45beaa8e2e10a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.548 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, 0.8143, 0.6067, -0.5556, -0.0193, -0.0387, 0.9992, 0.3653, 1.9968, 0.6537, 0.7944, 0.3771, -0.0929, 0.305]\nstate[eef_state]: left_x=0.2693 left_y=0.0019 left_z=0.1418 left_yaw=0.0028 left_pitch=-0.1819 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4356 right_y=0.1008 right_z=0.0052 right_yaw=0.0916 right_pitch=0.0641 right_roll=-0.2566 right_gripper=0.305\nstate[joint_eff]: [-0.0615, -1.2923, 6.8855, 1.7314, -0.0659, -0.0415, -0.0122, -0.2667, -7.2821, 4.1915, 1.9463, 0.0611, 0.0171, 0.188]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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, 0.8162, 0.6067, -0.5636, -0.0189, -0.0383, 0.9992, 0.3305, 2.3421, 0.7574, 1.4807, 0.3679, -0.1963, 0.9971]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.14 left_yaw=0.0023 left_pitch=-0.1918 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4872 right_y=0.1038 right_z=0.0314 right_yaw=0.0925 right_pitch=0.4801 right_roll=-0.2392 right_gripper=0.9971\nstate[joint_eff]: [-0.0615, -1.388, 6.8718, 1.6386, -0.0708, -0.0562, -0.0122, -0.759, -7.9658, 3.8359, 1.7949, 0.0757, -0.2027, -0.022]",
      "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, 0.8162, 0.6067, -0.5781, -0.0193, -0.0387, 0.9992, 0.3317, 2.384, 0.77, 1.5425, 0.3656, -0.2066, 0.6344]\nstate[eef_state]: left_x=0.2655 left_y=0.002 left_z=0.1374 left_yaw=0.0029 left_pitch=-0.2063 left_roll=0.0001 left_gripper=0.9992 right_x=0.4883 right_y=0.1052 right_z=0.0295 right_yaw=0.0981 right_pitch=0.5103 right_roll=-0.2419 right_gripper=0.6344\nstate[joint_eff]: [-0.0205, -1.2376, 6.8581, 1.6386, -0.0806, -0.0562, -0.0122, -0.4171, -7.6103, 3.7812, 1.5653, 0.0073, 0.0708, 0.9499]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e4a5c17a871a8a993f8621e55f5bfbc77f6c83cb488557ce550480a1ffbc048",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:768c55222dbe49dde96b141203cd87c8839a84598b33b2dad2c160abc9970ac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7b2c1403d258d455e90353b4b48be7fbe8854307636c8fe61f45beaa8e2e10a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qa4LZSzbREWrygqV54wU1H",
      "input": {
        "note": "Gripper closed to 0.63 with high effort — the lemon is grasped. Lifting it clear of the table before carrying it to the safe.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Qa4LZSzbREWrygqV54wU1H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5854, -0.0193, -0.0387, 0.9992, 0.3317, 1.8973, 0.7368, 1.0542, 0.3584, -0.21, 0.6363]\nstate[eef_state]: left_x=0.2643 left_y=0.002 left_z=0.1355 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.0003 left_gripper=0.9992 right_x=0.4841 right_y=0.105 right_z=0.1366 right_yaw=0.1113 right_pitch=0.4758 right_roll=-0.2539 right_gripper=0.6363\nstate[joint_eff]: [0.1436, -1.1419, 6.8444, 1.5604, -0.0757, -0.0659, -0.0122, -0.3487, -10.4137, 7.706, 2.044, 0.0513, -0.0024, 0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:363e07fb34001791210a03875d64ed6cb9aa121d72a2c89a7edf788336c0c6a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5050ef35509f7fe02865d9fd8fa43a8c9aedae924ca5e533d10c398793376fc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14484f87e5ab544ddf7a1792bae6764f8bc05910a5a61b6c1b38138f102b4510",
        "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 · 6.893 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, 0.8162, 0.6067, -0.5636, -0.0189, -0.0383, 0.9992, 0.3305, 2.3421, 0.7574, 1.4807, 0.3679, -0.1963, 0.9971]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.14 left_yaw=0.0023 left_pitch=-0.1918 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4872 right_y=0.1038 right_z=0.0314 right_yaw=0.0925 right_pitch=0.4801 right_roll=-0.2392 right_gripper=0.9971\nstate[joint_eff]: [-0.0615, -1.388, 6.8718, 1.6386, -0.0708, -0.0562, -0.0122, -0.759, -7.9658, 3.8359, 1.7949, 0.0757, -0.2027, -0.022]",
      "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, 0.8162, 0.6067, -0.5781, -0.0193, -0.0387, 0.9992, 0.3317, 2.384, 0.77, 1.5425, 0.3656, -0.2066, 0.6344]\nstate[eef_state]: left_x=0.2655 left_y=0.002 left_z=0.1374 left_yaw=0.0029 left_pitch=-0.2063 left_roll=0.0001 left_gripper=0.9992 right_x=0.4883 right_y=0.1052 right_z=0.0295 right_yaw=0.0981 right_pitch=0.5103 right_roll=-0.2419 right_gripper=0.6344\nstate[joint_eff]: [-0.0205, -1.2376, 6.8581, 1.6386, -0.0806, -0.0562, -0.0122, -0.4171, -7.6103, 3.7812, 1.5653, 0.0073, 0.0708, 0.9499]",
      "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, 0.8188, 0.6067, -0.5854, -0.0193, -0.0387, 0.9992, 0.3317, 1.8973, 0.7368, 1.0542, 0.3584, -0.21, 0.6363]\nstate[eef_state]: left_x=0.2643 left_y=0.002 left_z=0.1355 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.0003 left_gripper=0.9992 right_x=0.4841 right_y=0.105 right_z=0.1366 right_yaw=0.1113 right_pitch=0.4758 right_roll=-0.2539 right_gripper=0.6363\nstate[joint_eff]: [0.1436, -1.1419, 6.8444, 1.5604, -0.0757, -0.0659, -0.0122, -0.3487, -10.4137, 7.706, 2.044, 0.0513, -0.0024, 0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:363e07fb34001791210a03875d64ed6cb9aa121d72a2c89a7edf788336c0c6a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5050ef35509f7fe02865d9fd8fa43a8c9aedae924ca5e533d10c398793376fc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14484f87e5ab544ddf7a1792bae6764f8bc05910a5a61b6c1b38138f102b4510",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1AMKjgEIEhgCKkAMgU/b4UylwY9JI5K5/w+68Jkx/crGCItdFK1Swp8TG3HDdghw5zVdF5EJ31yMXE18TaI0Z6JAaQ8sMwaHw7BdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+6zNUGEgwOOYtW9ZE9yHGRIuIaDLiFeJE8tSvctaAqiCIwrOXbmdY6xyaluv+OtVs5xJ93f2xVFUTXrjmLCsFlfDA52qqYyzletzDFu3L2ShjhKvIBEUL7tl7eXC8c2l/Kj/YFUCYRie7mpXEMNqysvNnJdltfk0Ca2pPjDWprpoprufy0JBknyEL+PTOK1PQ2WDTTG3rGZaqixDxqLlVRFY8PnabAzE3o60MHNvq/8hSxzS1EIFYuQgi1RFCcvDPR4RDeDDkalZp6X2QgqWSg/3upbvXZ/cmI547iIKAw+KFueSxhqhICUZJ2MfzAIPsdWOQQ7gehP7j8Vp4JCrJQ01TJAQp49Ttc13YMxxxB1kpjLbrv8s9mFW4YpWM78VRFYcL8xwensCD08j5cRJtW527Xv0z+BP0lY9tzLUBUmAKUkYIQvbAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Af34neg3uRPhk2qNwAxdxQ",
      "input": {
        "note": "Lemon is securely held; carrying it high and left over the open safe's red interior.",
        "targets": {
          "right_pitch": 0.2,
          "right_x": 0.47,
          "right_y": 0.3,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Af34neg3uRPhk2qNwAxdxQ",
      "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, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.7723, 1.945, 1.5902, -0.1581, 0.7158, 0.0353, 0.639]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0026 left_pitch=-0.2235 left_roll=0.0002 left_gripper=0.9992 right_x=0.4684 right_y=0.2994 right_z=0.2293 right_yaw=0.1538 right_pitch=0.1888 right_roll=-0.2814 right_gripper=0.639\nstate[joint_eff]: [-0.1162, -1.2103, 6.8308, 1.5653, -0.0171, -0.0513, -0.0122, 0.1436, -10.7419, 8.8684, 1.8437, 0.3687, 0.1929, 0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7b8dd25d1e6e48e17ea6ee80c4189f1e22d69ac2f23a97c88bea481e8b2fad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6ab5e1811b1d01993b305e693003bdea0d24d56f9f6163c3b15e0bcb0c49b41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ff603eddf16291da362a83134e582715a33c1dccbd3c9f9bb69bb50a314f707",
        "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 · 4.2 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, 0.8162, 0.6067, -0.5781, -0.0193, -0.0387, 0.9992, 0.3317, 2.384, 0.77, 1.5425, 0.3656, -0.2066, 0.6344]\nstate[eef_state]: left_x=0.2655 left_y=0.002 left_z=0.1374 left_yaw=0.0029 left_pitch=-0.2063 left_roll=0.0001 left_gripper=0.9992 right_x=0.4883 right_y=0.1052 right_z=0.0295 right_yaw=0.0981 right_pitch=0.5103 right_roll=-0.2419 right_gripper=0.6344\nstate[joint_eff]: [-0.0205, -1.2376, 6.8581, 1.6386, -0.0806, -0.0562, -0.0122, -0.4171, -7.6103, 3.7812, 1.5653, 0.0073, 0.0708, 0.9499]",
      "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, 0.8188, 0.6067, -0.5854, -0.0193, -0.0387, 0.9992, 0.3317, 1.8973, 0.7368, 1.0542, 0.3584, -0.21, 0.6363]\nstate[eef_state]: left_x=0.2643 left_y=0.002 left_z=0.1355 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.0003 left_gripper=0.9992 right_x=0.4841 right_y=0.105 right_z=0.1366 right_yaw=0.1113 right_pitch=0.4758 right_roll=-0.2539 right_gripper=0.6363\nstate[joint_eff]: [0.1436, -1.1419, 6.8444, 1.5604, -0.0757, -0.0659, -0.0122, -0.3487, -10.4137, 7.706, 2.044, 0.0513, -0.0024, 0.188]\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 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, 0.8188, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.7723, 1.945, 1.5902, -0.1581, 0.7158, 0.0353, 0.639]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0026 left_pitch=-0.2235 left_roll=0.0002 left_gripper=0.9992 right_x=0.4684 right_y=0.2994 right_z=0.2293 right_yaw=0.1538 right_pitch=0.1888 right_roll=-0.2814 right_gripper=0.639\nstate[joint_eff]: [-0.1162, -1.2103, 6.8308, 1.5653, -0.0171, -0.0513, -0.0122, 0.1436, -10.7419, 8.8684, 1.8437, 0.3687, 0.1929, 0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7b8dd25d1e6e48e17ea6ee80c4189f1e22d69ac2f23a97c88bea481e8b2fad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6ab5e1811b1d01993b305e693003bdea0d24d56f9f6163c3b15e0bcb0c49b41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ff603eddf16291da362a83134e582715a33c1dccbd3c9f9bb69bb50a314f707",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgQYKjgEIEhgCKkAw+7oFmqdCFvApf999dYf7K5p8F7gfYSkX7U7Nzw9O03jCHfCnz3e2jKS7CAF24/4AhcqwgwcurcGkclOzyd6JMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbe6zNUGEgxHCObv3cK+3TIOa58aDNxZmu8D/8AD01UfLyIw5sqJ7n1T5pZnoxCYKWsUFaRBre5I20oUgCny85MABuBB2Q23XV00C7xJ77hoh+KHKp8EHG+W/Bw+J41pWO4z0e3fTfYmdnQWBE/ume9+tYDbxdSqYhFbr1yD+M0x/y2tsxhxeS70cADyEcNhTqChrAxksYgEviPKeqGdCU4/myaj1KqvSAqIMXVrLvUpRf3fIeH+DtzuWeihuErjA0+p3j7ZyvjYm59fdFshXVooJ6/nJ+ynCLshMrLGgt55zhnxzKyFv2K2WXQhIQlaIvQrNhoHkPm70dJOdwRtpABTa+eLH47QAToH65X4wgxJyJgJwj+uQ2swLZWI5PhGmARb6zOpndRZb64pvevuZ8hVlfGRDZvFvPqJUlRiuvQ0M+Hoj14xxTLN6ZRT9I/yDnvSb968kEDC4oIYjklJ5zsbbOaBa1QpGrDKSwDTH7XVwXoFuZEUHIyFDjh1BDkzRtg6eq7bEFZXlDp/9sQFNppb/r21eDRdwyYm39+Dj0JEiRDDut4Wl3QVC+aqPPyq83wzVOHGkv6rB09J7xKQHQBmQE7u7dG2XSEF61L5oymDZKQdrVJVtUuyjSj4Q+hI39kKet+8mE+jz0lqWK1OnNhxJOAVhUlTLU1TLNQjevSC7Q+cxrN5mRabIICchdb0v3KTV67hn7k1zhRz0Y+PwnyR7q2yZI7KYr7vblmHfhLha50eIY7lmvQKlpDF+ogyRqxsS7kiwWKJiUFvlBqb4KdHt97FcUne0I+FSFu2X7xnDSApFHeOztfZ3MrEeFBWQgSqWgtxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011QqQJJEbHZYhP5Gt6b6mKz",
      "input": {
        "note": "Wrist view shows the red safe interior just left of the held lemon; shifting 4 cm further left and down to centre over the open compartment.",
        "targets": {
          "right_y": 0.34,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011QqQJJEbHZYhP5Gt6b6mKz",
      "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, 0.6067, -0.593, -0.0193, -0.0383, 0.9992, 0.8268, 2.0666, 1.6176, -0.1555, 0.746, 0.0574, 0.6407]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1341 left_yaw=0.0027 left_pitch=-0.2242 left_roll=0.0008 left_gripper=0.9992 right_x=0.4627 right_y=0.331 right_z=0.1785 right_yaw=0.1816 right_pitch=0.128 right_roll=-0.329 right_gripper=0.6407\nstate[joint_eff]: [-0.0889, -1.0872, 7.0359, 1.4725, -0.0659, -0.0171, -0.0122, 0.3487, -11.7675, 9.1692, 2.083, 0.4274, 0.149, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1798607ad56a7bde749fd5232ab5ae7eaeb14753c2e14923d7eee52db451ce89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:763b888149a2ad330dd52758e9e8dba31698a275e4d5d23e17080ec81a744caf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8333a4ff85ba82472fa794cdf80fe9d7311bf6dcd65b4ace5d320e72a81e3de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 10.9 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, 0.8188, 0.6067, -0.5854, -0.0193, -0.0387, 0.9992, 0.3317, 1.8973, 0.7368, 1.0542, 0.3584, -0.21, 0.6363]\nstate[eef_state]: left_x=0.2643 left_y=0.002 left_z=0.1355 left_yaw=0.0029 left_pitch=-0.2162 left_roll=0.0003 left_gripper=0.9992 right_x=0.4841 right_y=0.105 right_z=0.1366 right_yaw=0.1113 right_pitch=0.4758 right_roll=-0.2539 right_gripper=0.6363\nstate[joint_eff]: [0.1436, -1.1419, 6.8444, 1.5604, -0.0757, -0.0659, -0.0122, -0.3487, -10.4137, 7.706, 2.044, 0.0513, -0.0024, 0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8188, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.7723, 1.945, 1.5902, -0.1581, 0.7158, 0.0353, 0.639]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0026 left_pitch=-0.2235 left_roll=0.0002 left_gripper=0.9992 right_x=0.4684 right_y=0.2994 right_z=0.2293 right_yaw=0.1538 right_pitch=0.1888 right_roll=-0.2814 right_gripper=0.639\nstate[joint_eff]: [-0.1162, -1.2103, 6.8308, 1.5653, -0.0171, -0.0513, -0.0122, 0.1436, -10.7419, 8.8684, 1.8437, 0.3687, 0.1929, 0.2613]",
      "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, 0.8192, 0.6067, -0.593, -0.0193, -0.0383, 0.9992, 0.8268, 2.0666, 1.6176, -0.1555, 0.746, 0.0574, 0.6407]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1341 left_yaw=0.0027 left_pitch=-0.2242 left_roll=0.0008 left_gripper=0.9992 right_x=0.4627 right_y=0.331 right_z=0.1785 right_yaw=0.1816 right_pitch=0.128 right_roll=-0.329 right_gripper=0.6407\nstate[joint_eff]: [-0.0889, -1.0872, 7.0359, 1.4725, -0.0659, -0.0171, -0.0122, 0.3487, -11.7675, 9.1692, 2.083, 0.4274, 0.149, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1798607ad56a7bde749fd5232ab5ae7eaeb14753c2e14923d7eee52db451ce89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:763b888149a2ad330dd52758e9e8dba31698a275e4d5d23e17080ec81a744caf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8333a4ff85ba82472fa794cdf80fe9d7311bf6dcd65b4ace5d320e72a81e3de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QMKjgEIEhgCKkDkAKQIY3qW73YlpEYJPm9QMV0lesu92Qy/8z2m4/RN/6bmLX8l6XndycdNBI4sZv9LYq8508aDq3Xtz3LKCoqwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAby6zNUGEgzPvAu/LkQWa/8vmKkaDMTtqZ3bH99KqP151SIwGpgtTJVh9spWxc78luJFc0MFeja6H9da9DqGwo2P+SWRtdby+PtxNILVkiAnEWsBKpMCTk17j4h2M2vR9BOtfY0dWWj2D0n8n3NV5XxuiXW6h3d5/Z/7ZJTvTYwImN6WyCFrP+AbPbE9cUf6jXWKRCMmUmgt/XMGZf0sSPKJMB8xmQxbzDEYOIMDC19qS1bjEtTVFYl8+FG81cJneDXzuga4OberFZdMQMU55728QWZwFh2AB2qDUku14JIkgu3uL5U7/Cb8hrYQmvY3UmI1I+gn4pDUmVpN6JbypzHhEveNJNiGRVlF/LCnMuAJ2WgCtghi6sUo4MDuPGL13CPR8VH8Mn92V4WePD2U3dqxVUf8CiYuH2ILBT0G2CiHy5YIW4AcmavjdRI/oTevtpLbrR8KKoL0BJyD8zcKrZhtDjcBid/ezL4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GaxiUTitUrZitUwmvpBimt",
      "input": {
        "note": "Wrist view shows red safe lining all around the held lemon, so we are over the compartment; opening the gripper to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GaxiUTitUrZitUwmvpBimt",
      "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, 0.6067, -0.593, -0.0193, -0.0387, 0.9992, 0.8383, 2.1025, 1.6176, -0.1398, 0.7486, 0.062, 0.9948]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1341 left_yaw=0.0029 left_pitch=-0.2242 left_roll=0.0005 left_gripper=0.9992 right_x=0.4616 right_y=0.3387 right_z=0.1619 right_yaw=0.19 right_pitch=0.1136 right_roll=-0.3384 right_gripper=0.9948\nstate[joint_eff]: [0.0068, -1.0188, 6.8444, 1.5214, -0.0611, -0.0562, -0.0122, -0.4444, -13.3675, 9.1145, 1.9072, 0.3932, 0.1294, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a3c7ec436c6ded1e8960a5523c1d3ede374cda750ace132fc5a78281e3a1a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e82dd0f8ee14c6cfe7e4eb1f67a1a421161edbad2bd4a38b8a3d78343f95e4d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57c8c820fa078850b277bd038d6f55d763e7bd5935ebdf2af0b24ea89949ecfd",
        "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 · 8.802 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, 0.8188, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.7723, 1.945, 1.5902, -0.1581, 0.7158, 0.0353, 0.639]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0026 left_pitch=-0.2235 left_roll=0.0002 left_gripper=0.9992 right_x=0.4684 right_y=0.2994 right_z=0.2293 right_yaw=0.1538 right_pitch=0.1888 right_roll=-0.2814 right_gripper=0.639\nstate[joint_eff]: [-0.1162, -1.2103, 6.8308, 1.5653, -0.0171, -0.0513, -0.0122, 0.1436, -10.7419, 8.8684, 1.8437, 0.3687, 0.1929, 0.2613]",
      "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, 0.8192, 0.6067, -0.593, -0.0193, -0.0383, 0.9992, 0.8268, 2.0666, 1.6176, -0.1555, 0.746, 0.0574, 0.6407]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1341 left_yaw=0.0027 left_pitch=-0.2242 left_roll=0.0008 left_gripper=0.9992 right_x=0.4627 right_y=0.331 right_z=0.1785 right_yaw=0.1816 right_pitch=0.128 right_roll=-0.329 right_gripper=0.6407\nstate[joint_eff]: [-0.0889, -1.0872, 7.0359, 1.4725, -0.0659, -0.0171, -0.0122, 0.3487, -11.7675, 9.1692, 2.083, 0.4274, 0.149, 0.1587]",
      "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, 0.8192, 0.6067, -0.593, -0.0193, -0.0387, 0.9992, 0.8383, 2.1025, 1.6176, -0.1398, 0.7486, 0.062, 0.9948]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1341 left_yaw=0.0029 left_pitch=-0.2242 left_roll=0.0005 left_gripper=0.9992 right_x=0.4616 right_y=0.3387 right_z=0.1619 right_yaw=0.19 right_pitch=0.1136 right_roll=-0.3384 right_gripper=0.9948\nstate[joint_eff]: [0.0068, -1.0188, 6.8444, 1.5214, -0.0611, -0.0562, -0.0122, -0.4444, -13.3675, 9.1145, 1.9072, 0.3932, 0.1294, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a3c7ec436c6ded1e8960a5523c1d3ede374cda750ace132fc5a78281e3a1a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e82dd0f8ee14c6cfe7e4eb1f67a1a421161edbad2bd4a38b8a3d78343f95e4d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57c8c820fa078850b277bd038d6f55d763e7bd5935ebdf2af0b24ea89949ecfd",
        "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_01Fbzj7A4YujNdgiwP8UW7mS",
      "input": {
        "note": "Lemon is in the safe. Parking the right arm back toward home and bringing the left arm above the small cream-coloured toy to the left of the safe.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0.3,
          "left_x": 0.377,
          "left_y": -0.169,
          "left_z": 0.13,
          "right_pitch": 0.0,
          "right_x": 0.29,
          "right_y": 0.02,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01Fbzj7A4YujNdgiwP8UW7mS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6949, 1.5509, 0.5381, 0.5346, -0.6495, -0.2783, 0.9993, 0.1684, 0.7982, 0.6682, -0.4377, 0.2108, -0.2893, 0.9953]\nstate[eef_state]: left_x=0.3646 left_y=-0.1602 left_z=0.1031 left_yaw=-0.018 left_pitch=0.2051 left_roll=0.045 left_gripper=0.9993 right_x=0.2928 right_y=0.0159 right_z=0.1983 right_yaw=0.138 right_pitch=-0.0 right_roll=-0.339 right_gripper=0.9953\nstate[joint_eff]: [-0.5538, -5.9145, 8.2256, 2.1514, -0.4274, 0.1001, -0.0855, -0.0889, -1.0462, 7.1726, 2.0635, -0.0269, -0.0806, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32cbb33d3f5f0ffc27339de5b51ec492c6223485ce5641fbe4ffd55830c73ac9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f04899b82e1baa00e9c9dcddad51ef0066f7e3db9d8fa4fc276ef2121a1e4dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88ccbad77763de34cb0419a3d236d81bf3bca234eb4dcdbb563fce8449799222",
        "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 · 4.535 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, 0.8192, 0.6067, -0.593, -0.0193, -0.0383, 0.9992, 0.8268, 2.0666, 1.6176, -0.1555, 0.746, 0.0574, 0.6407]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1341 left_yaw=0.0027 left_pitch=-0.2242 left_roll=0.0008 left_gripper=0.9992 right_x=0.4627 right_y=0.331 right_z=0.1785 right_yaw=0.1816 right_pitch=0.128 right_roll=-0.329 right_gripper=0.6407\nstate[joint_eff]: [-0.0889, -1.0872, 7.0359, 1.4725, -0.0659, -0.0171, -0.0122, 0.3487, -11.7675, 9.1692, 2.083, 0.4274, 0.149, 0.1587]",
      "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, 0.8192, 0.6067, -0.593, -0.0193, -0.0387, 0.9992, 0.8383, 2.1025, 1.6176, -0.1398, 0.7486, 0.062, 0.9948]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1341 left_yaw=0.0029 left_pitch=-0.2242 left_roll=0.0005 left_gripper=0.9992 right_x=0.4616 right_y=0.3387 right_z=0.1619 right_yaw=0.19 right_pitch=0.1136 right_roll=-0.3384 right_gripper=0.9948\nstate[joint_eff]: [0.0068, -1.0188, 6.8444, 1.5214, -0.0611, -0.0562, -0.0122, -0.4444, -13.3675, 9.1145, 1.9072, 0.3932, 0.1294, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6949, 1.5509, 0.5381, 0.5346, -0.6495, -0.2783, 0.9993, 0.1684, 0.7982, 0.6682, -0.4377, 0.2108, -0.2893, 0.9953]\nstate[eef_state]: left_x=0.3646 left_y=-0.1602 left_z=0.1031 left_yaw=-0.018 left_pitch=0.2051 left_roll=0.045 left_gripper=0.9993 right_x=0.2928 right_y=0.0159 right_z=0.1983 right_yaw=0.138 right_pitch=-0.0 right_roll=-0.339 right_gripper=0.9953\nstate[joint_eff]: [-0.5538, -5.9145, 8.2256, 2.1514, -0.4274, 0.1001, -0.0855, -0.0889, -1.0462, 7.1726, 2.0635, -0.0269, -0.0806, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32cbb33d3f5f0ffc27339de5b51ec492c6223485ce5641fbe4ffd55830c73ac9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f04899b82e1baa00e9c9dcddad51ef0066f7e3db9d8fa4fc276ef2121a1e4dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88ccbad77763de34cb0419a3d236d81bf3bca234eb4dcdbb563fce8449799222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxAkKjgEIEhgCKkAfmj2P50SUfUiDxHNoRdcrLKCYsvVNIEXeqxu3DISj7fseQAaTW0fAjFOel0w0bGzuIkUFhaowhHtJPWCHgNQdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdK6zNUGEgyZN7Uh7cwv6Cgg86YaDB/6RI2ta1XHnLdjsCIwX8pa09ZPkoXJaGVjZS2/KD0LcT9T2kF8u5PtTx3/BHLriFbEnzf1stXpbX5P63KXKuIHUqCieL+I/jJfjsAU42ktwMFk3D2yTP7yttrFmXpOBxmEkGZHH1OeVzJlqX0kCbJ6krM8aXyoM4IYsyUnQHFwStFPeCO1fBJFk0sXLxjoSHbi4lBXibYnDAQ13ZxpmpQ9IiYXSB8W6wIfiMOAzH/eoxbL/5pT9v7jlmnCnfRBi/gXZ3ou1pyPnhGzmPjWgGdQteb50gql8usKyAfKdaFIX14t+KxmvZWL5YtqWu40DLsvwZQ4TgFZ4+rvyh09snJwMrX0xXfoG9mA5sHgUK8h+Qgc6sjqnxMCUPz3Zcp1RcC7yT2A8uAd5y23k6snClZBKnxh2scHTjv7dWzmz+R8E9xbazZoVJwTrZj+l3227sr72hyDfCteRt+OoGyMkMoKr+ZJxaIOXnvGAnP/+XYQamF2CjM+uXh3li4hpbcGKtZOz02W34gBgGQJ4Punkjjx/MDVIZYxe8tj1wuzaOvsUNZQmY6KvstcPjcLq4j+wuy4t9q5XSEfF0uEbll2y82iKV94x/gjbUXRCV812DaWA1sr+siigAnSiyYcOSvytxFc/RLhvgWBsa8kG+xKjhglDDFokFPyLNEwghnoBQvmrp2m6OMsHQR7aGw4pW5pUZABTE0/a+nPZTF/OMYFL9sUZ5yak1Ns736IgqLU9qI/vo4dEgOG0BToP846wBYR1fZ1B7Nfwjc79WU/mMmmBVuFL20qkDNiQ6RvDfLVeDAIzierbrzP8uNm3J21uMjCIgolkKD3OLzNXPZ+IOaQaOqFyPrSHlWpLzn4UfOLI8SJXtHMw/rNVHH8yVIXzwb+w+qkFEh7vFgJd23eE7w8VW22B8/OHpAJknGYeoJpWAF9zYPX2+QTRADZwexNE+ileu3FuIQD9V5aoVoMI25ayjI6njbZpgj/rafT4UtxPOB483Ueyzt72sGcPInOSFToQMiKZSf8EYH+cUH6nmKV2vKEb4C5nAKah3/TabOR1w0FFwOYvB6hUp3jZe0vKm6hVhpxrxXfToVtnQQ+XQJwWISrvjMUwVnYnaSL0vPDY8uSBek40EaMe1kejs7ehnu6jrjHlPXcrlJB7WCIbbReAgu9pEg5275SLdll41+BJUyG0r/7Nw0hhmmWSroo3gBlLXbjHV15p9eSpha3bjJ6EXPe8RaBX5e+8G9OB2bsF+uDS8YHk18sJiV6x4XY398OZfxo5cbtv74UNKVVL61D8BXbX1RdJNPgKDfM34YkQN3ULLDEfJCvi/XDExSk9s5gyybHTVT46hQ20QVN/5Z2K3jYzyb0lnz98cFG9b/BS/S0CoOaLZ82x567gxZyPcarqbVlVRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01817cvnrGx3KWuRMrLHPzms",
      "input": {
        "note": "Lemon is visibly inside the safe. The cream toy sits just left of the left gripper's jaw column near the bottom of the wrist view; nudging left and forward and descending to table level around it.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.145,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01817cvnrGx3KWuRMrLHPzms",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6144, 1.9221, 0.4847, 1.0008, -0.5919, -0.2668, 0.9991, 0.1673, 0.8021, 0.667, -0.4774, 0.1982, -0.3069, 0.9954]\nstate[eef_state]: left_x=0.3853 left_y=-0.1468 left_z=0.0336 left_yaw=0.0143 left_pitch=0.2224 left_roll=0.0094 left_gripper=0.9991 right_x=0.2877 right_y=0.0169 right_z=0.1885 right_yaw=0.1567 right_pitch=-0.048 right_roll=-0.3473 right_gripper=0.9954\nstate[joint_eff]: [0.5675, -5.2991, 3.453, 0.7009, -0.0269, 0.3883, -0.0269, -0.0068, -1.5521, 7.0359, 2.044, 0.1197, 0.1685, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:957ff5b0f08cd477cd3592abd96702fb216164944300a88511a7d619010d3032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79eb0132a5311f3971817c650523a70a59712c6fc838725930fdf93775070947",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2dbe2f651df0b0018d63a9e7deeecff442fe631e86b4839ae8367e06a0cf79b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.795 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, 0.8192, 0.6067, -0.593, -0.0193, -0.0387, 0.9992, 0.8383, 2.1025, 1.6176, -0.1398, 0.7486, 0.062, 0.9948]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1341 left_yaw=0.0029 left_pitch=-0.2242 left_roll=0.0005 left_gripper=0.9992 right_x=0.4616 right_y=0.3387 right_z=0.1619 right_yaw=0.19 right_pitch=0.1136 right_roll=-0.3384 right_gripper=0.9948\nstate[joint_eff]: [0.0068, -1.0188, 6.8444, 1.5214, -0.0611, -0.0562, -0.0122, -0.4444, -13.3675, 9.1145, 1.9072, 0.3932, 0.1294, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6949, 1.5509, 0.5381, 0.5346, -0.6495, -0.2783, 0.9993, 0.1684, 0.7982, 0.6682, -0.4377, 0.2108, -0.2893, 0.9953]\nstate[eef_state]: left_x=0.3646 left_y=-0.1602 left_z=0.1031 left_yaw=-0.018 left_pitch=0.2051 left_roll=0.045 left_gripper=0.9993 right_x=0.2928 right_y=0.0159 right_z=0.1983 right_yaw=0.138 right_pitch=-0.0 right_roll=-0.339 right_gripper=0.9953\nstate[joint_eff]: [-0.5538, -5.9145, 8.2256, 2.1514, -0.4274, 0.1001, -0.0855, -0.0889, -1.0462, 7.1726, 2.0635, -0.0269, -0.0806, 0.0415]",
      "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]: [-0.6144, 1.9221, 0.4847, 1.0008, -0.5919, -0.2668, 0.9991, 0.1673, 0.8021, 0.667, -0.4774, 0.1982, -0.3069, 0.9954]\nstate[eef_state]: left_x=0.3853 left_y=-0.1468 left_z=0.0336 left_yaw=0.0143 left_pitch=0.2224 left_roll=0.0094 left_gripper=0.9991 right_x=0.2877 right_y=0.0169 right_z=0.1885 right_yaw=0.1567 right_pitch=-0.048 right_roll=-0.3473 right_gripper=0.9954\nstate[joint_eff]: [0.5675, -5.2991, 3.453, 0.7009, -0.0269, 0.3883, -0.0269, -0.0068, -1.5521, 7.0359, 2.044, 0.1197, 0.1685, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:957ff5b0f08cd477cd3592abd96702fb216164944300a88511a7d619010d3032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79eb0132a5311f3971817c650523a70a59712c6fc838725930fdf93775070947",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dbe2f651df0b0018d63a9e7deeecff442fe631e86b4839ae8367e06a0cf79b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9AMKjgEIEhgCKkBpF7A26syRFoXTIp5kUTjNU7xkAAxcAH+Fqkw1XpI4NjkWW8o3R/abNOXHxkPTzaEMPW6a8u4rlRViL5/BoACIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdi6zNUGEgyT6u69u0gVnZnae6oaDJnfhaJrdkABj7hFRiIwofgNbqDpinvHNW0O/9Kedyg6lhrUQWFwmHum8/47w5IjUYGgKIgYeWBlTXlvYJiEKpICu2voTieDbYYBWpcBN/lK0q1zP/9wuz8LlIuehW2iw6EJXbJNGEh5baClLFQCr4go2dcDEFSSOezKW4QMmyixOOq4r01YSCKw+Sq/HpcIprsAiMXz+HZtbO7/OU0G02FN7eQpBaxm+00kGiw5+/p/WgqX/yNzSyI3+WHpDL40K4kIbQiFHiHJmAeYvo6kPnNrkjuf7q6rkCWJX70TY/VDA9U4ZEm962QXQA1H2lmCHWOBvY4qvz3MtvQjnZtZ2Tm/j3OE2sVM6qQEH3siEKUuBf4Jz2Hx5s26O0kxZt0N86H4ZIuvS+sZvXyD1jc52RIZsTX4A3hM2QWwQ6S85mnCvGVhi8fC33HKlb/7OV6PACzfERgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UVg7SH9uHCeNYkYoFwvc8M",
      "input": {
        "note": "The toy is between the jaws but sitting left of centre; shifting 2 cm left and closing the gripper on it.",
        "targets": {
          "left_gripper": 0.15,
          "left_y": -0.128,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UVg7SH9uHCeNYkYoFwvc8M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.606, 1.9656, 0.482, 1.0561, -0.5835, -0.2363, 0.1572, 0.1673, 0.8024, 0.667, -0.4999, 0.1974, -0.3107, 0.9954]\nstate[eef_state]: left_x=0.3869 left_y=-0.1453 left_z=0.0269 left_yaw=-0.0003 left_pitch=0.2274 left_roll=0.0304 left_gripper=0.1572 right_x=0.2846 right_y=0.0165 right_z=0.184 right_yaw=0.1593 right_pitch=-0.0717 right_roll=-0.3501 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -6.8718, 3.0564, 1.6142, 0.0122, 0.0855, 0.4469, -0.0479, -1.2103, 6.9538, 1.8926, 0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbaf93714dc602b11fc3df97a0cbf079902959bfe7a46b3e34846daa427d51fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b67435b4d84fa7c141b9e612885a5dc16da016d3dfe1db7e12fb1fb557c7e133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:350d3cb61448246bded4113938d8c8fbe5ea2d895b688564f398159aa1283140",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 6.86 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]: [-0.6949, 1.5509, 0.5381, 0.5346, -0.6495, -0.2783, 0.9993, 0.1684, 0.7982, 0.6682, -0.4377, 0.2108, -0.2893, 0.9953]\nstate[eef_state]: left_x=0.3646 left_y=-0.1602 left_z=0.1031 left_yaw=-0.018 left_pitch=0.2051 left_roll=0.045 left_gripper=0.9993 right_x=0.2928 right_y=0.0159 right_z=0.1983 right_yaw=0.138 right_pitch=-0.0 right_roll=-0.339 right_gripper=0.9953\nstate[joint_eff]: [-0.5538, -5.9145, 8.2256, 2.1514, -0.4274, 0.1001, -0.0855, -0.0889, -1.0462, 7.1726, 2.0635, -0.0269, -0.0806, 0.0415]",
      "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]: [-0.6144, 1.9221, 0.4847, 1.0008, -0.5919, -0.2668, 0.9991, 0.1673, 0.8021, 0.667, -0.4774, 0.1982, -0.3069, 0.9954]\nstate[eef_state]: left_x=0.3853 left_y=-0.1468 left_z=0.0336 left_yaw=0.0143 left_pitch=0.2224 left_roll=0.0094 left_gripper=0.9991 right_x=0.2877 right_y=0.0169 right_z=0.1885 right_yaw=0.1567 right_pitch=-0.048 right_roll=-0.3473 right_gripper=0.9954\nstate[joint_eff]: [0.5675, -5.2991, 3.453, 0.7009, -0.0269, 0.3883, -0.0269, -0.0068, -1.5521, 7.0359, 2.044, 0.1197, 0.1685, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.606, 1.9656, 0.482, 1.0561, -0.5835, -0.2363, 0.1572, 0.1673, 0.8024, 0.667, -0.4999, 0.1974, -0.3107, 0.9954]\nstate[eef_state]: left_x=0.3869 left_y=-0.1453 left_z=0.0269 left_yaw=-0.0003 left_pitch=0.2274 left_roll=0.0304 left_gripper=0.1572 right_x=0.2846 right_y=0.0165 right_z=0.184 right_yaw=0.1593 right_pitch=-0.0717 right_roll=-0.3501 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -6.8718, 3.0564, 1.6142, 0.0122, 0.0855, 0.4469, -0.0479, -1.2103, 6.9538, 1.8926, 0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbaf93714dc602b11fc3df97a0cbf079902959bfe7a46b3e34846daa427d51fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b67435b4d84fa7c141b9e612885a5dc16da016d3dfe1db7e12fb1fb557c7e133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:350d3cb61448246bded4113938d8c8fbe5ea2d895b688564f398159aa1283140",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9wQKjgEIEhgCKkDS+GGq+zLuKqhOIdPpoEGGJieFsbzqjiNC90sqruZbj2soYkQrMjAXmPJQwqwcPhVStmVbO3RJPRYfCYKNUv8nMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd26zNUGEgyNgDWBIN6XD2PrP54aDLSPW1Z6AJer+GhHQSIw5wh4mYjweJusZRikEDpbXO8LiV1yYjTIi6zumwTwlOJqRwqTMrJGO5XgVW/WmOr2KpUDUMioq51NNsYir05CcID2vaV1ahGRXoqHrhgYU7LJoFrkexXHhoqQkiyo4arqmAFhXas20M6m/4mI/1UHalhynnlDcPdOTtG90t+s3EnmXrZFormRuUZnQ1wxAONFRQdPzlsPGBKkge3vVapZ4tqLSWFtspU18q+UhMmUvm5+hlMqYH2lyO9t675D/s7muh+Nv0NILzxyOBlTDfm8dluRkqZ6uRuKYX3YLIOe64PxeJ1hi/2atUv6flDaA4dxXaeof0lz19LWwDYKUMr9vknS1tSaP/Z33CWRyPo9MpFIlcQEoNCxGoK3vdKfSM7JiUDnAGW1l39py6YN5fb9dllBxXQTOm7VKCUg8pPa0TVaz/2dEzzOoQk3Y0rCv5jbWgTwnf1lyW26o0+mQ7rwDyCQvvkliwZJoJRXTwWs9btudTB0vWqeNDgP6tUiT3z+hc/pbWGmzoh75RzhafJsOqYTjoVzYqc6ago0un9wdlHYN8FqdLyxyq+862vTveY1CBjbaXqjrh0iaY+SSxTpguAKLvySy1twGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MRUM1WbDWYFZCpGCE1H7zZ",
      "input": {
        "note": "Gripper closed to 0.16; lifting to check in the overhead view whether the cream toy came up with it.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01MRUM1WbDWYFZCpGCE1H7zZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6071, 1.5841, 0.5438, 0.5999, -0.588, -0.2451, 0.159, 0.1673, 0.8043, 0.667, -0.5232, 0.1974, -0.3115, 0.9954]\nstate[eef_state]: left_x=0.383 left_y=-0.1424 left_z=0.1027 left_yaw=0.0056 left_pitch=0.218 left_roll=0.0312 left_gripper=0.159 right_x=0.2813 right_y=0.016 right_z=0.179 right_yaw=0.1597 right_pitch=-0.097 right_roll=-0.3509 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -7.7197, 8.5538, 2.1026, -0.1538, 0.0415, 0.1685, -0.1846, -1.2376, 7.1863, 1.8535, 0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d269f131f5d918ec69cfcc824fa4a802a8d972a348020524f9d8683fad0c86d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a547a50b305aeb4f3b33d5cc094ed60a84f9ef904e2f0a4d4efd8564b7b2f87f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63311856e2aae2ee0913ec867b40c26afd815058da59ee33201bf0d753f8233b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 12.44 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]: [-0.6144, 1.9221, 0.4847, 1.0008, -0.5919, -0.2668, 0.9991, 0.1673, 0.8021, 0.667, -0.4774, 0.1982, -0.3069, 0.9954]\nstate[eef_state]: left_x=0.3853 left_y=-0.1468 left_z=0.0336 left_yaw=0.0143 left_pitch=0.2224 left_roll=0.0094 left_gripper=0.9991 right_x=0.2877 right_y=0.0169 right_z=0.1885 right_yaw=0.1567 right_pitch=-0.048 right_roll=-0.3473 right_gripper=0.9954\nstate[joint_eff]: [0.5675, -5.2991, 3.453, 0.7009, -0.0269, 0.3883, -0.0269, -0.0068, -1.5521, 7.0359, 2.044, 0.1197, 0.1685, -0.0073]\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]: [-0.606, 1.9656, 0.482, 1.0561, -0.5835, -0.2363, 0.1572, 0.1673, 0.8024, 0.667, -0.4999, 0.1974, -0.3107, 0.9954]\nstate[eef_state]: left_x=0.3869 left_y=-0.1453 left_z=0.0269 left_yaw=-0.0003 left_pitch=0.2274 left_roll=0.0304 left_gripper=0.1572 right_x=0.2846 right_y=0.0165 right_z=0.184 right_yaw=0.1593 right_pitch=-0.0717 right_roll=-0.3501 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -6.8718, 3.0564, 1.6142, 0.0122, 0.0855, 0.4469, -0.0479, -1.2103, 6.9538, 1.8926, 0.0024, -0.0366, -0.0122]",
      "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]: [-0.6071, 1.5841, 0.5438, 0.5999, -0.588, -0.2451, 0.159, 0.1673, 0.8043, 0.667, -0.5232, 0.1974, -0.3115, 0.9954]\nstate[eef_state]: left_x=0.383 left_y=-0.1424 left_z=0.1027 left_yaw=0.0056 left_pitch=0.218 left_roll=0.0312 left_gripper=0.159 right_x=0.2813 right_y=0.016 right_z=0.179 right_yaw=0.1597 right_pitch=-0.097 right_roll=-0.3509 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -7.7197, 8.5538, 2.1026, -0.1538, 0.0415, 0.1685, -0.1846, -1.2376, 7.1863, 1.8535, 0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d269f131f5d918ec69cfcc824fa4a802a8d972a348020524f9d8683fad0c86d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a547a50b305aeb4f3b33d5cc094ed60a84f9ef904e2f0a4d4efd8564b7b2f87f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63311856e2aae2ee0913ec867b40c26afd815058da59ee33201bf0d753f8233b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS6QgKjgEIEhgCKkA+vipkgGzPY2KSXSnFKS1Hb9wrRru2U+61PWtjr6pGsbSrrbzRCU6C17iQ1v28MiiDt8fSkPOQDyvIfeyF+QcIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeW6zNUGEgyUV4Ewhznf0b1rjrUaDNwXiBsmPd1JDpeWsSIwlXNXypt8GV9WT0nwiPaJap1GJra8vSZrIv7WMxNZMdNPxnbuVztnsmIoQ8taeq3yKocHDKpaWoDtItf6BXrvGiu5HMG1QFjQDRDIean1pUMYT4lEU+R20az6Kh65nVvT39K4N0/3Z5E8jW3QHrz0hE7TN3n2Z+G9dtJUeqYEWU7m8vIgixnXaQMLQBrD2BoqBBG738/iAqvNAJc1z0TnBJvAUroLWz69VynCsil+iqL9p5s5CMW4elxVJEZUIjA2qsAEyu5viHft2IhYKNokE+RIFbyrDTdElqt1NnDrgBkxlajutweX7EfvT01Z9eN3rCgmiuFJRQ1y1SSqMpraEj/XuTKVQhU1mK3Nmy6+AUn9Pmod1k6q/CmUCVBNb9AHWpuE/LIJLRHT3IbcgPmme4qziwgweG1EJzFW5mJ5k1Cpl9X7ryZTVbfaZruZ2qKAwBUzHY6f+1nbGsKIcFiUs5Mufa0yxMwsYlp36aswMYqVu8HDTd8o1QMNDeUr7+lm/buHW63neCGQrTCTCG6AbNz6egSgF8+30q+QsCbq2Wh467zPuOveLQyPmU7sXQ8kdXrZbEK4xl5zVoTFaX5Nmni8vKXlBkp9lkEkWkYZE1ZD8ph5v41H96Jc45Y1Qgaph3XYYGGWulVzIcuI+mZXTBmcZTCxrWJiFWgprLg9o2lxuMlq6rBpw+e+0uQyIPPghaLQqtdpVvBjG46VbR9sEOlCWGB+xt7r+yt/D0gktX0zOhqI16RdWiCthRzt+F7iwNtsk3BjYcd6fcGJDCVxs+hl1gDl6cjhZdC9kWFofbyrfeYkj0YppRoXnq6PI7VZxqLe2Nvj/L/lE91iwBe6JmmNtcT2NmemI2eSzTAubmGx/i0v/UbvTjysNuCGOU+/zU7g+e9iWaCvZiS0fi+eKHPRZsVThBJm5SkegLWpjSdspkPb+QyOP1ntk8d1iNib13HIFXXGfXLnj/orF2BAHEWwWj4Sd+tXLc/PydalhGKGX1nZBi+cffgv444L66j1N4hDHqvWwo1D7jhlLdZNFlCryTBkrt7KYYJZYm892GJprytuvZFf7tQtsGTsyPkRyoWVKEVUapAEXzbIlekzCLXAW1XuJtUrvvMktN191dMwiocETOJuujSBM1yl+TpfPRI5uqgIBrnzfAk1IO+JiBRhDRREER/ZccfQn/U/g2qbwB+Mb0+ybKAOrcEeHpprfF20/tYoW7YHC/14gPe+cgVndkfnoNtuDnWWxdB6rt+uEDmuCoQJcBHaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AsRAY1upFXhxg3wPVSb9MR",
      "input": {
        "note": "Something cream-coloured appears held in the left jaws; carrying it high over the open safe compartment.",
        "targets": {
          "left_pitch": 0.2,
          "left_x": 0.46,
          "left_y": -0.335,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01AsRAY1upFXhxg3wPVSb9MR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8558, 2.0243, 1.7954, -0.3393, -0.7879, -0.4259, 0.1598, 0.1673, 0.8089, 0.667, -0.5549, 0.1974, -0.3141, 0.9954]\nstate[eef_state]: left_x=0.4592 left_y=-0.3325 left_z=0.2476 left_yaw=0.0013 left_pitch=0.1916 left_roll=0.0197 left_gripper=0.1598 right_x=0.2768 right_y=0.0152 right_z=0.1718 right_yaw=0.1611 right_pitch=-0.1337 right_roll=-0.3532 right_gripper=0.9954\nstate[joint_eff]: [-0.4581, -11.7265, 8.9231, 1.4188, -0.4615, 0.0415, 0.0708, -0.1436, -1.5385, 6.8855, 1.9072, 0.0269, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0148f17760b7c3440c5acc35da067bf8484d04e6c9615176c44c6c4ba726ac52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a9e41a0d2ae1f32a0fde8edf04f4ff377ce8486b52659f6a2f4fdd5ff2a793a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:682d07c9dc21a0b985d92e659ca96109089fb7a74539163be2ea2e4a6c090619",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 6.978 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]: [-0.606, 1.9656, 0.482, 1.0561, -0.5835, -0.2363, 0.1572, 0.1673, 0.8024, 0.667, -0.4999, 0.1974, -0.3107, 0.9954]\nstate[eef_state]: left_x=0.3869 left_y=-0.1453 left_z=0.0269 left_yaw=-0.0003 left_pitch=0.2274 left_roll=0.0304 left_gripper=0.1572 right_x=0.2846 right_y=0.0165 right_z=0.184 right_yaw=0.1593 right_pitch=-0.0717 right_roll=-0.3501 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -6.8718, 3.0564, 1.6142, 0.0122, 0.0855, 0.4469, -0.0479, -1.2103, 6.9538, 1.8926, 0.0024, -0.0366, -0.0122]",
      "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]: [-0.6071, 1.5841, 0.5438, 0.5999, -0.588, -0.2451, 0.159, 0.1673, 0.8043, 0.667, -0.5232, 0.1974, -0.3115, 0.9954]\nstate[eef_state]: left_x=0.383 left_y=-0.1424 left_z=0.1027 left_yaw=0.0056 left_pitch=0.218 left_roll=0.0312 left_gripper=0.159 right_x=0.2813 right_y=0.016 right_z=0.179 right_yaw=0.1597 right_pitch=-0.097 right_roll=-0.3509 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -7.7197, 8.5538, 2.1026, -0.1538, 0.0415, 0.1685, -0.1846, -1.2376, 7.1863, 1.8535, 0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8558, 2.0243, 1.7954, -0.3393, -0.7879, -0.4259, 0.1598, 0.1673, 0.8089, 0.667, -0.5549, 0.1974, -0.3141, 0.9954]\nstate[eef_state]: left_x=0.4592 left_y=-0.3325 left_z=0.2476 left_yaw=0.0013 left_pitch=0.1916 left_roll=0.0197 left_gripper=0.1598 right_x=0.2768 right_y=0.0152 right_z=0.1718 right_yaw=0.1611 right_pitch=-0.1337 right_roll=-0.3532 right_gripper=0.9954\nstate[joint_eff]: [-0.4581, -11.7265, 8.9231, 1.4188, -0.4615, 0.0415, 0.0708, -0.1436, -1.5385, 6.8855, 1.9072, 0.0269, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0148f17760b7c3440c5acc35da067bf8484d04e6c9615176c44c6c4ba726ac52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a9e41a0d2ae1f32a0fde8edf04f4ff377ce8486b52659f6a2f4fdd5ff2a793a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:682d07c9dc21a0b985d92e659ca96109089fb7a74539163be2ea2e4a6c090619",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018orcteyuTHYgKaosSb6VEq",
      "input": {
        "note": "Overhead view shows the left gripper slightly right of the safe's red opening; shifting 4 cm left and lowering toward the compartment before releasing.",
        "targets": {
          "left_y": -0.37,
          "left_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018orcteyuTHYgKaosSb6VEq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8974, 2.138, 1.8317, -0.3294, -0.8059, -0.4561, 0.1612, 0.1669, 0.8097, 0.667, -0.5781, 0.1978, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.4569 left_y=-0.3627 left_z=0.2039 left_yaw=-0.019 left_pitch=0.1563 left_roll=0.0506 left_gripper=0.1612 right_x=0.2732 right_y=0.0145 right_z=0.1673 right_yaw=0.1606 right_pitch=-0.1578 right_roll=-0.3539 right_gripper=0.9954\nstate[joint_eff]: [-0.4718, -12.6291, 9.2923, 1.7314, -0.5592, -0.1245, 0.1441, -0.1846, -1.2376, 6.8581, 1.8486, 0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07c91b64c483c58d0c9c2da382e66d39983be5e3c9ad8258b8117a15540d002f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862e0cb0381290761798a2abe708ac5f7bfd228c0041d072c5f84ddeed832aad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fc8f33fe368504e41f4f0cd395885af32e65e4fd6ef166fa6916c1d18d303da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 15.8 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]: [-0.6071, 1.5841, 0.5438, 0.5999, -0.588, -0.2451, 0.159, 0.1673, 0.8043, 0.667, -0.5232, 0.1974, -0.3115, 0.9954]\nstate[eef_state]: left_x=0.383 left_y=-0.1424 left_z=0.1027 left_yaw=0.0056 left_pitch=0.218 left_roll=0.0312 left_gripper=0.159 right_x=0.2813 right_y=0.016 right_z=0.179 right_yaw=0.1597 right_pitch=-0.097 right_roll=-0.3509 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -7.7197, 8.5538, 2.1026, -0.1538, 0.0415, 0.1685, -0.1846, -1.2376, 7.1863, 1.8535, 0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8558, 2.0243, 1.7954, -0.3393, -0.7879, -0.4259, 0.1598, 0.1673, 0.8089, 0.667, -0.5549, 0.1974, -0.3141, 0.9954]\nstate[eef_state]: left_x=0.4592 left_y=-0.3325 left_z=0.2476 left_yaw=0.0013 left_pitch=0.1916 left_roll=0.0197 left_gripper=0.1598 right_x=0.2768 right_y=0.0152 right_z=0.1718 right_yaw=0.1611 right_pitch=-0.1337 right_roll=-0.3532 right_gripper=0.9954\nstate[joint_eff]: [-0.4581, -11.7265, 8.9231, 1.4188, -0.4615, 0.0415, 0.0708, -0.1436, -1.5385, 6.8855, 1.9072, 0.0269, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8974, 2.138, 1.8317, -0.3294, -0.8059, -0.4561, 0.1612, 0.1669, 0.8097, 0.667, -0.5781, 0.1978, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.4569 left_y=-0.3627 left_z=0.2039 left_yaw=-0.019 left_pitch=0.1563 left_roll=0.0506 left_gripper=0.1612 right_x=0.2732 right_y=0.0145 right_z=0.1673 right_yaw=0.1606 right_pitch=-0.1578 right_roll=-0.3539 right_gripper=0.9954\nstate[joint_eff]: [-0.4718, -12.6291, 9.2923, 1.7314, -0.5592, -0.1245, 0.1441, -0.1846, -1.2376, 6.8581, 1.8486, 0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07c91b64c483c58d0c9c2da382e66d39983be5e3c9ad8258b8117a15540d002f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862e0cb0381290761798a2abe708ac5f7bfd228c0041d072c5f84ddeed832aad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fc8f33fe368504e41f4f0cd395885af32e65e4fd6ef166fa6916c1d18d303da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjQgKjgEIEhgCKkDxHWGE3wTuqdsKbtBjUZjk6iy3j/vYushALzghqLnokpN+DTVJeK4KfZLqiwfbkiTDoWApSxDCV5pnsRdsoo8dMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfq6zNUGEgy4ZQt6Gk48HGxHw08aDLsWR2cRtGiQmGKADyIwRKes4zfa3JAFzPc2FA4NcuLBRXADhjqYpLTohQCB8jVEL+pXZEfwRhtLqFil+x9IKqsGwqDFIS/bE2rm6IPxMbpe08hTFc+e6/zDZBvBi8QH9QwFID+Rpa+DMSaNRAgzTfil7kPUCZ82jzrRyacIAV93X2dq6tZYYCcplaESgl75MCmMI/9y4bIRpP3QcjRyUjwqGpFaFhpCSk0kq8Z2Y8QSoIcuM87zI1TRxWB7S4/fHRK4v6Udiu8abphv5h67sNW7EnfRa0OKdT9jm8KumRod3hB0HkFhIiIz/bdeoEP2aiU+lW9lTOMdcxmpTPQuABrJEhGC1V6BhYkcWxxiGPwlVxyvZLYOlFsq8o1ui5eH+D5+e16YxloNzq8eLI8d1SDR7N8E3G+6cAa87XojVTT9qRaeKIovTE/lNd1PkrmAVKcSo8TzrNr+04/A34p4exjzH/i5QkGJ2pFIymF/0+DeiuJU3oezAZJx3hik4l5FAwnrK8RTxax1s6TX2ennqYNiRmF3M24jGxpMthV58FkH3HzGTMw3xZlGcoawSKudKWn9aUR/JOSye4K4mSARg0NEeUmQ8Iwvw3DY1QH4WltKpGslM4swku3qjNXqOIyV1F5GoeewchnoNPvAfzIzwaF6N0ve7Rqzt/PFiIR8RwS7tr4/LOiYBtz52DB2RIea5/i0UQNdgA+x6w3rk+zK9QgXvMrRc86DnzbsiQ7f2+7U6gM6PQcrzzr2/Jv4JsJgQFLsCAQyKDm810R9P9eufOUTkO92h4ZeeuO/Lc5pPMw0qDThNKth1X0AltSjPxfqbRD7wFVaw2qrLVspH5PaUUHDMm18RL/AkPoEE5MyWBcsGeATpWQ1bW+43Y3jtMEGHrYsXWxd35Z5hSYgIM3yy0vvff7uPLidshln3nV39yT+lVNEBKdfkMHE0vSDc5WcPtpj/pFnNu3Tixcg3ioxVBmvVUG3n4cBr2q/+Q9QzGeFdMY5Gk/TYcjsS5+A3Ceh0HLU0BYpo0iS8MhA/dEhSwZMj4hcBqWVK77WFplNaklVMfRtZdgx410LaumQGmxNA5mfvWkcijHaZgt6k9mFjQuqcPeix3o3XVhmtAJRPflHoXMQIQwhj6WcgQfLMtBXvAjqL2O5BE6ELSj2+RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014YfEGTJ9XHYUiJV3ApWunV",
      "input": {
        "note": "Wrist view now shows the red safe interior clearly to the image-left of the jaws, meaning I overshot to the right; moving 6 cm back to the left to centre over the opening.",
        "targets": {
          "left_y": -0.305
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014YfEGTJ9XHYUiJV3ApWunV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9085, 2.1761, 1.832, -0.3176, -0.8093, -0.466, 0.1627, 0.1669, 0.8101, 0.667, -0.6121, 0.1974, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.4558 left_y=-0.3708 left_z=0.1851 left_yaw=-0.025 left_pitch=0.1418 left_roll=0.063 left_gripper=0.1627 right_x=0.2677 right_y=0.0136 right_z=0.1611 right_yaw=0.1609 right_pitch=-0.1922 right_roll=-0.3538 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -14.106, 8.6769, 1.7314, -0.5543, -0.0562, 0.1441, -0.0752, -1.1829, 6.8718, 1.8681, 0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c09a73aac7850b5f706ffe91b51fb4326560fa5824c965c87e185a24937f32b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2772964aa47c2339d37b54729d756a5e5ca26910b621b2df5ac44592eb28db4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9adfaead3990dcaef806d2217ae41f028861a0e42d8e31bf7be1648425249ce",
        "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 · 4.442 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]: [-0.8558, 2.0243, 1.7954, -0.3393, -0.7879, -0.4259, 0.1598, 0.1673, 0.8089, 0.667, -0.5549, 0.1974, -0.3141, 0.9954]\nstate[eef_state]: left_x=0.4592 left_y=-0.3325 left_z=0.2476 left_yaw=0.0013 left_pitch=0.1916 left_roll=0.0197 left_gripper=0.1598 right_x=0.2768 right_y=0.0152 right_z=0.1718 right_yaw=0.1611 right_pitch=-0.1337 right_roll=-0.3532 right_gripper=0.9954\nstate[joint_eff]: [-0.4581, -11.7265, 8.9231, 1.4188, -0.4615, 0.0415, 0.0708, -0.1436, -1.5385, 6.8855, 1.9072, 0.0269, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8974, 2.138, 1.8317, -0.3294, -0.8059, -0.4561, 0.1612, 0.1669, 0.8097, 0.667, -0.5781, 0.1978, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.4569 left_y=-0.3627 left_z=0.2039 left_yaw=-0.019 left_pitch=0.1563 left_roll=0.0506 left_gripper=0.1612 right_x=0.2732 right_y=0.0145 right_z=0.1673 right_yaw=0.1606 right_pitch=-0.1578 right_roll=-0.3539 right_gripper=0.9954\nstate[joint_eff]: [-0.4718, -12.6291, 9.2923, 1.7314, -0.5592, -0.1245, 0.1441, -0.1846, -1.2376, 6.8581, 1.8486, 0.0708, -0.0757, -0.0122]",
      "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]: [-0.9085, 2.1761, 1.832, -0.3176, -0.8093, -0.466, 0.1627, 0.1669, 0.8101, 0.667, -0.6121, 0.1974, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.4558 left_y=-0.3708 left_z=0.1851 left_yaw=-0.025 left_pitch=0.1418 left_roll=0.063 left_gripper=0.1627 right_x=0.2677 right_y=0.0136 right_z=0.1611 right_yaw=0.1609 right_pitch=-0.1922 right_roll=-0.3538 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -14.106, 8.6769, 1.7314, -0.5543, -0.0562, 0.1441, -0.0752, -1.1829, 6.8718, 1.8681, 0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c09a73aac7850b5f706ffe91b51fb4326560fa5824c965c87e185a24937f32b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2772964aa47c2339d37b54729d756a5e5ca26910b621b2df5ac44592eb28db4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9adfaead3990dcaef806d2217ae41f028861a0e42d8e31bf7be1648425249ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KVUFyw9EYWvekMM5bp1xo6",
      "input": {
        "note": "The left arm is over-extended and y stopped tracking; pulling back in x while moving left so the arm can actually reach over the safe's red opening.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.3,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01KVUFyw9EYWvekMM5bp1xo6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9417, 1.9091, 1.4967, -0.3393, -0.8101, -0.4904, 0.1641, 0.1669, 0.8158, 0.667, -0.6357, 0.1978, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.3984 left_y=-0.3239 left_z=0.1869 left_yaw=-0.0522 left_pitch=0.0865 left_roll=0.1116 left_gripper=0.1641 right_x=0.264 right_y=0.0129 right_z=0.1556 right_yaw=0.1605 right_pitch=-0.2215 right_roll=-0.3543 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -13.8462, 10.9197, 2.8059, -0.6178, -0.1001, 0.1343, -0.1709, -1.2103, 7.1726, 1.8144, 0.0562, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc4d2d46fc7844336574ae8f460e44341e48b0e781f1a684d912f5be07ad6d0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7732136f904c0d55aea151bdcaa96f5e3c77edae316917c09f866c5dc2cd02da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24c9921f02fadb04f5c9f8e153ddd4ca008a74cf7ae15cdd64b56c9d922d696c",
        "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 · 15.69 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]: [-0.8974, 2.138, 1.8317, -0.3294, -0.8059, -0.4561, 0.1612, 0.1669, 0.8097, 0.667, -0.5781, 0.1978, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.4569 left_y=-0.3627 left_z=0.2039 left_yaw=-0.019 left_pitch=0.1563 left_roll=0.0506 left_gripper=0.1612 right_x=0.2732 right_y=0.0145 right_z=0.1673 right_yaw=0.1606 right_pitch=-0.1578 right_roll=-0.3539 right_gripper=0.9954\nstate[joint_eff]: [-0.4718, -12.6291, 9.2923, 1.7314, -0.5592, -0.1245, 0.1441, -0.1846, -1.2376, 6.8581, 1.8486, 0.0708, -0.0757, -0.0122]",
      "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]: [-0.9085, 2.1761, 1.832, -0.3176, -0.8093, -0.466, 0.1627, 0.1669, 0.8101, 0.667, -0.6121, 0.1974, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.4558 left_y=-0.3708 left_z=0.1851 left_yaw=-0.025 left_pitch=0.1418 left_roll=0.063 left_gripper=0.1627 right_x=0.2677 right_y=0.0136 right_z=0.1611 right_yaw=0.1609 right_pitch=-0.1922 right_roll=-0.3538 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -14.106, 8.6769, 1.7314, -0.5543, -0.0562, 0.1441, -0.0752, -1.1829, 6.8718, 1.8681, 0.0464, -0.0611, -0.0171]",
      "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]: [-0.9417, 1.9091, 1.4967, -0.3393, -0.8101, -0.4904, 0.1641, 0.1669, 0.8158, 0.667, -0.6357, 0.1978, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.3984 left_y=-0.3239 left_z=0.1869 left_yaw=-0.0522 left_pitch=0.0865 left_roll=0.1116 left_gripper=0.1641 right_x=0.264 right_y=0.0129 right_z=0.1556 right_yaw=0.1605 right_pitch=-0.2215 right_roll=-0.3543 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -13.8462, 10.9197, 2.8059, -0.6178, -0.1001, 0.1343, -0.1709, -1.2103, 7.1726, 1.8144, 0.0562, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc4d2d46fc7844336574ae8f460e44341e48b0e781f1a684d912f5be07ad6d0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7732136f904c0d55aea151bdcaa96f5e3c77edae316917c09f866c5dc2cd02da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24c9921f02fadb04f5c9f8e153ddd4ca008a74cf7ae15cdd64b56c9d922d696c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStgMKjgEIEhgCKkBKa+ocXjb9JXmPC8szHY60dnw9Wax8rUzG9X09NxDkY8nNKGcjt7+QOrm4kDWm1LUwblOWKqPetruPoH44wAMHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZC7zNUGEgye+I3b1WhZ5ojWGzkaDLTmbd7Jn/NdFw51bCIw53PsicnA2pEdOkBzp1pXlFibLPJ8UYDAJtOtWQVCUqGVzW7UovdYAE2dFD8XBguhKtQB1RRjumLfS50HgGFgsspfVE1V5FxzijXOSk/jxfiNsNavqNvyadYfXv7o3o3WOpiWdwxTCwshUQdvIHLzfj1hvV4ClrBuzEirOH0wgg5dKsDeC83MtPtC17R4cmUa5L2qsFh1DM9jtu+C/Zbt3qHprsPeuyUVbchfouQ8QjKHGy9liO++Mug8gm248ILY8/qNS3q/ELAvUqveJPSta4iJHt+kdF/nwdyEBl5gnBYnPSOrp0fuzPl3jp/gjZRwTCU2a8Jw01HdMRHkX19jcOfzepUOINwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HyPjdH1iZH3RxGs515u4RJ",
      "input": {
        "note": "The left wrist view is now filled with the red safe interior below the jaws; lowering slightly and opening to drop the toy inside.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01HyPjdH1iZH3RxGs515u4RJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9466, 1.9465, 1.4246, -0.2722, -0.8055, -0.4992, 0.9954, 0.1673, 0.8181, 0.6662, -0.6575, 0.1974, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.3951 left_y=-0.3244 left_z=0.1504 left_yaw=-0.0579 left_pitch=0.058 left_roll=0.1349 left_gripper=0.9954 right_x=0.2603 right_y=0.0125 right_z=0.151 right_yaw=0.1612 right_pitch=-0.2463 right_roll=-0.3542 right_gripper=0.9954\nstate[joint_eff]: [0.294, -11.8085, 6.188, 1.619, -0.4176, 0.0562, -0.1441, -0.1983, -1.1829, 7.0222, 1.6825, 0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a83a955ddf32d5d2d89a041b26f9fbee7d15f6467108d79ad47427627240c7d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8f3e44c2f286a77201806fd7b8afe59f8d52d57179e103856e74c3210ce4983",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83026ecf65e7e2f360bae51805bccd4e57433376bde8f51738a590a54eca94c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 7.119 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]: [-0.9085, 2.1761, 1.832, -0.3176, -0.8093, -0.466, 0.1627, 0.1669, 0.8101, 0.667, -0.6121, 0.1974, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.4558 left_y=-0.3708 left_z=0.1851 left_yaw=-0.025 left_pitch=0.1418 left_roll=0.063 left_gripper=0.1627 right_x=0.2677 right_y=0.0136 right_z=0.1611 right_yaw=0.1609 right_pitch=-0.1922 right_roll=-0.3538 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -14.106, 8.6769, 1.7314, -0.5543, -0.0562, 0.1441, -0.0752, -1.1829, 6.8718, 1.8681, 0.0464, -0.0611, -0.0171]",
      "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]: [-0.9417, 1.9091, 1.4967, -0.3393, -0.8101, -0.4904, 0.1641, 0.1669, 0.8158, 0.667, -0.6357, 0.1978, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.3984 left_y=-0.3239 left_z=0.1869 left_yaw=-0.0522 left_pitch=0.0865 left_roll=0.1116 left_gripper=0.1641 right_x=0.264 right_y=0.0129 right_z=0.1556 right_yaw=0.1605 right_pitch=-0.2215 right_roll=-0.3543 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -13.8462, 10.9197, 2.8059, -0.6178, -0.1001, 0.1343, -0.1709, -1.2103, 7.1726, 1.8144, 0.0562, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9466, 1.9465, 1.4246, -0.2722, -0.8055, -0.4992, 0.9954, 0.1673, 0.8181, 0.6662, -0.6575, 0.1974, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.3951 left_y=-0.3244 left_z=0.1504 left_yaw=-0.0579 left_pitch=0.058 left_roll=0.1349 left_gripper=0.9954 right_x=0.2603 right_y=0.0125 right_z=0.151 right_yaw=0.1612 right_pitch=-0.2463 right_roll=-0.3542 right_gripper=0.9954\nstate[joint_eff]: [0.294, -11.8085, 6.188, 1.619, -0.4176, 0.0562, -0.1441, -0.1983, -1.1829, 7.0222, 1.6825, 0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a83a955ddf32d5d2d89a041b26f9fbee7d15f6467108d79ad47427627240c7d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8f3e44c2f286a77201806fd7b8afe59f8d52d57179e103856e74c3210ce4983",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83026ecf65e7e2f360bae51805bccd4e57433376bde8f51738a590a54eca94c4",
        "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_014LzoB8s7SnsCnchK2bgjCz",
      "input": {
        "note": "Lemon and cream toy are both inside the safe. Parking the left arm away and bringing the right arm over the brown teddy bear in front of the safe.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.28,
          "left_y": -0.05,
          "left_z": 0.22,
          "right_pitch": 0.2,
          "right_x": 0.23,
          "right_y": 0.19,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_014LzoB8s7SnsCnchK2bgjCz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4549, 0.7921, 0.7341, -0.5018, -0.4538, -0.1551, 0.9985, 1.2285, 1.2011, 0.6079, -0.3851, 1.0649, 0.4385, 0.9954]\nstate[eef_state]: left_x=0.2842 left_y=-0.0488 left_z=0.2243 left_yaw=-0.0108 left_pitch=0.0786 left_roll=0.1183 left_gripper=0.9985 right_x=0.2255 right_y=0.1832 right_z=0.1419 right_yaw=0.2062 right_pitch=0.1252 right_roll=-0.4183 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -0.759, 6.4068, 1.8632, -0.0415, 0.1343, -0.1587, 0.1983, -3.6171, 8.6085, 1.3114, 0.735, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:528814a48fcb7b0726988e8bca58be1af66e76281b335fe1e3af59590ffb2acc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77679c385b5ea3666fe452f2560ba8d21ec0019ea3a0f7f69e9dabc398abe0a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:518942466369be6fb9f7d05fd8a479a02352864094f13dfcb8282dbf149e51ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 5.729 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]: [-0.9417, 1.9091, 1.4967, -0.3393, -0.8101, -0.4904, 0.1641, 0.1669, 0.8158, 0.667, -0.6357, 0.1978, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.3984 left_y=-0.3239 left_z=0.1869 left_yaw=-0.0522 left_pitch=0.0865 left_roll=0.1116 left_gripper=0.1641 right_x=0.264 right_y=0.0129 right_z=0.1556 right_yaw=0.1605 right_pitch=-0.2215 right_roll=-0.3543 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -13.8462, 10.9197, 2.8059, -0.6178, -0.1001, 0.1343, -0.1709, -1.2103, 7.1726, 1.8144, 0.0562, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.9466, 1.9465, 1.4246, -0.2722, -0.8055, -0.4992, 0.9954, 0.1673, 0.8181, 0.6662, -0.6575, 0.1974, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.3951 left_y=-0.3244 left_z=0.1504 left_yaw=-0.0579 left_pitch=0.058 left_roll=0.1349 left_gripper=0.9954 right_x=0.2603 right_y=0.0125 right_z=0.151 right_yaw=0.1612 right_pitch=-0.2463 right_roll=-0.3542 right_gripper=0.9954\nstate[joint_eff]: [0.294, -11.8085, 6.188, 1.619, -0.4176, 0.0562, -0.1441, -0.1983, -1.1829, 7.0222, 1.6825, 0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4549, 0.7921, 0.7341, -0.5018, -0.4538, -0.1551, 0.9985, 1.2285, 1.2011, 0.6079, -0.3851, 1.0649, 0.4385, 0.9954]\nstate[eef_state]: left_x=0.2842 left_y=-0.0488 left_z=0.2243 left_yaw=-0.0108 left_pitch=0.0786 left_roll=0.1183 left_gripper=0.9985 right_x=0.2255 right_y=0.1832 right_z=0.1419 right_yaw=0.2062 right_pitch=0.1252 right_roll=-0.4183 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -0.759, 6.4068, 1.8632, -0.0415, 0.1343, -0.1587, 0.1983, -3.6171, 8.6085, 1.3114, 0.735, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:528814a48fcb7b0726988e8bca58be1af66e76281b335fe1e3af59590ffb2acc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77679c385b5ea3666fe452f2560ba8d21ec0019ea3a0f7f69e9dabc398abe0a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:518942466369be6fb9f7d05fd8a479a02352864094f13dfcb8282dbf149e51ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugYKjgEIEhgCKkAvlRg7+BWFSEpTYTBnh7MNdgXhePiOub7aJvPg6QchUIwbLy0HPPGEwxKjSdrFcofR07r+2DOD7+n0urUZneSyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaq7zNUGEgx993kgoO4S+1VtfLwaDCu4k2uOKM+18da6ZiIwhpLF4CDq6VN6k+ASKpog6IKTf5QVZqC2HTAuT5uQjBOH1HsOSVyrIndFWY3k8/LkKtgEAZXOOwvIktqqZpRMryJT8LXlGESzVnmNFcA9EB+iyOBjJpPYM7gyO5GTWuqoBCtPp8NDFceJ1gl3mR9womwFy1+CEI0H67MHedNaiyWdLP4EC83C6QdYv7X94sWiRbscq4XqswwTffypuLLa+wUVPck9y0L8KyjReJlfcQ18v2j+eBrUieeGGd2rnZ59+znvDLl+5jLA7xYqus8RnjXhP3Ruv1tQff/T+BQK2SA+qZnoapgKljLq8JJjQ9dr2o1WGA59A7k84hbugn4WKcscAA19kTtwagsyvUAYbXPx/HXYGlO9mSoqpqx+NZ6KEgfbawcRDWROZofweHwcRfFO3udgT+7//5ma5DSms+8AC3UPq2NfkN4FKsLm6r7ohsWTB5pvoL8cH2Aoblno81ONXZbZVdKIjVnP3dZHskWsLtkMIseiOisH4rBsJ0OKRY6VBGQWA8e8AyVvtw2krKL1UNbTcQrLmCrip3uAArCH6ge2xYaKOTild5w48M1VAo2v3Z1pGiPslsoaMaWcts8//TGYuy+f3g7yY6Etg5OwJAuHWJlgD65Ff/crKg/0MRW3Ccd1VAknvcBCQ8En2GAA0HM8rRfKPWko52B+nW2LB35ESMpVvxDsJwlcl8ePqPqA5KqD2JIUsXqP7jb5L03xopCuuzgHhahfcQecW1XQlOnEazEchjQ5/HMZ6/poHQy+fwrODB8aBWpuS8weGW4t+D0nv2yxOxm6cJf39Ax3zX6CZfkncjS0JjGNUpeij/fSKoQ5eammxpBLi5yUa2AysRS+gxmcymSkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DoT72gctHWXY5v1uyvtLiD",
      "input": {
        "note": "The teddy bear appears at the lower-left of the right wrist view, so it is to the arm's left; shifting ~8 cm left and descending toward it.",
        "targets": {
          "right_x": 0.24,
          "right_y": 0.27,
          "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_01DoT72gctHWXY5v1uyvtLiD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7963, 0.7319, -0.5316, -0.4419, -0.1581, 0.9985, 1.2774, 1.6463, 0.7948, -0.2611, 1.0683, 0.5087, 0.9954]\nstate[eef_state]: left_x=0.281 left_y=-0.0488 left_z=0.216 left_yaw=-0.0177 left_pitch=0.0433 left_roll=0.1252 left_gripper=0.9985 right_x=0.2359 right_y=0.2578 right_z=0.0915 right_yaw=0.2296 right_pitch=0.0759 right_roll=-0.474 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.4154, 7.0496, 1.9512, -0.3346, -0.022, -0.022, 0.4034, -6.8034, 7.3504, 1.1062, 0.7155, 0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:575c5aaf2030585285f593d4475492654e6db5f0b1111dd2c5bf8ed632b824bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b75aa8a98001b6231a2d668b29f1624eaa514243bdc64d60d267adb554d165a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:80342a7628be8be0848cb01750600a9db940a4f14aa6ca469a6cde1e0a59fe11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 4.252 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]: [-0.9466, 1.9465, 1.4246, -0.2722, -0.8055, -0.4992, 0.9954, 0.1673, 0.8181, 0.6662, -0.6575, 0.1974, -0.3145, 0.9954]\nstate[eef_state]: left_x=0.3951 left_y=-0.3244 left_z=0.1504 left_yaw=-0.0579 left_pitch=0.058 left_roll=0.1349 left_gripper=0.9954 right_x=0.2603 right_y=0.0125 right_z=0.151 right_yaw=0.1612 right_pitch=-0.2463 right_roll=-0.3542 right_gripper=0.9954\nstate[joint_eff]: [0.294, -11.8085, 6.188, 1.619, -0.4176, 0.0562, -0.1441, -0.1983, -1.1829, 7.0222, 1.6825, 0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4549, 0.7921, 0.7341, -0.5018, -0.4538, -0.1551, 0.9985, 1.2285, 1.2011, 0.6079, -0.3851, 1.0649, 0.4385, 0.9954]\nstate[eef_state]: left_x=0.2842 left_y=-0.0488 left_z=0.2243 left_yaw=-0.0108 left_pitch=0.0786 left_roll=0.1183 left_gripper=0.9985 right_x=0.2255 right_y=0.1832 right_z=0.1419 right_yaw=0.2062 right_pitch=0.1252 right_roll=-0.4183 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -0.759, 6.4068, 1.8632, -0.0415, 0.1343, -0.1587, 0.1983, -3.6171, 8.6085, 1.3114, 0.735, 0.1392, -0.0122]",
      "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]: [-0.453, 0.7963, 0.7319, -0.5316, -0.4419, -0.1581, 0.9985, 1.2774, 1.6463, 0.7948, -0.2611, 1.0683, 0.5087, 0.9954]\nstate[eef_state]: left_x=0.281 left_y=-0.0488 left_z=0.216 left_yaw=-0.0177 left_pitch=0.0433 left_roll=0.1252 left_gripper=0.9985 right_x=0.2359 right_y=0.2578 right_z=0.0915 right_yaw=0.2296 right_pitch=0.0759 right_roll=-0.474 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.4154, 7.0496, 1.9512, -0.3346, -0.022, -0.022, 0.4034, -6.8034, 7.3504, 1.1062, 0.7155, 0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:575c5aaf2030585285f593d4475492654e6db5f0b1111dd2c5bf8ed632b824bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b75aa8a98001b6231a2d668b29f1624eaa514243bdc64d60d267adb554d165a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80342a7628be8be0848cb01750600a9db940a4f14aa6ca469a6cde1e0a59fe11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9wQKjgEIEhgCKkCEWWMnpRS6TpJtqYNaMx4/mPJIpkHT5swLPEudhhxzoWPvDH5KDe5hWB6PtsqHscvFf7+17pKpeQHZUbFfGg4MMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbC7zNUGEgxvKM1dx1NxqGsTfq0aDJseQbIkELG7LYhnwiIw7Uij/HhRp98XG2EBLRh0sy3DCyXQhEXzxY6ndeTv4tjRBzpjd7r6WnTyIuyA8bVGKpUDhzsOI6cbn67fIFSWlRsI/2LSh34oIOP5wV1+H0kw1E5yemmdTFe56TxzFG6KWFj6l3186o9gv7wzm/0W0J5ZDFvR+nBb+uHd9HjQJYOeKYZngW9Yepvf6ci0kwqbsaLPU6cojREwaO5AYRJLmkU/H4x9kl1sFnrXn0o6NyXSjF/viu4vVOnJN6qMpqkoyQUcp8Yt2ooT2U7Z9Ip/KaN+PTJbkjRzNF8CCzzc2ZJMPRE/5iGGQRfYqSDpiPVczR8mXYqu7+wHbTJZSQtGArQYHYpQP4kyWdf7P87CzA0GzzSVxU9RhdULJ8HcMEZLmxL+iueJK8m2MD1c9NuG6MorFJ6RCudO10t6RUChZCItIS8ZQsT126eQfUXvBnxL0nvXnX5ge7WGXtANzb4Bu/4+VcFQVomUcBVXfayKp1NlBiiTMTpChuoFfDhhFdVnl2Dm/qn91PcBfR0nzhUsWmSxDecLRhfUabWLmQTAoD39xvo5wcPWPpSxyhDSibdQ6acEYln9YjlCdZH/t99y6E76Zz3SpXTcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qiwd5UjYVMHremSHmgqnpD",
      "input": {
        "note": "The teddy fills the lower-left of the wrist view; shifting 4 cm further left and descending onto its body to grasp.",
        "targets": {
          "right_y": 0.3,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Qiwd5UjYVMHremSHmgqnpD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5404, -0.4412, -0.1612, 0.9985, 1.3098, 1.898, 0.8799, -0.1894, 1.0908, 0.5568, 0.9954]\nstate[eef_state]: left_x=0.28 left_y=-0.0484 left_z=0.2138 left_yaw=-0.0169 left_pitch=0.034 left_roll=0.1266 left_gripper=0.9985 right_x=0.2352 right_y=0.2874 right_z=0.0433 right_yaw=0.2357 right_pitch=0.0604 right_roll=-0.5257 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -1.1829, 6.9675, 1.7753, -0.232, 0.0122, -0.0122, 0.3761, -7.2137, 6.0239, 0.8376, 0.2613, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a21e033d5963161ce3c687bf5f802696cc8b40faa641865189bad6c324bf18e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52fe120c37691e25ec93b3cb864e2c7d0864119085c34c25c4ee095a95c14a69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4d83c0429b15fd4bcb1353a90d4a1e243bd862f628b45121a5d900c84eb2de0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 5.737 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4549, 0.7921, 0.7341, -0.5018, -0.4538, -0.1551, 0.9985, 1.2285, 1.2011, 0.6079, -0.3851, 1.0649, 0.4385, 0.9954]\nstate[eef_state]: left_x=0.2842 left_y=-0.0488 left_z=0.2243 left_yaw=-0.0108 left_pitch=0.0786 left_roll=0.1183 left_gripper=0.9985 right_x=0.2255 right_y=0.1832 right_z=0.1419 right_yaw=0.2062 right_pitch=0.1252 right_roll=-0.4183 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -0.759, 6.4068, 1.8632, -0.0415, 0.1343, -0.1587, 0.1983, -3.6171, 8.6085, 1.3114, 0.735, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "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]: [-0.453, 0.7963, 0.7319, -0.5316, -0.4419, -0.1581, 0.9985, 1.2774, 1.6463, 0.7948, -0.2611, 1.0683, 0.5087, 0.9954]\nstate[eef_state]: left_x=0.281 left_y=-0.0488 left_z=0.216 left_yaw=-0.0177 left_pitch=0.0433 left_roll=0.1252 left_gripper=0.9985 right_x=0.2359 right_y=0.2578 right_z=0.0915 right_yaw=0.2296 right_pitch=0.0759 right_roll=-0.474 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.4154, 7.0496, 1.9512, -0.3346, -0.022, -0.022, 0.4034, -6.8034, 7.3504, 1.1062, 0.7155, 0.1783, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5404, -0.4412, -0.1612, 0.9985, 1.3098, 1.898, 0.8799, -0.1894, 1.0908, 0.5568, 0.9954]\nstate[eef_state]: left_x=0.28 left_y=-0.0484 left_z=0.2138 left_yaw=-0.0169 left_pitch=0.034 left_roll=0.1266 left_gripper=0.9985 right_x=0.2352 right_y=0.2874 right_z=0.0433 right_yaw=0.2357 right_pitch=0.0604 right_roll=-0.5257 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -1.1829, 6.9675, 1.7753, -0.232, 0.0122, -0.0122, 0.3761, -7.2137, 6.0239, 0.8376, 0.2613, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a21e033d5963161ce3c687bf5f802696cc8b40faa641865189bad6c324bf18e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52fe120c37691e25ec93b3cb864e2c7d0864119085c34c25c4ee095a95c14a69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4d83c0429b15fd4bcb1353a90d4a1e243bd862f628b45121a5d900c84eb2de0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwAMKjgEIEhgCKkCAPFU5CDjlPWRpafvuPGNOgqduNJLLGi4v/fcGuI1s/DIjwt1k4VKGmw/r6PCUN4grKJoPmE9WGHTp8IaX4X+QMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbW7zNUGEgzoM/J1nDDp0JvrZXAaDBzTK1h6GbP/TORjKSIw9eYfncgGDOIG9ehBMlm/Iu2xO4s5fH2ds95qsB5XLMGf2NY6apZ4Ylf29/ivwnb+Kt4BaDAJPADas97cyX1eH+e6eJc6hjOQfKkO//LQszNyYTEuovqC7u8XYejxKshxG/EX55GrTNQN75sU9PE292fLe6zYnbZ50Fk/LAq50IaoTH6hUaO5WxJqJeBS1MstmKRBm6OEBuZHRZkXCaKG2ha+voydharLnLsCoTECfxiRlxnz5qVW0rU/rGdafznv/2O7Ju8RpGi80DXHwc5KvRDbRwcglNWYfGXDH4T6zVthyd21eTRoX52KU8rCaUmAe9ZGlgGAN8brjXmXPcyhNfCWzezZBswhAOwjFYR+rYIaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CnwKDgCP6ozvajEjaZVbTT",
      "input": {
        "note": "The teddy is directly under the jaws filling the lower wrist view; pressing down slightly and closing the gripper on its body.",
        "targets": {
          "right_gripper": 0.05,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CnwKDgCP6ozvajEjaZVbTT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5556, -0.4412, -0.1619, 0.9985, 1.3128, 1.9133, 0.8959, -0.1585, 1.0767, 0.5766, 0.0544]\nstate[eef_state]: left_x=0.2782 left_y=-0.0475 left_z=0.211 left_yaw=-0.0166 left_pitch=0.0202 left_roll=0.1324 left_gripper=0.9985 right_x=0.2356 right_y=0.2973 right_z=0.0419 right_yaw=0.2321 right_pitch=0.0691 right_roll=-0.4744 right_gripper=0.0544\nstate[joint_eff]: [-0.0615, -1.0735, 6.8171, 1.7802, -0.1734, -0.0464, -0.0171, 0.1299, -7.241, 5.4769, 0.9304, 0.5006, 0.0415, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08f64c19e84e96aa093354981e10e080524d4f76c3e070ecd02537e65782b3b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30d65b15da6c5845354e5c612229fec01477526d3da2d676ce793e8468ce1815",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c90adf9ab2cb72c4b7d8ede83a99fa903f9852cdb3d3d8cf6f6dde5936d28a1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 9.918 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7963, 0.7319, -0.5316, -0.4419, -0.1581, 0.9985, 1.2774, 1.6463, 0.7948, -0.2611, 1.0683, 0.5087, 0.9954]\nstate[eef_state]: left_x=0.281 left_y=-0.0488 left_z=0.216 left_yaw=-0.0177 left_pitch=0.0433 left_roll=0.1252 left_gripper=0.9985 right_x=0.2359 right_y=0.2578 right_z=0.0915 right_yaw=0.2296 right_pitch=0.0759 right_roll=-0.474 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.4154, 7.0496, 1.9512, -0.3346, -0.022, -0.022, 0.4034, -6.8034, 7.3504, 1.1062, 0.7155, 0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5404, -0.4412, -0.1612, 0.9985, 1.3098, 1.898, 0.8799, -0.1894, 1.0908, 0.5568, 0.9954]\nstate[eef_state]: left_x=0.28 left_y=-0.0484 left_z=0.2138 left_yaw=-0.0169 left_pitch=0.034 left_roll=0.1266 left_gripper=0.9985 right_x=0.2352 right_y=0.2874 right_z=0.0433 right_yaw=0.2357 right_pitch=0.0604 right_roll=-0.5257 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -1.1829, 6.9675, 1.7753, -0.232, 0.0122, -0.0122, 0.3761, -7.2137, 6.0239, 0.8376, 0.2613, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5556, -0.4412, -0.1619, 0.9985, 1.3128, 1.9133, 0.8959, -0.1585, 1.0767, 0.5766, 0.0544]\nstate[eef_state]: left_x=0.2782 left_y=-0.0475 left_z=0.211 left_yaw=-0.0166 left_pitch=0.0202 left_roll=0.1324 left_gripper=0.9985 right_x=0.2356 right_y=0.2973 right_z=0.0419 right_yaw=0.2321 right_pitch=0.0691 right_roll=-0.4744 right_gripper=0.0544\nstate[joint_eff]: [-0.0615, -1.0735, 6.8171, 1.7802, -0.1734, -0.0464, -0.0171, 0.1299, -7.241, 5.4769, 0.9304, 0.5006, 0.0415, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08f64c19e84e96aa093354981e10e080524d4f76c3e070ecd02537e65782b3b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30d65b15da6c5845354e5c612229fec01477526d3da2d676ce793e8468ce1815",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c90adf9ab2cb72c4b7d8ede83a99fa903f9852cdb3d3d8cf6f6dde5936d28a1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsQUKjgEIEhgCKkAPG198hdG/vBLMFTyp3Tg9q+5RiLJ0Vr75Ho8GqCmLVziiRLptOKW08qBydZ4B3zPM8uHL8YPWQk/LPe0630WpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAby7zNUGEgxiDpEjsnu4SxvIuMMaDIsMncRE06ZgM2xvNCIw6zsJRPb0NYkQxCmeikfnggMK0UW78DQtqquEd9ua/iMEEbGSAGdyV6X3egBHVG/1Ks8DSzC0LD4gFJ5obOdZ6fY7Tkakov4Yf9AuCtuq7LbGSGOtO07y/4RMk/W+Mn8DtqQN4R/wPUvttFsR8RAlJt3kPc83Q0hg7svQ+mF5kL5EfBzcLDpC61R1amvLZ3sulb9XeHV7UJKIJxinUh9/u2jcGr2/42FxYHoEigpwbSjtB4z5N4RSS4FbUG2xSceqdelHQXTpSXQ3MOKuhzXF309dQc5d9OL6jTVegp2N5mQo2Tqsz015+1+1uMZCl6PvCiVBdxIbrmVYpPT6EF3W18r5cYl9BjTmHIXV/TcmJMsgfqY2hnOg8QRjV2qgCp+sPgivcb59IUQkZT/F7kE/TmELxXlzhWSRamDgJLTdetCZinamQG/6htoOZ6uiL0r+1uRiRvBm5kgYj75dS/G5ayHD1tVkRKq0fjKQb992pq7iMaJqiwNB+T9Wz70jMYJ4rnVq7FhaZGzdLmVdp/DwW74jYLcPAqu6mTu0ues/6uVM9L44oDPgueZsNJrjzEyC7Wu5QdNc6VcvIblikveXDwFY61lzKBgmMnhfZ1Twix2d1cTHcej2KPbwau7dZn/Zf6iLuTwNymspMJ9OjdQW4Mo1Wc2WyY/nh2YQC6yNfCFkrhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CFrFWzJMUZBzMh7a2zqEMF",
      "input": {
        "note": "Gripper closed to 0.05 (mostly fur); lifting to see whether the teddy comes up with it.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01CFrFWzJMUZBzMh7a2zqEMF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5629, -0.4408, -0.165, 0.9985, 1.3125, 1.7065, 1.1015, -0.5888, 1.0607, 0.5762, 0.0535]\nstate[eef_state]: left_x=0.2773 left_y=-0.0472 left_z=0.2096 left_yaw=-0.0153 left_pitch=0.0138 left_roll=0.1327 left_gripper=0.9985 right_x=0.2347 right_y=0.2988 right_z=0.1384 right_yaw=0.2384 right_pitch=0.0474 right_roll=-0.4835 right_gripper=0.0535\nstate[joint_eff]: [-0.0752, -0.8957, 6.8034, 1.7216, -0.149, -0.0024, -0.0122, -0.0342, -9.7162, 8.0889, 0.9548, 0.5397, -0.0073, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ad513f88e6642a6cb47ff90930069576497370789fdba40c84f327ea0f8c43e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dea4ef84ff80ea301cb805c1ef870c22ceb43289ca7d8e49eda0011eaaea818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e5042dbbac1df86591888243cd85b0ef977456c5b604fd5c71c6b6e0ff2289a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /messages · status 200 · 9.845 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5404, -0.4412, -0.1612, 0.9985, 1.3098, 1.898, 0.8799, -0.1894, 1.0908, 0.5568, 0.9954]\nstate[eef_state]: left_x=0.28 left_y=-0.0484 left_z=0.2138 left_yaw=-0.0169 left_pitch=0.034 left_roll=0.1266 left_gripper=0.9985 right_x=0.2352 right_y=0.2874 right_z=0.0433 right_yaw=0.2357 right_pitch=0.0604 right_roll=-0.5257 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -1.1829, 6.9675, 1.7753, -0.232, 0.0122, -0.0122, 0.3761, -7.2137, 6.0239, 0.8376, 0.2613, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5556, -0.4412, -0.1619, 0.9985, 1.3128, 1.9133, 0.8959, -0.1585, 1.0767, 0.5766, 0.0544]\nstate[eef_state]: left_x=0.2782 left_y=-0.0475 left_z=0.211 left_yaw=-0.0166 left_pitch=0.0202 left_roll=0.1324 left_gripper=0.9985 right_x=0.2356 right_y=0.2973 right_z=0.0419 right_yaw=0.2321 right_pitch=0.0691 right_roll=-0.4744 right_gripper=0.0544\nstate[joint_eff]: [-0.0615, -1.0735, 6.8171, 1.7802, -0.1734, -0.0464, -0.0171, 0.1299, -7.241, 5.4769, 0.9304, 0.5006, 0.0415, 0.1245]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5629, -0.4408, -0.165, 0.9985, 1.3125, 1.7065, 1.1015, -0.5888, 1.0607, 0.5762, 0.0535]\nstate[eef_state]: left_x=0.2773 left_y=-0.0472 left_z=0.2096 left_yaw=-0.0153 left_pitch=0.0138 left_roll=0.1327 left_gripper=0.9985 right_x=0.2347 right_y=0.2988 right_z=0.1384 right_yaw=0.2384 right_pitch=0.0474 right_roll=-0.4835 right_gripper=0.0535\nstate[joint_eff]: [-0.0752, -0.8957, 6.8034, 1.7216, -0.149, -0.0024, -0.0122, -0.0342, -9.7162, 8.0889, 0.9548, 0.5397, -0.0073, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ad513f88e6642a6cb47ff90930069576497370789fdba40c84f327ea0f8c43e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dea4ef84ff80ea301cb805c1ef870c22ceb43289ca7d8e49eda0011eaaea818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e5042dbbac1df86591888243cd85b0ef977456c5b604fd5c71c6b6e0ff2289a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISpQgKjgEIEhgCKkB0YlmqEpYXQQwxSWs6HBmtWPdkeIaPW0XXz6Ras11tj8ZH7K5SBBUiEynFt+SwEAryyfuogBHTYXdxIRqDaVh2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAca7zNUGEgyMXsMRtQe9tpL+uxcaDAu9yHrEnqm4wOv99yIwORD2h0WJsLXvYDpip1yvw95XTqpKvBPalC6IqxsuKwZUBCcoFgKboCy8pqnjBzs+KsMGlgFUgiNN3pAJX3hqsxH27o4Zc3ZBAAyrl0DA15O24KeCkDya3HgwSVboAtGOjge/ycgrENjOTzH06uRo7G8myujfT0B64bUI3edtGZ0hYxIX8c2Gd+Mc+q0pVFOp5hn2Nhj36N+fP9ysq3CzocYx54R+h/9MKvIA7/ZegRX6ThXA8baPUitDzChDBhyTksWv8DqbooV62qDyfg5S1+rGV6gwM7CnzCnfEg2M9qQTxLNyqtMevDWuUwnXbpjjw7AMWDHzNFxBVeG0GDkk3Iw5eloNXJVkuO3QSW/rKG0oDMmTkwokg6v9Qwa7AqmKWAApBtWaLh9oKA2kT4s+wfZOYwfbdGvT6/l4/tIBdQ0u5CUlGLmWR8znbtXwu5EvUMFEZi9+9UOdvZlMl5KbwaXjsLkjvYEtMfZgg6bnDZWqHTzeL2l4kZtSBMEXDNjGmw44gaOBtpAt68BbSlxeEh+P0eOsN6AmObQdIX3ugdr2v1LBIVbC+dfqRxTOKr/6na5r6C8TOM+mowMe0ZZ3ez06qn/yrcKqeJq3K3ihcvmp6okpa0MIa0ejwWd1hfujjtomiqhMUBG9jdIWeJ/qvzkWi52jHfyVzBCCTjpRCDHJtlxxSVOOqFIW80Em/Mpxjh0Otp58v250RJ8i1pvQpzK9WfDEj7gGw30Q6T7FGI1WlQ7dx0jNZ+0tqCgDnqRU38KQMZ8F9WVnDLlXhcW1asir3zZdegYSs7VOimxEcbSnPpq2KdRa68XHnKJJCsSWbFqw9T28RHfCJ7+PScZ2Bgoe8IBInt9hUPGD0fRZZAJ5kbiAJh2NldneJ8Zwh4eWeQR6uh4mnDE4Va9X/o1AsQTIIcazMUbityBHbtnQQ9goklFJ20dkMLfjZO3Qi8jMaIe5tn+FSOAJyl60SzdbXoYz2z2FNgLsSWPiO4RhdQm2V01+/rbXO5riZZUcxkB95JZ32dUp+QyEKEPIwy0gQ0H5Xb0+pSR5+JbJdNWrPkub+AZazP+Rz6rvm4opSnHW3J8jPJf/QSqysC+080alCVNalnwv1V697bp+uhspFm7VtItXQe6OlS2agFJhSA7gcvS4or85VW5WUi0hiSyRT3IZ8mr74hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YWwzukToR2nkPmtHJBY3QV",
      "input": {
        "note": "Teddy stayed on the table — the last close only caught fur. Its body is at the lower-left of the wrist view, so shifting 4 cm left and pressing down into its torso before closing.",
        "targets": {
          "right_gripper": 0.12,
          "right_x": 0.215,
          "right_y": 0.34,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01YWwzukToR2nkPmtHJBY3QV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5777, -0.4412, -0.1654, 0.9985, 1.3891, 2.0823, 1.0843, -0.3794, 1.0901, 0.709, 0.1189]\nstate[eef_state]: left_x=0.2755 left_y=-0.0462 left_z=0.2069 left_yaw=-0.0149 left_pitch=0.0004 left_roll=0.1389 left_gripper=0.9985 right_x=0.2158 right_y=0.3279 right_z=0.0201 right_yaw=0.2487 right_pitch=0.0269 right_roll=-0.5478 right_gripper=0.1189\nstate[joint_eff]: [-0.1436, -0.9504, 6.9265, 1.7411, -0.2222, -0.0122, -0.0122, 0.4308, -8.8137, 6.4205, 0.7302, 0.1587, 0.1978, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22e98183a8087eb10c04589dbdf1e44c18166c8787ffa84593d4867ac3035509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b13a50135799cad4da43daa1bfefaa68191244b2ead54926d8b55c7a4ee2b03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95284514f2ecf5428ab8782e6c29ee7ad8ff1feef92d54edfe6dae969ca3891e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 10.81 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5556, -0.4412, -0.1619, 0.9985, 1.3128, 1.9133, 0.8959, -0.1585, 1.0767, 0.5766, 0.0544]\nstate[eef_state]: left_x=0.2782 left_y=-0.0475 left_z=0.211 left_yaw=-0.0166 left_pitch=0.0202 left_roll=0.1324 left_gripper=0.9985 right_x=0.2356 right_y=0.2973 right_z=0.0419 right_yaw=0.2321 right_pitch=0.0691 right_roll=-0.4744 right_gripper=0.0544\nstate[joint_eff]: [-0.0615, -1.0735, 6.8171, 1.7802, -0.1734, -0.0464, -0.0171, 0.1299, -7.241, 5.4769, 0.9304, 0.5006, 0.0415, 0.1245]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5629, -0.4408, -0.165, 0.9985, 1.3125, 1.7065, 1.1015, -0.5888, 1.0607, 0.5762, 0.0535]\nstate[eef_state]: left_x=0.2773 left_y=-0.0472 left_z=0.2096 left_yaw=-0.0153 left_pitch=0.0138 left_roll=0.1327 left_gripper=0.9985 right_x=0.2347 right_y=0.2988 right_z=0.1384 right_yaw=0.2384 right_pitch=0.0474 right_roll=-0.4835 right_gripper=0.0535\nstate[joint_eff]: [-0.0752, -0.8957, 6.8034, 1.7216, -0.149, -0.0024, -0.0122, -0.0342, -9.7162, 8.0889, 0.9548, 0.5397, -0.0073, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5777, -0.4412, -0.1654, 0.9985, 1.3891, 2.0823, 1.0843, -0.3794, 1.0901, 0.709, 0.1189]\nstate[eef_state]: left_x=0.2755 left_y=-0.0462 left_z=0.2069 left_yaw=-0.0149 left_pitch=0.0004 left_roll=0.1389 left_gripper=0.9985 right_x=0.2158 right_y=0.3279 right_z=0.0201 right_yaw=0.2487 right_pitch=0.0269 right_roll=-0.5478 right_gripper=0.1189\nstate[joint_eff]: [-0.1436, -0.9504, 6.9265, 1.7411, -0.2222, -0.0122, -0.0122, 0.4308, -8.8137, 6.4205, 0.7302, 0.1587, 0.1978, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22e98183a8087eb10c04589dbdf1e44c18166c8787ffa84593d4867ac3035509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b13a50135799cad4da43daa1bfefaa68191244b2ead54926d8b55c7a4ee2b03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95284514f2ecf5428ab8782e6c29ee7ad8ff1feef92d54edfe6dae969ca3891e",
        "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/AoKjgEIEhgCKkCg+qNV2UtGtp7WmnDO1CT2MeMKFz8HAwfKCtunMkeTJS575+TDaVEmVSPaWwOqr2fqwM8b8lYeWHpDrweJ3MktMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdG7zNUGEgxQu3g1ykMiYnzRQIIaDCfVCjBZDHvajHCcDCIwspaIXaS+TdJabwD5Z4e1IX8hy85twuI/JipGOLOrAi+5owVs76UdbbxJxpIQy14gKpoJcvwwmWjG+ZZ/bXlBcVVV9yPR7/pGLM2OD+qo+nLI43H1nVmkbV4hXB6NMjBwBkkz2YeHagsZ1whJJO6EKAPBMHrZOvKbLPsjzCxkZp0BjpogoWrCT6FzjXocfNR2t+T9LD+YX5QtthGVp96rP+nyy9fypBs596VoyQybaRWMA8+4JRQR1FdBFMHE31Ry9ynnM/Mg6zTArEDj2XYXmQPe7qYQ1xYDD9q0m9EGwNBfN4d1I6oaLPB9OEbTdF+XLMbUIB2BXZyCoItw3YDFQvbkQRDpTC90MUYx6jPmAn0uwLvz4h+5w/O90sOs5kqWBmBm4qoh635dpD380Hau+hLVvhJdhRA3r2Kx+ufGnsT88Dka5NRR+7BpbG2Itl09g41X1xuwuhz4O+3PLrG59fDSzTEeobUwyzgsC96uOy33HBOEf9v+vCNl8QQGilM7d+JCCFIuJZU3F/P2dX77Z+dtNzKIIvIYKCYK2lRzgX9xu5lWfywf4f0WXaamB+wdw9gl3ZyEqfzM2oiI4vvqh4DmFA0vJd+LCOBXQwn4eKdv9LGrMvDuv+gjlPDgJBjGJu80TdtXGFTVDss/mMve3DE36w3m8T8OqlC/6ktJ0kuCv8Vn1ttXSRaKR9WOTmPpxcOfhlNfmU5W6ZlmviYt+DiXrZ/0imm7VwjUzLLT5UIRPuDbhWObBE2jMykSlj3Dlf9MFLUB0YCRvIVzfeFIpoB0XgJ948W/se7fdMy8NCRHCPOZk8qd30fFO5fGZiPNdJEldmbbZGSibvFIU6lFl7FkhtANb4e58av0bDlp3Q/aA8qlNih35teqMB6cvj06bZbDcEH537jyFpoKG59jyNPkDzopLyMbRqpJR2xM/v8A79Jj+qQyxpjHhWLcZoLWL0QzC2B5PXNSHfVI2wcnJAVtIYYQ4wSY28muwlN5h6kqD/lWhtMUslpnINyr+810LqB8IShIpaxNhnHA4AbmQt/rKBQh7/aLXLfRrYKHG4O1Dgv/2cYJOLUmYaNL3L1kA15j3AL/I32wT2c6Fh2UtKhP0FU8ZSV76q6uKPwLooua61NkTKdIhazlmVBBzly4/snvJRcCnkfbiYTYoWe1jYSNQTDBUNuR6oMtZCYoRu8rJcr6LXpZtur8ZyS62zn/5oY0WbuHXh/ue00LH86UEqULfv9sisaGUZLcAtZIFjj3BrL3PCf8xYNyhMhNwX6MqS3DxnnaAjMdTGpSBmmqd44p7WF8OLXxJn3RCLC8CTQWDH+sh2wxmDwU/SgGT22irGaxVvHUulwxkommdF4nyX6pIc6drV6ENInHBz6a/WB867PhgKVQPgtbvVdVyDXj/41Ha4APkFC0qtXio1+/TJHIg5A9R1c/3NVch0RJZKnODDv8BBPWBySl/fE0div6Z5pwvqlwnY7zWcJrPatXxun1jkv3wTlGwxxkqqzyz+x4FHfNKMPXaUa3gZwpjBArfBeIxtzRKvv1EuVmpkT1kuwRZhMQGMFZJEGxwqO7qzdZkHpMlw0YHIR+kKqoDHmVGljVDYhC89vJMqi/GNbRlIrGXlZkWYeYX1DxUXEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B4vgeuqgkFkyKQeV25oN3W",
      "input": {
        "note": "The teddy now appears clamped in the jaws; carrying it up and forward over the open safe compartment.",
        "targets": {
          "right_pitch": 0.2,
          "right_x": 0.44,
          "right_y": 0.33,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01B4vgeuqgkFkyKQeV25oN3W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5854, -0.4412, -0.1658, 0.9985, 0.8989, 1.9518, 1.6104, -0.1955, 0.8955, -0.1638, 0.1192]\nstate[eef_state]: left_x=0.2746 left_y=-0.0458 left_z=0.2055 left_yaw=-0.0146 left_pitch=-0.0064 left_roll=0.1418 left_gripper=0.9985 right_x=0.4315 right_y=0.3268 right_z=0.2394 right_yaw=0.2442 right_pitch=0.1783 right_roll=-0.554 right_gripper=0.1192\nstate[joint_eff]: [-0.1573, -1.0325, 6.9812, 1.6728, -0.1929, -0.0366, -0.0171, -0.4444, -9.9624, 8.4034, 1.6484, 0.1832, -0.0317, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:412d3f973460ca7b9615ac1813d8e12c9776aa4eef7dac253f5cacefcfef86c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f243d86aa2b78de0f7466612156cc523f07fbf00a2bbcb79ae48a4bcde941ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:745bc56a04cd9cf0c197e6d936c8d57b86f87563ebcd50809412e6ff2dc7cadb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 4.113 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5629, -0.4408, -0.165, 0.9985, 1.3125, 1.7065, 1.1015, -0.5888, 1.0607, 0.5762, 0.0535]\nstate[eef_state]: left_x=0.2773 left_y=-0.0472 left_z=0.2096 left_yaw=-0.0153 left_pitch=0.0138 left_roll=0.1327 left_gripper=0.9985 right_x=0.2347 right_y=0.2988 right_z=0.1384 right_yaw=0.2384 right_pitch=0.0474 right_roll=-0.4835 right_gripper=0.0535\nstate[joint_eff]: [-0.0752, -0.8957, 6.8034, 1.7216, -0.149, -0.0024, -0.0122, -0.0342, -9.7162, 8.0889, 0.9548, 0.5397, -0.0073, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5777, -0.4412, -0.1654, 0.9985, 1.3891, 2.0823, 1.0843, -0.3794, 1.0901, 0.709, 0.1189]\nstate[eef_state]: left_x=0.2755 left_y=-0.0462 left_z=0.2069 left_yaw=-0.0149 left_pitch=0.0004 left_roll=0.1389 left_gripper=0.9985 right_x=0.2158 right_y=0.3279 right_z=0.0201 right_yaw=0.2487 right_pitch=0.0269 right_roll=-0.5478 right_gripper=0.1189\nstate[joint_eff]: [-0.1436, -0.9504, 6.9265, 1.7411, -0.2222, -0.0122, -0.0122, 0.4308, -8.8137, 6.4205, 0.7302, 0.1587, 0.1978, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5854, -0.4412, -0.1658, 0.9985, 0.8989, 1.9518, 1.6104, -0.1955, 0.8955, -0.1638, 0.1192]\nstate[eef_state]: left_x=0.2746 left_y=-0.0458 left_z=0.2055 left_yaw=-0.0146 left_pitch=-0.0064 left_roll=0.1418 left_gripper=0.9985 right_x=0.4315 right_y=0.3268 right_z=0.2394 right_yaw=0.2442 right_pitch=0.1783 right_roll=-0.554 right_gripper=0.1192\nstate[joint_eff]: [-0.1573, -1.0325, 6.9812, 1.6728, -0.1929, -0.0366, -0.0171, -0.4444, -9.9624, 8.4034, 1.6484, 0.1832, -0.0317, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:412d3f973460ca7b9615ac1813d8e12c9776aa4eef7dac253f5cacefcfef86c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f243d86aa2b78de0f7466612156cc523f07fbf00a2bbcb79ae48a4bcde941ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:745bc56a04cd9cf0c197e6d936c8d57b86f87563ebcd50809412e6ff2dc7cadb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISqQgKjgEIEhgCKkCKDFQgUXyFDPTEGEgjOt8XLnm0lFTXgVIDbHHqX/X7AJzR8V33G/j6Rw0c3BjKcPlHLPENENU0s/lyiWGUJkXXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd27zNUGEgyVdYlUrE/ZtqP/99AaDKjEW+KqyVeHNladPCIw9+2K1fWhor5sCjcjjehwGdIzSoEJJHGRDoZ6oN4Zjbc5D0HpMOXQCcHiIgIzNHLXKscGvUfW17Q0tCMDIcgYtfXY3tEOE9Bwld4cv4fnvs1tVeTauPI10zYAF9h28a/5VzNCiW8EWr/2uNE7fXrmKPPArgkLBiBLfYuI7Qxbu89yxs/12PuATinFLAlAkUoD1+xoQBEOk7sB52KSA++eICikPmfJwVelV26e4yMQvV477rcQ37w6W7Hj9EVv29tiGQ0HGfBfWwW8wYCOvPuqD0CzWHbxLzjdgvVKYU+H0b1jYDkq3fIKyeIJBnytVr8IzsdM2hPFDZdO3+HgYc/IbA5H0s8JIeEyxNOAeVhvl6yauCWGCizOgt8NsVURQIF0rXsF9QAk3kSaSHjlqUDLUjiLoSmj9v+SGkIStmwDx+p/LVBEBLs2gpdWe5Y/OX7/U46j7DY1gSC0VviBT0LHzL+nk89Mtg2HOVFb4iV+bIl50tEtJnaCaoASC2PsMy7+j0rVcUZF+WB9N0K+8eARalV0u9YN4Ue673M1CmFiPAM066yRhFvOwOrHnIjBzYdQZ7WXLWQIVu1jP3HsvnxmvEuxqXkeP4H5SKzBDpytAuK/0qqqdn4MugKbTcQPHxKxVQvWMAwJbIxJ+/Q1ZkmKzGrqQQFNfUEr13gRFZVzq7odiudZpXpAeJ6GjCb3zbco9k/K5nDGsi7FKaGaOHmuqkicIZTZyOCCV6fi2JuG0md4dHrv/JLX8I3UVsGpnIw7sV9e9Rx/mBFOiyvRJPwkSq2jkEchnJRMa2I3lSKLd5eEzN77UJiZpK4dp2EHyY+uA+iqH16J12rTjtMlQ4hGju3tsP1UTvc35XfDXeLro0PtkTZcfhZsyX6FRQKI674l6VSw0s44wMJRDEAeqVtE9Pxj9WoDfDVQ2AdB4Ao4TG9dct+KhqlRutnPyTds+dgudnxVV0c2OuMPe6ZlyNbPwT9Eb/IzzrXxAihF24SqiRjuR96a3T+NXT+bGOpsLTrI+cv+veLWwZwNTvLFILo0awp08EiHbIDiYhjhFVzmFcreJIS8M2ML8Wd9DSs+F4/UCsOxV0xStzNO9MT6hyxdzehElPra3ZmH8xzmGetCCbwWA7U3Jx7PLUpMOmGImyp7mcA1J/HJCxdSInT/03ZD59HeNHe4V2q9zYcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ShvkdTRhxfMvniCjzgYmun",
      "input": {
        "note": "The teddy slipped out and is still on the table, but budget is nearly spent, so I am switching to closing the safe: moving the closed gripper up and behind the raised lid.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.54,
          "right_y": 0.33,
          "right_z": 0.36
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01ShvkdTRhxfMvniCjzgYmun",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4519, 0.8021, 0.7315, -0.5922, -0.4412, -0.1658, 0.9985, 0.7238, 2.5229, 2.8414, -1.1137, 0.6979, -0.2111, 0.0063]\nstate[eef_state]: left_x=0.2741 left_y=-0.0452 left_z=0.2031 left_yaw=-0.0134 left_pitch=-0.0168 left_roll=0.1467 left_gripper=0.9985 right_x=0.517 right_y=0.3103 right_z=0.2523 right_yaw=0.2491 right_pitch=-0.1191 right_roll=-0.6281 right_gripper=0.0063\nstate[joint_eff]: [-0.253, -1.2786, 6.7897, 1.707, -0.2271, -0.0415, -0.0122, -0.3487, -19.5761, 8.7726, 1.917, 0.2955, 0.0855, 0.5739]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e196687c42560f3fe99fb451c5aeb411693525d67e421a185679176ecdcc771",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b57bbd0213070dda51b56ee729f74178382d2290f550f27ad039b6277e0bc71e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:237580d8efd7e980a0b59109fbda51237707520dbf3263591f8b4b6fc8878c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 12.37 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5777, -0.4412, -0.1654, 0.9985, 1.3891, 2.0823, 1.0843, -0.3794, 1.0901, 0.709, 0.1189]\nstate[eef_state]: left_x=0.2755 left_y=-0.0462 left_z=0.2069 left_yaw=-0.0149 left_pitch=0.0004 left_roll=0.1389 left_gripper=0.9985 right_x=0.2158 right_y=0.3279 right_z=0.0201 right_yaw=0.2487 right_pitch=0.0269 right_roll=-0.5478 right_gripper=0.1189\nstate[joint_eff]: [-0.1436, -0.9504, 6.9265, 1.7411, -0.2222, -0.0122, -0.0122, 0.4308, -8.8137, 6.4205, 0.7302, 0.1587, 0.1978, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.453, 0.7975, 0.7315, -0.5854, -0.4412, -0.1658, 0.9985, 0.8989, 1.9518, 1.6104, -0.1955, 0.8955, -0.1638, 0.1192]\nstate[eef_state]: left_x=0.2746 left_y=-0.0458 left_z=0.2055 left_yaw=-0.0146 left_pitch=-0.0064 left_roll=0.1418 left_gripper=0.9985 right_x=0.4315 right_y=0.3268 right_z=0.2394 right_yaw=0.2442 right_pitch=0.1783 right_roll=-0.554 right_gripper=0.1192\nstate[joint_eff]: [-0.1573, -1.0325, 6.9812, 1.6728, -0.1929, -0.0366, -0.0171, -0.4444, -9.9624, 8.4034, 1.6484, 0.1832, -0.0317, 0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4519, 0.8021, 0.7315, -0.5922, -0.4412, -0.1658, 0.9985, 0.7238, 2.5229, 2.8414, -1.1137, 0.6979, -0.2111, 0.0063]\nstate[eef_state]: left_x=0.2741 left_y=-0.0452 left_z=0.2031 left_yaw=-0.0134 left_pitch=-0.0168 left_roll=0.1467 left_gripper=0.9985 right_x=0.517 right_y=0.3103 right_z=0.2523 right_yaw=0.2491 right_pitch=-0.1191 right_roll=-0.6281 right_gripper=0.0063\nstate[joint_eff]: [-0.253, -1.2786, 6.7897, 1.707, -0.2271, -0.0415, -0.0122, -0.3487, -19.5761, 8.7726, 1.917, 0.2955, 0.0855, 0.5739]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e196687c42560f3fe99fb451c5aeb411693525d67e421a185679176ecdcc771",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b57bbd0213070dda51b56ee729f74178382d2290f550f27ad039b6277e0bc71e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:237580d8efd7e980a0b59109fbda51237707520dbf3263591f8b4b6fc8878c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIStQMKjgEIEhgCKkBusnNinibpWOoRQ95lPIOZeC9FpswnxkdxKxl63xhRGZUNqKSJPY7ddZsLJr3DUiFn8/3A0qSJmoRjAjit+8eDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeK7zNUGEgzxngZnus+ss3DsiGsaDMn01oc2S7z5sssaoyIw4jZ+PtskuMA+NAG09Fu7/wy01qFrB/hf/MOsnKtqyRxinhFo2CzZ5c68smXHcN+3KtMBg6HVBYDBDA3qmUb1gSW1IYeQ6TjvS1VNfOptJ/a8M5iSW86v/V4iIXQ8bOysE8O3fc05zWkztbxnDG/IeikecYGE/Pb+5krGI4gPqfWpYGMg5F89Btbj05VuMLl3Nhv+IZfDm7cG0s0Jh3EfhR2Ask1VszErQb6Q33BN+OgUBv2al8zieUH6RNEPX7XYNb8D2z4OvWvBxB2twOSwXvxYELpK+E1n9Qkp+93fSrPx7YR3QQorH+a/5bLcgl5uOusMvUaYLYPPL0GArnT98EeUiGx4LRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012yv8zcMPxvoAirCRfuGjNL",
      "input": {
        "note": "The closed gripper is above and behind the raised safe lid; sweeping forward toward the base and downward to push the lid shut.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.31,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_012yv8zcMPxvoAirCRfuGjNL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4519, 0.8032, 0.7315, -0.5926, -0.4408, -0.1688, 0.9985, 0.7879, 2.5908, 3.131, -1.309, 0.8036, -0.1581, 0.0094]\nstate[eef_state]: left_x=0.2742 left_y=-0.0453 left_z=0.2027 left_yaw=-0.0121 left_pitch=-0.018 left_roll=0.1446 left_gripper=0.9985 right_x=0.4845 right_y=0.3118 right_z=0.2938 right_yaw=0.2101 right_pitch=-0.0415 right_roll=-0.6374 right_gripper=0.0094\nstate[joint_eff]: [-0.0889, -1.0188, 6.8171, 1.6874, -0.2027, -0.0171, -0.0122, 7.0085, -7.6239, 3.535, 0.8181, -0.0513, 0.0464, 0.3101]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:306d4a6a98d567c0ab557bf74a6f6dcc00ad64b915a81244842f4a846e6eb224",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44e35182ef3baa563f501c55f3caea280aa36930752efc108d1cc3be2e448f99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31e9f7f359bf4580bf8835086fdf542363564d2d8dc37786edf02cb1935d855e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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