adhoc

completed
2026-09-22T23:16:54.496627+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
375 s
total steps
347
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: an open red-lined safe in the middle, a yellow lemon to its right, a small white plush toy to its left, and a large brown teddy bear in front. I am moving the right arm toward a hover above the lemon to start with the easiest object.
move_to
right_x0.3300right_y0.1300right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.387, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6064, -0.4042, -0.02, -0.0196, 0.9996] state[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.0009 right_z=0.1762 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.6222, -1.2239, 10.2632, 1.9853, -0.0806, 0.2222, -0.0855, -0.294, -1.2786, 9.7573, 2.0879, -0.0073, 0.0366, -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": 0.33, "right_y": 0.13, "right_z": 0.12, "right_gripper": 1}, "note": "Scene: an open red-lined safe in the middle, a yellow lemon to its right, a small white plush toy to its left, and a large brown teddy bear in front. I am moving the right arm toward a hover above the lemon to start with the easiest object."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteWrist view shows the lemon high in frame and nearly on the jaw column, meaning it is still several cm ahead of the fingertips. Advancing radially ~7 cm and nudging slightly right to line up.
move_to
right_x0.3800right_y0.1100right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4053, -0.0193, -0.038, 0.9992, 0.5865, 1.2388, 0.5652, -0.0986, 0.4343, 0.3119, 0.9996] state[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1748 left_yaw=0.0027 left_pitch=-0.0217 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3123 right_y=0.1226 right_z=0.0951 right_yaw=0.0489 right_pitch=-0.095 right_roll=-0.0552 right_gripper=0.9996 state[joint_eff]: [-0.0752, -1.7162, 6.9812, 1.8584, -0.0366, -0.022, -0.0171, 0.1709, -4.2735, 10.1538, 1.7998, 0.4176, 0.2027, -0.0513] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.11, "right_z": 0.09}, "note": "Wrist view shows the lemon high in frame and nearly on the jaw column, meaning it is still several cm ahead of the fingertips. Advancing radially ~7 cm and nudging slightly right to line up."})
tool
executing move_to over 6 steps (0.6s)
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 still high in the wrist frame though centred on the jaw column, so it remains ahead of the fingertips; advancing another ~7 cm and lowering toward lemon height.
move_to
right_x0.4300right_y0.1000right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4129, -0.0193, -0.0383, 0.9992, 0.4164, 1.4635, 0.6743, -0.0223, 0.3191, 0.1974, 0.9996] state[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1725 left_yaw=0.0029 left_pitch=-0.0324 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3599 right_y=0.1025 right_z=0.0705 right_yaw=0.0315 right_pitch=-0.1709 right_roll=-0.0853 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.5111, 7.0085, 1.7802, -0.0708, -0.0366, -0.0122, -0.253, -5.6684, 8.1436, 1.8584, 0.0855, -0.0122, -0.022] 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": 0.43, "right_y": 0.1, "right_z": 0.04}, "note": "Lemon is still high in the wrist frame though centred on the jaw column, so it remains ahead of the fingertips; advancing another ~7 cm and lowering toward lemon height."})
tool
executing move_to over 6 steps (0.6s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe lemon now fills the wrist view between the jaws, so I am closing the gripper on it.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4278, -0.0193, -0.0383, 0.9992, 0.3283, 1.7561, 0.8211, 0.0566, 0.2565, 0.1307, 0.9996] state[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.05 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4073 right_y=0.0952 right_z=0.0247 right_yaw=0.0276 right_pitch=-0.253 right_roll=-0.1106 right_gripper=0.9996 state[joint_eff]: [-0.1436, -1.4564, 7.241, 1.8632, -0.022, -0.0464, -0.0122, -0.4444, -7.4872, 7.2957, 1.8193, 0.1392, 0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "The lemon now fills the wrist view between the jaws, so I am closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe close read 0.05 (empty) and the lemon is still just ahead of the jaws, so I am reopening and advancing 4 cm further out.
move_to
right_gripper1.0000right_x0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.326, 1.7729, 0.8242, 0.0383, 0.2489, 0.1234, 0.0544] state[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1672 left_yaw=0.0031 left_pitch=-0.0576 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4036 right_y=0.0943 right_z=0.0161 right_yaw=0.0332 right_pitch=-0.2859 right_roll=-0.1193 right_gripper=0.0544 state[joint_eff]: [-0.0479, -1.2786, 6.9949, 1.7753, -0.0659, -0.0611, -0.0122, 0.0342, -9.3607, 5.3265, 1.58, 0.2027, 0.0171, 0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.45}, "note": "The close read 0.05 (empty) and the lemon is still just ahead of the jaws, so I am reopening and advancing 4 cm further out."})
tool
executing move_to over 10 steps (1.0s)
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 is now low in the wrist view (near the fingertips) but shifted to image-left of the jaw column; nudging the arm 2 cm to its left to centre it before closing.
move_to
right_y0.1150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4534, -0.0193, -0.0383, 0.9992, 0.2882, 1.898, 0.9852, -0.0299, 0.2199, 0.0818, 0.9948] state[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1637 left_yaw=0.0029 left_pitch=-0.0755 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4362 right_y=0.0929 right_z=0.0087 right_yaw=0.0413 right_pitch=-0.3261 right_roll=-0.1322 right_gripper=0.9948 state[joint_eff]: [-0.0615, -1.265, 6.9812, 1.8046, -0.0562, -0.0659, -0.0122, -0.6769, -8.0205, 7.7607, 1.6044, 0.0659, 0.0611, -0.1636] 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_y": 0.115}, "note": "Lemon is now low in the wrist view (near the fingertips) but shifted to image-left of the jaw column; nudging the arm 2 cm to its left to centre it before closing."})
tool
executing move_to over 2 steps (0.2s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteLemon is now centred on the jaw column at the bottom of the wrist view; closing the gripper to grasp it.
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4568, -0.0193, -0.0383, 0.9992, 0.3164, 1.9041, 0.9943, -0.0429, 0.2409, 0.0998, 0.9954] state[eef_state]: left_x=0.2848 left_y=0.0016 left_z=0.163 left_yaw=0.0029 left_pitch=-0.0789 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4341 right_y=0.1016 right_z=0.0081 right_yaw=0.0404 right_pitch=-0.33 right_roll=-0.1408 right_gripper=0.9954 state[joint_eff]: [-0.0068, -1.1692, 7.2684, 1.7607, -0.0659, -0.0464, -0.0073, 1.3333, -7.9248, 7.8154, 1.4725, -0.0073, 0.1245, -0.0024] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.2}, "note": "Lemon is now centred on the jaw column at the bottom of the wrist view; closing the gripper to grasp it."})
tool
executing move_to over 8 steps (0.8s)
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 noteGripper closed to 0.2 (1.9 cm gap) which is too narrow for a 6 cm lemon, so I am lifting 10 cm to check in the overhead view whether the lemon came with the jaws.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4671, -0.0193, -0.0383, 0.9992, 0.3504, 1.9099, 1.0023, -0.0734, 0.2466, 0.1234, 0.205] state[eef_state]: left_x=0.2833 left_y=0.0016 left_z=0.161 left_yaw=0.003 left_pitch=-0.0892 left_roll=-0.0019 left_gripper=0.9992 right_x=0.427 right_y=0.114 right_z=0.0044 right_yaw=0.0528 right_pitch=-0.3539 right_roll=-0.139 right_gripper=0.205 state[joint_eff]: [-0.0615, -1.2513, 7.2684, 1.7851, -0.0611, -0.0269, -0.0122, -0.3214, -8.1983, 7.0769, 1.4774, 0.2173, 0.0562, 0.0122] 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_z": 0.12}, "note": "Gripper closed to 0.2 (1.9 cm gap) which is too narrow for a 6 cm lemon, so I am lifting 10 cm to check in the overhead view whether the lemon came with the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe lemon is grasped and lifted (visible held above the jaws). Carrying it up and left toward the open safe, which sits near the table centre.
move_to
right_z0.2200right_y0.2600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4797, -0.0193, -0.0383, 0.9992, 0.3508, 1.7477, 1.2324, -0.4728, 0.2424, 0.1154, 0.2033] state[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1581 left_yaw=0.003 left_pitch=-0.1037 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4285 right_y=0.1155 right_z=0.1018 right_yaw=0.0606 right_pitch=-0.3625 right_roll=-0.1427 right_gripper=0.2033 state[joint_eff]: [-0.0752, -1.4017, 6.9812, 1.7411, -0.0513, -0.0464, -0.0073, -0.0615, -10.8786, 8.8957, 1.4481, 0.149, 0.022, -0.1832] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_y": 0.26}, "note": "The lemon is grasped and lifted (visible held above the jaws). Carrying it up and left toward the open safe, which sits near the table centre."})
tool
executing move_to over 13 steps (1.3s)
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 noteWrist view shows the red safe interior just to the left of the jaws with the lemon still held; shifting ~6 cm further left to hover over the middle of the safe's open compartment.
move_to
right_y0.3200right_x0.4100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.4957, -0.0193, -0.0387, 0.9992, 0.6716, 2.064, 2.1239, -1.1305, 0.3866, 0.3721, 0.2032] state[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1549 left_yaw=0.0032 left_pitch=-0.1201 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4291 right_y=0.2605 right_z=0.2142 right_yaw=0.0989 right_pitch=-0.3659 right_roll=-0.1408 right_gripper=0.2032 state[joint_eff]: [-0.1162, -1.2786, 6.9812, 1.7753, -0.0513, -0.0659, -0.0122, 0.2393, -10.359, 7.6786, 0.989, 0.315, 0.1832, -0.0269] 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": 0.32, "right_x": 0.41}, "note": "Wrist view shows the red safe interior just to the left of the jaws with the lemon still held; shifting ~6 cm further left to hover over the middle of the safe's open compartment."})
tool
executing move_to over 5 steps (0.5s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteI realise the lemon was never actually grasped — it is still sitting on the table (it moved right in the wrist view as the arm moved left). Returning over the lemon, this time reaching ~3 cm further out before closing.
move_to
right_gripper1.0000right_x0.4600right_y0.1150right_z0.0500
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, -0.5114, -0.0193, -0.0387, 0.9992, 0.799, 2.2284, 2.3779, -1.2861, 0.4183, 0.458, 0.2032] state[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1516 left_yaw=0.0033 left_pitch=-0.1373 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4059 right_y=0.3194 right_z=0.2069 right_yaw=0.1364 right_pitch=-0.3965 right_roll=-0.1546 right_gripper=0.2032 state[joint_eff]: [-0.0479, -1.3333, 6.9402, 1.7265, -0.0611, -0.0611, -0.0122, -0.6496, -11.6171, 8.1026, 0.8913, 0.3834, 0.1929, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.46, "right_y": 0.115, "right_z": 0.05}, "note": "I realise the lemon was never actually grasped \u2014 it is still sitting on the table (it moved right in the wrist view as the arm moved left). Returning over the lemon, this time reaching ~3 cm further out before closing."})
tool
executing move_to over 18 steps (1.8s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe lemon now fills the wrist view just right of the jaw column; nudging 2 cm right and closing the gripper fully on it.
move_to
right_y0.0950right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5224, -0.0189, -0.0383, 0.9992, 0.3267, 1.9518, 1.2369, -0.4694, 0.1864, 0.0387, 0.9975] state[eef_state]: left_x=0.2747 left_y=0.0017 left_z=0.1495 left_yaw=0.0028 left_pitch=-0.1484 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4207 right_y=0.1118 right_z=0.0162 right_yaw=0.1098 right_pitch=-0.5716 right_roll=-0.1863 right_gripper=0.9975 state[joint_eff]: [-0.0889, -1.2239, 7.1043, 1.7411, -0.0708, -0.0366, -0.0073, -0.4171, -12.506, 9.4838, 2.2247, 0.0562, -0.1685, -0.105] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.095, "right_gripper": 0}, "note": "The lemon now fills the wrist view just right of the jaw column; nudging 2 cm right and closing the gripper fully on it."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteClosed empty again — the lemon sits beyond the fingertips and the wrist has pitched down to its limit, shortening reach. Backing up to a vertical-tool hover further out so I can descend straight down onto the lemon.
move_to
right_gripper1.0000right_pitch0.0000right_x0.4600right_y0.1000right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5308, -0.0189, -0.0383, 0.9992, 0.2863, 1.9461, 1.2003, -0.4725, 0.1707, -0.0029, 0.0089] state[eef_state]: left_x=0.2733 left_y=0.0018 left_z=0.1479 left_yaw=0.0028 left_pitch=-0.1571 left_roll=-0.0007 left_gripper=0.9992 right_x=0.412 right_y=0.0937 right_z=0.0065 right_yaw=0.1076 right_pitch=-0.6121 right_roll=-0.1963 right_gripper=0.0089 state[joint_eff]: [-0.0342, -1.2239, 6.9265, 1.7167, -0.022, -0.0464, -0.0122, -0.4581, -10.8239, 6.5983, 1.1209, 0.0513, 0.0024, 0.735] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_pitch": 0, "right_x": 0.46, "right_y": 0.1, "right_z": 0.12}, "note": "Closed empty again \u2014 the lemon sits beyond the fingertips and the wrist has pitched down to its limit, shortening reach. Backing up to a vertical-tool hover further out so I can descend straight down onto the lemon."})
tool
executing move_to over 21 steps (2.1s)
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 noteTool is now near-vertical at x=0.45 with the lemon just below-centre in the wrist view; descending to lemon height to see the alignment at grasp level.
move_to
right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5404, -0.0193, -0.0383, 0.9992, 0.3046, 1.7054, 0.952, 0.0399, 0.2516, -0.0574, 0.9976] state[eef_state]: left_x=0.2717 left_y=0.0019 left_z=0.1461 left_yaw=0.0032 left_pitch=-0.1667 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4486 right_y=0.0987 right_z=0.0921 right_yaw=0.1209 right_pitch=-0.1097 right_roll=-0.2041 right_gripper=0.9976 state[joint_eff]: [-0.1573, -1.0188, 6.9675, 1.6435, -0.0611, -0.022, -0.0122, 0.1573, -10.3863, 6.4068, 2.1074, 0.2662, -0.0464, -0.0952] 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": 0.035}, "note": "Tool is now near-vertical at x=0.45 with the lemon just below-centre in the wrist view; descending to lemon height to see the alignment at grasp level."})
tool
executing move_to over 4 steps (0.4s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe lemon still sits beyond the jaws in the wrist view; commanding a further 8 cm of reach to see how far the arm can actually extend at lemon height.
move_to
right_x0.5200right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5484, -0.0193, -0.0383, 0.9992, 0.3046, 1.8297, 0.8516, 0.1864, 0.2493, -0.0635, 0.9988] state[eef_state]: left_x=0.2704 left_y=0.0019 left_z=0.1443 left_yaw=0.0032 left_pitch=-0.1762 left_roll=0.0 left_gripper=0.9992 right_x=0.4354 right_y=0.095 right_z=0.026 right_yaw=0.1241 right_pitch=-0.1876 right_roll=-0.2215 right_gripper=0.9988 state[joint_eff]: [-0.0342, -1.2513, 7.0906, 1.6679, -0.0806, -0.0708, -0.0122, -0.0752, -8.5402, 6.3658, 2.2247, 0.0904, -0.0024, 0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.52, "right_z": 0.03}, "note": "The lemon still sits beyond the jaws in the wrist view; commanding a further 8 cm of reach to see how far the arm can actually extend at lemon height."})
tool
executing move_to over 7 steps (0.7s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteAt x=0.51 the lemon finally sits between the jaws at the bottom of the wrist view; closing on it.
move_to
right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5625, -0.0189, -0.0383, 0.9992, 0.2478, 2.0548, 1.1919, 0.0521, 0.2077, -0.1066, 0.9989] state[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1416 left_yaw=0.0029 left_pitch=-0.1911 left_roll=0.0001 left_gripper=0.9992 right_x=0.5075 right_y=0.0945 right_z=0.0226 right_yaw=0.1255 right_pitch=-0.2162 right_roll=-0.2253 right_gripper=0.9989 state[joint_eff]: [0.0068, -1.265, 6.8718, 1.7118, -0.0269, -0.0317, -0.0122, -0.4991, -10.3043, 7.5009, 1.6777, 0.0317, -0.0806, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "At x=0.51 the lemon finally sits between the jaws at the bottom of the wrist view; closing on it."})
tool
executing move_to over 9 steps (0.9s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteGripper settled at 0.43 (≈4 cm) — the lemon is grasped. Lifting it clear of the table before carrying to the safe.
move_to
right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8116, 0.6067, -0.5743, -0.0193, -0.0383, 0.9992, 0.2474, 2.0632, 1.1908, 0.0193, 0.2047, -0.1093, 0.429] state[eef_state]: left_x=0.266 left_y=0.002 left_z=0.1392 left_yaw=0.0033 left_pitch=-0.204 left_roll=0.0007 left_gripper=0.9992 right_x=0.5006 right_y=0.0931 right_z=0.0126 right_yaw=0.128 right_pitch=-0.2588 right_roll=-0.2301 right_gripper=0.429 state[joint_eff]: [-0.0342, -1.306, 6.9675, 1.6288, -0.0806, -0.0562, -0.0122, -0.3077, -11.5624, 5.9282, 1.7851, 0.0952, -0.0269, 1.0232] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25}, "note": "Gripper settled at 0.43 (\u22484 cm) \u2014 the lemon is grasped. Lifting it clear of the table before carrying to the safe."})
tool
executing move_to over 16 steps (1.6s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteLemon is held high. Carrying it left over the open red interior of the safe.
move_to
right_x0.4500right_y0.2700right_z0.2500
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, -0.585, -0.0193, -0.0383, 0.9992, 0.2474, 1.9011, 1.8984, -0.8631, 0.2012, -0.1165, 0.4297] state[eef_state]: left_x=0.2642 left_y=0.002 left_z=0.1367 left_yaw=0.0034 left_pitch=-0.2174 left_roll=0.001 left_gripper=0.9992 right_x=0.5007 right_y=0.0937 right_z=0.236 right_yaw=0.1346 right_pitch=-0.2725 right_roll=-0.2338 right_gripper=0.4297 state[joint_eff]: [-0.0068, -1.4154, 6.9675, 1.6239, -0.0659, -0.0562, -0.0122, -0.3487, -9.6068, 8.3624, 1.5165, 0.1245, 0.022, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.27, "right_z": 0.25}, "note": "Lemon is held high. Carrying it left over the open red interior of the safe."})
tool
executing move_to over 15 steps (1.5s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteWrist view shows the raised lid rim ahead and the red compartment just below/nearer; moving 3 cm back and down to hover inside the safe opening.
move_to
right_x0.4200right_z0.1700
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, -0.5888, -0.0193, -0.0387, 0.9992, 0.6762, 2.1399, 2.3177, -1.1824, 0.4374, 0.2092, 0.4297] state[eef_state]: left_x=0.2636 left_y=0.002 left_z=0.1356 left_yaw=0.0036 left_pitch=-0.2231 left_roll=0.0008 left_gripper=0.9992 right_x=0.4472 right_y=0.2675 right_z=0.2427 right_yaw=0.1708 right_pitch=-0.304 right_roll=-0.249 right_gripper=0.4297 state[joint_eff]: [-0.0615, -1.347, 6.8718, 1.5897, -0.0806, -0.0611, -0.0122, 0.253, -10.6598, 8.1026, 1.3162, 0.3394, 0.1197, 1.033] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_z": 0.17}, "note": "Wrist view shows the raised lid rim ahead and the red compartment just below/nearer; moving 3 cm back and down to hover inside the safe opening."})
tool
executing move_to over 5 steps (0.5s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe wrist camera shows red walls all around — the lemon is inside the safe compartment. Opening the gripper to release it.
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, 0.8188, 0.6067, -0.5926, -0.0193, -0.0383, 0.9992, 0.7124, 2.0212, 1.7695, -0.9245, 0.4488, 0.231, 0.4306] state[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0035 left_pitch=-0.2296 left_roll=0.0012 left_gripper=0.9992 right_x=0.4074 right_y=0.2553 right_z=0.1353 right_yaw=0.1515 right_pitch=-0.4434 right_roll=-0.3385 right_gripper=0.4306 state[joint_eff]: [-0.1846, -0.9504, 7.0359, 1.5263, -0.0855, -0.022, -0.0073, 0.1709, -15.4735, 8.2803, 1.5995, 0.3004, 0.1441, 0.8767] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The wrist camera shows red walls all around \u2014 the lemon is inside the safe compartment. Opening the gripper to release it."})
tool
executing move_to over 6 steps (0.6s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe lemon is now inside the safe. Retracting the right arm to home and bringing the left arm over toward the small white plush toy on the left side of the safe.
move_to
right_x0.2900right_y0.0000right_z0.2000left_x0.3800left_y-0.1000left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.7189, 1.9942, 1.747, -0.8497, 0.4492, 0.2367, 0.995] state[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0033 left_pitch=-0.2296 left_roll=0.0007 left_gripper=0.9992 right_x=0.4133 right_y=0.2645 right_z=0.1471 right_yaw=0.1725 right_pitch=-0.3747 right_roll=-0.2899 right_gripper=0.995 state[joint_eff]: [-0.1026, -1.2376, 6.8855, 1.4725, -0.0904, -0.0562, -0.0122, -0.4308, -13.4222, 7.4598, 1.4237, 0.2662, 0.1197, -0.2418] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.2, "left_x": 0.38, "left_y": -0.1, "left_z": 0.15, "left_gripper": 1}, "note": "The lemon is now inside the safe. Retracting the right arm to home and bringing the left arm over toward the small white plush toy on the left side of the safe."})
tool
executing move_to over 23 steps (2.3s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteLeft wrist view shows the small tan plush toy just below-right of the jaw column; shifting slightly right and descending to table level to grasp it.
move_to
left_x0.3900left_y-0.1150left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3813, 1.4139, 0.9695, -0.4675, -0.2539, -0.313, 0.9993, 0.0528, 1.1053, 1.0573, -0.9077, 0.1154, -0.3115, 0.9967] state[eef_state]: left_x=0.3644 left_y=-0.0944 left_z=0.1311 left_yaw=0.0032 left_pitch=-0.2967 left_roll=0.0136 left_gripper=0.9993 right_x=0.2913 right_y=-0.0014 right_z=0.1956 right_yaw=0.1269 right_pitch=-0.3918 right_roll=-0.2896 right_gripper=0.9967 state[joint_eff]: [-0.5538, -5.4769, 9.5932, 1.7558, -0.3004, -0.0024, -0.0855, -0.1436, -3.6718, 6.3111, 1.5653, -0.0806, -0.0464, 0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.115, "left_z": 0.03}, "note": "Left wrist view shows the small tan plush toy just below-right of the jaw column; shifting slightly right and descending to table level to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe plush toy is large and low in the left wrist view; based on the lemon lesson the fingertips sit further out than they look, so I advance 3 cm before closing.
move_to
left_x0.4200left_y-0.1250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4076, 1.6875, 0.8307, -0.1207, -0.2596, -0.342, 0.9992, 0.0513, 1.1091, 1.055, -0.926, 0.1085, -0.3286, 0.9968] state[eef_state]: left_x=0.3785 left_y=-0.1101 left_z=0.0288 left_yaw=0.007 left_pitch=-0.355 left_roll=0.0261 left_gripper=0.9992 right_x=0.2875 right_y=-0.0008 right_z=0.1911 right_yaw=0.1425 right_pitch=-0.4184 right_roll=-0.2916 right_gripper=0.9968 state[joint_eff]: [-0.5538, -6.8581, 4.9983, 1.5067, -0.2418, 0.1001, -0.0171, 0.0068, -3.3709, 6.653, 1.4237, 0.105, 0.1294, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.125}, "note": "The plush toy is large and low in the left wrist view; based on the lemon lesson the fingertips sit further out than they look, so I advance 3 cm before closing."})
tool
executing move_to over 4 steps (0.4s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteToy is between the jaws at the bottom of the wrist view; closing on it.
move_to
left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4053, 1.8263, 0.9718, -0.1577, -0.2584, -0.3462, 0.9992, 0.0509, 1.1107, 1.055, -0.9272, 0.1112, -0.3298, 0.9968] state[eef_state]: left_x=0.4056 left_y=-0.121 left_z=0.0179 left_yaw=0.0163 left_pitch=-0.387 left_roll=0.0376 left_gripper=0.9992 right_x=0.2874 right_y=-0.0014 right_z=0.1906 right_yaw=0.1404 right_pitch=-0.4214 right_roll=-0.2944 right_gripper=0.9968 state[joint_eff]: [0.4718, -8.8957, 8.0479, 1.3895, -0.0757, 0.0757, -0.0122, -0.0479, -3.1932, 6.5026, 1.2821, 0.0024, -0.0171, -0.0073] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.05}, "note": "Toy is between the jaws at the bottom of the wrist view; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 234
top_cam
camera top_cam step 234
assistant
agent noteGripper closed to 0.055 — ambiguous for a squishy plush toy. Lifting 10 cm to check in the overhead view whether the toy came up with the jaws.
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]: [-0.4046, 1.8347, 0.9752, -0.1631, -0.2596, -0.3531, 0.0546, 0.0509, 1.111, 1.055, -0.9459, 0.1112, -0.3328, 0.9968] state[eef_state]: left_x=0.4051 left_y=-0.1202 left_z=0.0151 left_yaw=0.0238 left_pitch=-0.3958 left_roll=0.039 left_gripper=0.0546 right_x=0.2836 right_y=-0.0016 right_z=0.1879 right_yaw=0.143 right_pitch=-0.4409 right_roll=-0.2943 right_gripper=0.9968 state[joint_eff]: [-0.1162, -9.388, 5.5043, 1.2576, -0.0806, 0.0269, 0.1099, -0.0889, -2.9197, 6.4479, 1.4237, -0.0024, -0.0122, -0.0073] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Gripper closed to 0.055 \u2014 ambiguous for a squishy plush toy. Lifting 10 cm to check in the overhead view whether the toy came up with the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 241
assistant
agent noteThe toy did not move, so that close was empty. Reopening and reaching 5 cm further out at table level, as the fingertips reach beyond where the wrist view suggests.
move_to
left_gripper1.0000left_x0.4500left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4046, 1.7107, 1.1904, -0.5343, -0.2592, -0.3618, 0.0541, 0.0513, 1.111, 1.055, -0.9642, 0.1112, -0.3332, 0.9968] state[eef_state]: left_x=0.4036 left_y=-0.1196 left_z=0.0944 left_yaw=0.0345 left_pitch=-0.4248 left_roll=0.048 left_gripper=0.0541 right_x=0.2798 right_y=-0.0017 right_z=0.1856 right_yaw=0.1444 right_pitch=-0.4592 right_roll=-0.2926 right_gripper=0.9968 state[joint_eff]: [-0.1162, -10.947, 8.9231, 1.1697, -0.1636, 0.022, -0.0562, -0.0752, -3.0701, 6.6667, 1.3944, -0.0122, -0.0513, -0.0073] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.45, "left_z": 0.02}, "note": "The toy did not move, so that close was empty. Reopening and reaching 5 cm further out at table level, as the fingertips reach beyond where the wrist view suggests."})
tool
executing move_to over 10 steps (1.0s)
step 251
assistant
agent noteThe toy now appears at the far right edge of the left wrist view, so it is to the arm's right; shifting 3.5 cm right to re-centre it.
move_to
left_y-0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3618, 1.9598, 1.1847, -0.3351, -0.244, -0.3378, 0.9958, 0.0509, 1.111, 1.055, -0.971, 0.1112, -0.3332, 0.9969] state[eef_state]: left_x=0.432 left_y=-0.1141 left_z=0.0115 left_yaw=0.0609 left_pitch=-0.4819 left_roll=0.0741 left_gripper=0.9958 right_x=0.2783 right_y=-0.0018 right_z=0.1847 right_yaw=0.1444 right_pitch=-0.466 right_roll=-0.2919 right_gripper=0.9969 state[joint_eff]: [0.4718, -9.5248, 7.8017, 1.3407, -0.0904, 0.1587, -0.149, -0.0752, -3.0427, 6.4205, 1.3162, -0.0171, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.15}, "note": "The toy now appears at the far right edge of the left wrist view, so it is to the arm's right; shifting 3.5 cm right to re-centre it."})
tool
executing move_to over 4 steps (0.4s)
step 255
assistant
agent noteRe-reading the overhead view, the small toy is nearer the base than I thought (it stays out of the bottom of the wrist frame); pulling back ~8 cm in x over its estimated position.
move_to
left_x0.3400left_y-0.1600left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.437, 1.9892, 1.2285, -0.3836, -0.2752, -0.4015, 0.9969, 0.0513, 1.111, 1.055, -0.9714, 0.1116, -0.3332, 0.9969] state[eef_state]: left_x=0.4254 left_y=-0.1417 left_z=0.0094 left_yaw=0.0598 left_pitch=-0.4969 left_roll=0.0848 left_gripper=0.9969 right_x=0.2783 right_y=-0.0018 right_z=0.1846 right_yaw=0.1444 right_pitch=-0.4664 right_roll=-0.2922 right_gripper=0.9969 state[joint_eff]: [-0.3624, -8.5538, 8.0479, 1.1453, -0.1783, -0.0171, 0.105, -0.0615, -3.0427, 6.4205, 1.1844, 0.0073, -0.0366, -0.0122] 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": 0.34, "left_y": -0.16, "left_z": 0.03}, "note": "Re-reading the overhead view, the small toy is nearer the base than I thought (it stays out of the bottom of the wrist frame); pulling back ~8 cm in x over its estimated position."})
tool
executing move_to over 7 steps (0.7s)
step 262
assistant
agent noteThe last retract did not track (arm stayed at x=0.42 near the table); lifting to 15 cm first, then pulling back in x, as the rig notes recommend for stalled moves.
move_to
left_z0.1500left_x0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4511, 1.9976, 1.2446, -0.4038, -0.2752, -0.4252, 0.9971, 0.0509, 1.1164, 1.0542, -0.9936, 0.1116, -0.3336, 0.9969] state[eef_state]: left_x=0.4235 left_y=-0.1478 left_z=0.0089 left_yaw=0.0637 left_pitch=-0.5068 left_roll=0.0789 left_gripper=0.9971 right_x=0.2738 right_y=-0.0021 right_z=0.1802 right_yaw=0.1456 right_pitch=-0.4946 right_roll=-0.2895 right_gripper=0.9969 state[joint_eff]: [-0.1162, -9.2376, 7.2821, 1.199, -0.2222, 0.0122, 0.0073, -0.3487, -3.494, 6.5436, 1.3553, 0.0073, -0.0562, -0.0122] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15, "left_x": 0.35}, "note": "The last retract did not track (arm stayed at x=0.42 near the table); lifting to 15 cm first, then pulling back in x, as the rig notes recommend for stalled moves."})
tool
executing move_to over 10 steps (1.0s)
step 272
assistant
agent noteNow the little white dog plush is clearly centred on the jaw column in the left wrist view; descending onto it to grasp.
move_to
left_z0.0200left_x0.3700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5442, 1.6672, 1.3231, -0.8543, -0.297, -0.511, 0.9971, 0.0513, 1.1183, 1.0542, -1.0122, 0.1116, -0.3332, 0.9969] state[eef_state]: left_x=0.3565 left_y=-0.1511 left_z=0.1261 left_yaw=0.0547 left_pitch=-0.5275 left_roll=0.0783 left_gripper=0.9971 right_x=0.2699 right_y=-0.0022 right_z=0.1775 right_yaw=0.1469 right_pitch=-0.515 right_roll=-0.287 right_gripper=0.9969 state[joint_eff]: [-0.6496, -10.7282, 9.3333, 1.0427, -0.315, -0.1343, -0.0122, -0.0752, -2.9333, 6.4342, 1.3309, 0.0073, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02, "left_x": 0.37}, "note": "Now the little white dog plush is clearly centred on the jaw column in the left wrist view; descending onto it to grasp."})
tool
executing move_to over 7 steps (0.7s)
step 279
assistant
agent noteThe plush dog fills the bottom-centre of the wrist view, right at the jaws; closing to grasp it.
move_to
left_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5312, 1.8122, 1.092, -0.5201, -0.2924, -0.5026, 0.9971, 0.0509, 1.1194, 1.0542, -1.0203, 0.1116, -0.3332, 0.9969] state[eef_state]: left_x=0.359 left_y=-0.1477 left_z=0.0257 left_yaw=0.073 left_pitch=-0.565 left_roll=0.1062 left_gripper=0.9971 right_x=0.2683 right_y=-0.0024 right_z=0.1763 right_yaw=0.147 right_pitch=-0.5242 right_roll=-0.286 right_gripper=0.9969 state[joint_eff]: [0.6906, -8.1573, 5.2718, 1.0232, -0.1294, 0.0122, -0.0122, -0.212, -3.1111, 6.3521, 1.1746, 0.0269, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.15}, "note": "The plush dog fills the bottom-centre of the wrist view, right at the jaws; closing to grasp it."})
tool
executing move_to over 9 steps (0.9s)
step 288
assistant
agent noteGripper settled at 0.16 on the plush dog — it looks grasped. Lifting and carrying it over the open safe compartment.
move_to
left_z0.2500left_x0.4200left_y-0.3600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5297, 1.8263, 1.076, -0.5091, -0.3008, -0.5056, 0.1591, 0.0509, 1.1194, 1.0542, -1.0241, 0.1112, -0.3332, 0.9969] state[eef_state]: left_x=0.3561 left_y=-0.1437 left_z=0.0171 left_yaw=0.0904 left_pitch=-0.5758 left_roll=0.1254 left_gripper=0.1591 right_x=0.2674 right_y=-0.0024 right_z=0.1759 right_yaw=0.1476 right_pitch=-0.5279 right_roll=-0.2852 right_gripper=0.9969 state[joint_eff]: [-0.3077, -9.6615, 7.1043, 0.7692, -0.105, 0.0171, 0.4615, -0.1573, -3.0154, 6.3521, 1.2186, -0.0024, -0.0562, -0.0122] 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": {"left_z": 0.25, "left_x": 0.42, "left_y": -0.36}, "note": "Gripper settled at 0.16 on the plush dog \u2014 it looks grasped. Lifting and carrying it over the open safe compartment."})
tool
executing move_to over 20 steps (2.0s)
step 308
assistant
agent noteWrist view shows the held dog just over the near-left rim of the safe with the red interior up and to the right; shifting ~4 cm right and forward to centre it over the compartment.
move_to
left_y-0.3450left_x0.4000left_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8082, 2.3852, 2.5874, -1.5574, -0.3573, -0.7769, 0.1602, 0.0509, 1.1194, 1.0542, -1.0382, 0.1116, -0.3332, 0.9969] state[eef_state]: left_x=0.3859 left_y=-0.3093 left_z=0.1712 left_yaw=0.0716 left_pitch=-0.59 left_roll=0.1205 left_gripper=0.1602 right_x=0.2643 right_y=-0.0026 right_z=0.1743 right_yaw=0.148 right_pitch=-0.542 right_roll=-0.284 right_gripper=0.9969 state[joint_eff]: [-0.5675, -14.8444, 6.8171, 0.5543, -0.442, -0.1441, 0.105, -0.1573, -3.0017, 6.3795, 1.2234, 0.0513, -0.0317, -0.0171] camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.345, "left_x": 0.4, "left_z": 0.17}, "note": "Wrist view shows the held dog just over the near-left rim of the safe with the red interior up and to the right; shifting ~4 cm right and forward to centre it over the compartment."})
tool
executing move_to over 4 steps (0.4s)
step 312
assistant
agent noteThe dog is hanging over the safe's red interior; lowering slightly and opening the gripper to drop it inside.
move_to
left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8234, 2.4577, 2.6644, -1.5757, -0.3565, -0.8017, 0.1624, 0.0513, 1.1194, 1.0542, -1.0389, 0.1116, -0.3332, 0.9969] state[eef_state]: left_x=0.3872 left_y=-0.3218 left_z=0.1571 left_yaw=0.0792 left_pitch=-0.5975 left_roll=0.121 left_gripper=0.1624 right_x=0.2642 right_y=-0.0025 right_z=0.1742 right_yaw=0.1484 right_pitch=-0.5428 right_roll=-0.2839 right_gripper=0.9969 state[joint_eff]: [-0.9915, -12.2462, 8.0342, 0.6764, -0.3492, 0.0122, 0.2076, -0.1299, -3.0154, 6.3385, 1.1062, 0.0122, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12, "left_gripper": 1}, "note": "The dog is hanging over the safe's red interior; lowering slightly and opening the gripper to drop it inside."})
tool
executing move_to over 9 steps (0.9s)
step 321
assistant
agent noteBoth the lemon and the plush dog are now inside the safe. Moving the closed gripper up and over behind the raised lid so I can sweep it shut.
move_to
left_x0.5200left_z0.3000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.831, 2.4882, 2.6701, -1.5753, -0.3538, -0.8093, 0.9958, 0.0513, 1.1194, 1.0542, -1.0389, 0.1116, -0.3332, 0.9969] state[eef_state]: left_x=0.3857 left_y=-0.3265 left_z=0.1439 left_yaw=0.0883 left_pitch=-0.614 left_roll=0.139 left_gripper=0.9958 right_x=0.2642 right_y=-0.0025 right_z=0.1742 right_yaw=0.1484 right_pitch=-0.5428 right_roll=-0.2839 right_gripper=0.9969 state[joint_eff]: [-0.335, -14.0923, 7.3504, 0.6618, -0.2906, 0.0562, -0.1441, -0.1709, -3.0154, 6.3248, 1.0623, 0.0415, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_z": 0.3, "left_gripper": 0}, "note": "Both the lemon and the plush dog are now inside the safe. Moving the closed gripper up and over behind the raised lid so I can sweep it shut."})
tool
executing move_to over 11 steps (1.1s)
step 332
assistant
agent noteThe lid stands open just ahead and above the closed gripper; raising the gripper up against the lid's inner face so I can then pull it back and down to swing it shut.
move_to
left_z0.2600left_x0.4400left_y-0.2800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6476, 2.455, 2.6698, -1.5787, -0.326, -0.6292, 0.0096, 0.0513, 1.1221, 1.0542, -1.0569, 0.1112, -0.3332, 0.9969] state[eef_state]: left_x=0.4346 left_y=-0.2533 left_z=0.158 left_yaw=0.1187 left_pitch=-0.6305 left_roll=0.1714 left_gripper=0.0096 right_x=0.2604 right_y=-0.0027 right_z=0.1716 right_yaw=0.1501 right_pitch=-0.5632 right_roll=-0.2812 right_gripper=0.9969 state[joint_eff]: [0.1573, -18.3316, 7.0496, 0.7741, -0.149, 0.1783, 0.7839, -0.1846, -3.1658, 6.5026, 1.2772, 0.0073, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.26, "left_x": 0.44, "left_y": -0.28}, "note": "The lid stands open just ahead and above the closed gripper; raising the gripper up against the lid's inner face so I can then pull it back and down to swing it shut."})
tool
executing move_to over 7 steps (0.7s)
step 339
assistant
agent noteGripper is up against the open lid's inner face; pulling back and down to swing the lid shut over the compartment.
move_to
left_x0.3300left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6754, 2.3306, 2.5256, -1.573, -0.3351, -0.6376, 0.0122, 0.0509, 1.1221, 1.0542, -1.0618, 0.1116, -0.3332, 0.9969] state[eef_state]: left_x=0.4099 left_y=-0.2493 left_z=0.1774 left_yaw=0.1102 left_pitch=-0.6335 left_roll=0.1878 left_gripper=0.0122 right_x=0.2593 right_y=-0.0029 right_z=0.1711 right_yaw=0.1496 right_pitch=-0.5682 right_roll=-0.281 right_gripper=0.9969 state[joint_eff]: [-0.0342, -16.1983, 5.3402, 0.6422, -0.3883, -0.0806, 0.525, -0.1709, -2.9333, 6.2838, 1.1013, 0.0269, -0.0317, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_z": 0.08}, "note": "Gripper is up against the open lid's inner face; pulling back and down to swing the lid shut over the compartment."})
tool
executing move_to over 7 steps (0.7s)
step 346
assistant
agent noteI placed two of the three objects (the yellow lemon with the right arm, the small white plush dog with the left arm) into the open safe. The large teddy bear remains outside and the lid is still open — I ran out of call budget while trying to hook and swing the lid shut.
done
hindsightKey lessons on this rig: (1) The wrist camera badly understates radial distance — an object that looks centred and low in the wrist frame can still be 6-8 cm short of the fingertips. The lemon only entered the jaws at right_x=0.51 when it "looked" grasped at 0.43. Prefer overhead-derived coordinates and push x out aggressively; an empty close costs more calls than an extra 3 cm of reach. (2) Useful top-cam mapping I derived: with two reference points (lemon at px(160,105)=right(0.50,0.095), safe centre at px(133,130)=right(0.41,0.26)) the scales are ~0.61 cm/px horizontally and ~0.36 cm/px vertically in the working region. (3) Reach at low z is limited: commanding x=0.46 at z=0.02 tracked only to 0.43; the wrist pitch also drifts to its -0.6 limit, shortening reach further — command pitch=0 explicitly. (4) Retracting from a low, extended pose often stalls; raise z first. (5) Budget: locating and grasping one small object took ~10 calls, so with 40 calls plan for at most 2-3 objects plus the lid. Start the lid-closing sequence early: get the closed gripper above and behind the raised lid (needs x≈0.5, z≈0.3, which is near the reach limit for the left arm) before sweeping back.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.807, 1.9987, 1.5631, -1.0794, -0.3698, -0.7544, 0.0147, 0.0509, 1.124, 1.0542, -1.0786, 0.1116, -0.3332, 0.9969] state[eef_state]: left_x=0.3184 left_y=-0.235 left_z=0.069 left_yaw=0.1591 left_pitch=-0.6793 left_roll=0.2982 left_gripper=0.0147 right_x=0.2556 right_y=-0.0031 right_z=0.1689 right_yaw=0.1508 right_pitch=-0.5868 right_roll=-0.2788 right_gripper=0.9969 state[joint_eff]: [-0.6085, -12.7248, 8.6085, 0.8767, -0.4664, -0.1392, 0.2418, -0.1026, -3.1521, 6.2564, 1.199, 0.0122, -0.0415, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
done({"summary": "I placed two of the three objects (the yellow lemon with the right arm, the small white plush dog with the left arm) into the open safe. The large teddy bear remains outside and the lid is still open \u2014 I ran out of call budget while trying to hook and swing the lid shut.", "hindsight": "Key lessons on this rig: (1) The wrist camera badly understates radial distance \u2014 an object that looks centred and low in the wrist frame can still be 6-8 cm short of the fingertips. The lemon only entered the jaws at right_x=0.51 when it \"looked\" grasped at 0.43. Prefer overhead-derived coordinates and push x out aggressively; an empty close costs more calls than an extra 3 cm of reach. (2) Useful top-cam mapping I derived: with two reference points (lemon at px(160,105)=right(0.50,0.095), safe centre at px(133,130)=right(0.41,0.26)) the scales are ~0.61 cm/px horizontally and ~0.36 cm/px vertically in the working region. (3) Reach at low z is limited: commanding x=0.46 at z=0.02 tracked only to 0.43; the wrist pitch also drifts to its -0.6 limit, shortening reach further \u2014 command pitch=0 explicitly. (4) Retracting from a low, extended pose often stalls; raise z first. (5) Budget: locating and grasping one small object took ~10 calls, so with 40 calls plan for at most 2-3 objects plus the lid. Start the lid-closing sequence early: get the closed gripper above and behind the raised lid (needs x\u22480.5, z\u22480.3, which is near the reach limit for the left arm) before sweeping back."})
tool
done: I placed two of the three objects (the yellow lemon with the right arm, the small white plush dog with the left arm) into the open safe. The large teddy bear remains outside and the lid is still open — I ran out of call budget while trying to hook and swing the lid 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 · 33.38 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, 0.7918, 0.6037, -0.387, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6064, -0.4042, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.0009 right_z=0.1762 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -1.2239, 10.2632, 1.9853, -0.0806, 0.2222, -0.0855, -0.294, -1.2786, 9.7573, 2.0879, -0.0073, 0.0366, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe71371502f92da45e96d300d0837184410ad3152cb2d7e1716593819a0461a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb0afefa6f42e85e040a40debd8d05f1ad0651e5a76f2abcd0d914c107c1b1d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:890ba77ddf8f46d3d6969609ef4072ada4f02046529ad902a533e4fc50cd9e96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.703 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, 0.7918, 0.6037, -0.387, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6064, -0.4042, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.0009 right_z=0.1762 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -1.2239, 10.2632, 1.9853, -0.0806, 0.2222, -0.0855, -0.294, -1.2786, 9.7573, 2.0879, -0.0073, 0.0366, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe71371502f92da45e96d300d0837184410ad3152cb2d7e1716593819a0461a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb0afefa6f42e85e040a40debd8d05f1ad0651e5a76f2abcd0d914c107c1b1d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:890ba77ddf8f46d3d6969609ef4072ada4f02046529ad902a533e4fc50cd9e96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LnpepBQ2EQQFxMPJoWNLzr",
      "input": {
        "note": "Scene: an open red-lined safe in the middle, a yellow lemon to its right, a small white plush toy to its left, and a large brown teddy bear in front. I am moving the right arm toward a hover above the lemon to start with the easiest object.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.33,
          "right_y": 0.13,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01LnpepBQ2EQQFxMPJoWNLzr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4053, -0.0193, -0.038, 0.9992, 0.5865, 1.2388, 0.5652, -0.0986, 0.4343, 0.3119, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1748 left_yaw=0.0027 left_pitch=-0.0217 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3123 right_y=0.1226 right_z=0.0951 right_yaw=0.0489 right_pitch=-0.095 right_roll=-0.0552 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.7162, 6.9812, 1.8584, -0.0366, -0.022, -0.0171, 0.1709, -4.2735, 10.1538, 1.7998, 0.4176, 0.2027, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d98204db372c6275ebbd414c189d7c15b83f69106af0dc443eb4faa4c23e221a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ce93920cfb4a013193ec8dcc80cb403ab290545afc246c2d2f12c6c7895f9d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5027a668580212ec8abbbf47592bccff03a6403d41eb9f02395854a6b41939b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 5.352 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, 0.7918, 0.6037, -0.387, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6064, -0.4042, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.0009 right_z=0.1762 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -1.2239, 10.2632, 1.9853, -0.0806, 0.2222, -0.0855, -0.294, -1.2786, 9.7573, 2.0879, -0.0073, 0.0366, -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, -0.4053, -0.0193, -0.038, 0.9992, 0.5865, 1.2388, 0.5652, -0.0986, 0.4343, 0.3119, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1748 left_yaw=0.0027 left_pitch=-0.0217 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3123 right_y=0.1226 right_z=0.0951 right_yaw=0.0489 right_pitch=-0.095 right_roll=-0.0552 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.7162, 6.9812, 1.8584, -0.0366, -0.022, -0.0171, 0.1709, -4.2735, 10.1538, 1.7998, 0.4176, 0.2027, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d98204db372c6275ebbd414c189d7c15b83f69106af0dc443eb4faa4c23e221a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ce93920cfb4a013193ec8dcc80cb403ab290545afc246c2d2f12c6c7895f9d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5027a668580212ec8abbbf47592bccff03a6403d41eb9f02395854a6b41939b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7wYKjgEIEhgCKkDmVsFVtG/PU5vz8CCGTZMG1127lfGCwGhWB4+fG/zCoqxGVT36Xrti0IHJsVAr87HS/AavWjL9eu8DnLo9pgj1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZiZzNUGEgzh68dyEQX1g+fA5noaDKWW+6UoRxhtI0jjGCIwRNMtfvZJ84WFdqtmTpHw0+FMmdFUjm3xeRoNFY7BjNzTUXpAGpVqVCDeJYdiUvX+Ko0F/PUcSJav7xvuxaISDBlTesRvldUaj+T7vVFJpqQ5vxIjxkeF2shNUyIniVbh8qP+KmkG09OWPyTfWJY+fNHj8iKFxYKJslOr5ULQs3wEZkllLfR/If68cPRO6UkuoaFBOYF/RYVllFWezsw0guqautfUhIR84uiuDc3THrUHHYakQ7GfUgLouadEKipCDvuwnAv0the47kctBT3u/xSp0fAGOK1mWwvAbdcrOO03EGa1E6Jm8BTxQ8g9pethCxKQ8yLPIeJSPvw3trKprwdX1yqszns6mjuG/Vce287N1CaeNsBCe37yzez0k2jtC5ogzdzrrg2YjmzPBkIefNVoyHetzE3NoRGrkXgmROFPVr6AoLz9gK8bcUen0Kg9oldFSqxTU/vAwSOgAeEmxxHPjcMxbH3rTcH1h2/xoyWRIIN0DA34OzxC0tQONdpGp1ApksoEUrBfZOU8ap25+lCSNrulHgX3eUPiVrG0pbF02H69Gb15oaopgQGsDe3w5SIRJKJhKQBIQXT6/HExD3+rYCpYQqUzi0sJEqAOywRHPS9fVYk1ak/C1jJoAevEgCrQ2j9UvDk49yWFBjqmB9sXMqUpbeWxtqK3kNz0uq3Apd6YGLc0rtJSe9WMwcz5XZZndKYAsuHnDPR9VgjKaIk7ViRMDWKCKMweB2S8ilTURfUcUjbhPUh118bxNqfr3HN+QCB2pAkXY++xEpkXTXsmJYTuyTF1qC1xPH4+xktDzXQp1Kl27iYGuxJMuuH3G3odbfn4DuCxuPvuiEXY05TvvsgpN+5BuHyYGgOtxm/yiDpCkK1PPCTkm9cU304YXD9cj/uwe3ruXTmYKElgEr8zVZghq/8m1BV3KskyFh8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013b2w1ZQ6vZ3t4jEXb8QCtU",
      "input": {
        "note": "Wrist view shows the lemon high in frame and nearly on the jaw column, meaning it is still several cm ahead of the fingertips. Advancing radially ~7 cm and nudging slightly right to line up.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.11,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_013b2w1ZQ6vZ3t4jEXb8QCtU",
      "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, -0.4129, -0.0193, -0.0383, 0.9992, 0.4164, 1.4635, 0.6743, -0.0223, 0.3191, 0.1974, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1725 left_yaw=0.0029 left_pitch=-0.0324 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3599 right_y=0.1025 right_z=0.0705 right_yaw=0.0315 right_pitch=-0.1709 right_roll=-0.0853 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5111, 7.0085, 1.7802, -0.0708, -0.0366, -0.0122, -0.253, -5.6684, 8.1436, 1.8584, 0.0855, -0.0122, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e223a79ac406f96e31db98e16428bd7a2133bba54609766eb67483c28e76fcf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a524020ea4b792263bc49e914c8218e9aad746a4659524d0feb472dcce3aeff7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70676de1d5e06fdd53eea662327aff11b1daa97c826a4923dba585e365e0e96d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 4.513 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, 0.7918, 0.6037, -0.387, -0.0193, -0.0338, 0.9993, -0.0212, 0.7937, 0.6064, -0.4042, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.0009 right_z=0.1762 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -1.2239, 10.2632, 1.9853, -0.0806, 0.2222, -0.0855, -0.294, -1.2786, 9.7573, 2.0879, -0.0073, 0.0366, -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, -0.4053, -0.0193, -0.038, 0.9992, 0.5865, 1.2388, 0.5652, -0.0986, 0.4343, 0.3119, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1748 left_yaw=0.0027 left_pitch=-0.0217 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3123 right_y=0.1226 right_z=0.0951 right_yaw=0.0489 right_pitch=-0.095 right_roll=-0.0552 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.7162, 6.9812, 1.8584, -0.0366, -0.022, -0.0171, 0.1709, -4.2735, 10.1538, 1.7998, 0.4176, 0.2027, -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, 0.8013, 0.6067, -0.4129, -0.0193, -0.0383, 0.9992, 0.4164, 1.4635, 0.6743, -0.0223, 0.3191, 0.1974, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1725 left_yaw=0.0029 left_pitch=-0.0324 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3599 right_y=0.1025 right_z=0.0705 right_yaw=0.0315 right_pitch=-0.1709 right_roll=-0.0853 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5111, 7.0085, 1.7802, -0.0708, -0.0366, -0.0122, -0.253, -5.6684, 8.1436, 1.8584, 0.0855, -0.0122, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e223a79ac406f96e31db98e16428bd7a2133bba54609766eb67483c28e76fcf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a524020ea4b792263bc49e914c8218e9aad746a4659524d0feb472dcce3aeff7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70676de1d5e06fdd53eea662327aff11b1daa97c826a4923dba585e365e0e96d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAQKjgEIEhgCKkB/zIq9soiFRvheQi/TaJsU6uM6EZK+ZtuAnC0FLAQK6Y5Kr8wZhK+BNIlUjU7Vl0iT8aYxgBiutE0YspnKOmWhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ6ZzNUGEgzSWsTtMZ19v80JTF4aDBm9B3sqzUaG0OWCVCIw53OaA7ozlIFa4UWX5MOB8KcXwyu82O/OFIn0YKyD0ED3CINqZJa6OwP4FPjRmJYsKtYCI9XjuTU4prfQSUMZP/Mc5O+iZpkJCkRavFVR0RjJpMmUodiA9ljXeggeRqbX/NUlf2HEQKgPDMW2EuG3Gfo0UEwdx38UhaP3S2UFuNf3+j6axSVH0XGh07qtfwRPy6hJjIwpO3gdPJQuJcVx5fnaew5f5jjOr856xzgGgVWjQa6eYfLp87W2+mF9cvtmDxoPLB2zrc+jv6oLkf664bA453NlPR1Hh9yieTDp7eBJdzWe4vG4GclsZW0nfsIXqQRHSVb8WDCSRN9EbBi1ZtNZxqst3MUjNCGep62nkSf8lNHsz3M1Krz2R6jbMwMKzm/CI+6nR6d/ESa3lOPMUBToHGH2Ey1eSVZ6aH5Xo4bcu9KCaJP9kiptACXYcsQKjoZmacLIlhOtmTELPjkGkoMqs5cghns4SCpdRJgwGWWscKnfex5uCugaWDuUyDSgJez/yRNRFr7WGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YDSH4398k4E6yu8hhvNt25",
      "input": {
        "note": "Lemon is still high in the wrist frame though centred on the jaw column, so it remains ahead of the fingertips; advancing another ~7 cm and lowering toward lemon height.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.1,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YDSH4398k4E6yu8hhvNt25",
      "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, 0.804, 0.6067, -0.4278, -0.0193, -0.0383, 0.9992, 0.3283, 1.7561, 0.8211, 0.0566, 0.2565, 0.1307, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.05 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4073 right_y=0.0952 right_z=0.0247 right_yaw=0.0276 right_pitch=-0.253 right_roll=-0.1106 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.4564, 7.241, 1.8632, -0.022, -0.0464, -0.0122, -0.4444, -7.4872, 7.2957, 1.8193, 0.1392, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2ce573f7e2f7e60e34ae908274f5ff33f8c9987add4238b5a81331df7cf5ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49dd80e66e6f9e9fed3bacfea441ad14d1b5ef8fafad6d065d2c83c9645d9ae2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:049280fe69f4f08966fbf5b5a3b7d2030c5b0140254463a612f21a299b7dbc30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 6.083 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, -0.4053, -0.0193, -0.038, 0.9992, 0.5865, 1.2388, 0.5652, -0.0986, 0.4343, 0.3119, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1748 left_yaw=0.0027 left_pitch=-0.0217 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3123 right_y=0.1226 right_z=0.0951 right_yaw=0.0489 right_pitch=-0.095 right_roll=-0.0552 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.7162, 6.9812, 1.8584, -0.0366, -0.022, -0.0171, 0.1709, -4.2735, 10.1538, 1.7998, 0.4176, 0.2027, -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, 0.8013, 0.6067, -0.4129, -0.0193, -0.0383, 0.9992, 0.4164, 1.4635, 0.6743, -0.0223, 0.3191, 0.1974, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1725 left_yaw=0.0029 left_pitch=-0.0324 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3599 right_y=0.1025 right_z=0.0705 right_yaw=0.0315 right_pitch=-0.1709 right_roll=-0.0853 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5111, 7.0085, 1.7802, -0.0708, -0.0366, -0.0122, -0.253, -5.6684, 8.1436, 1.8584, 0.0855, -0.0122, -0.022]\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, 0.804, 0.6067, -0.4278, -0.0193, -0.0383, 0.9992, 0.3283, 1.7561, 0.8211, 0.0566, 0.2565, 0.1307, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.05 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4073 right_y=0.0952 right_z=0.0247 right_yaw=0.0276 right_pitch=-0.253 right_roll=-0.1106 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.4564, 7.241, 1.8632, -0.022, -0.0464, -0.0122, -0.4444, -7.4872, 7.2957, 1.8193, 0.1392, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2ce573f7e2f7e60e34ae908274f5ff33f8c9987add4238b5a81331df7cf5ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49dd80e66e6f9e9fed3bacfea441ad14d1b5ef8fafad6d065d2c83c9645d9ae2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:049280fe69f4f08966fbf5b5a3b7d2030c5b0140254463a612f21a299b7dbc30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8AQKjgEIEhgCKkCoB6Hp5cmVaXjIEl2TtVuLY8tfh43uXlDX2FgXqiPF/+iVclSsmZw2cr/1dcB5ZGffdhpDgnxSHiH/hPZT207CMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaOZzNUGEgzOQNSU2xdILhrxFs8aDN1NBVbvqb1aJ4fVRSIwI2guUAyU5OKOjwMFUBp1PkpGL2ItMTN5YVGeta2sxuZj3jqtm7n7y/DEAH2x72iJKo4DTY1HB6B7s8oEoLZmVkjsRxOUN20f7oH5ToLVm4PmEQ3Tfo/ZWPwiTvu5ig/75QTSQbJ6A1/ewSKKI8sxvWdo/ueV+t4VZO2E2tnYVUsyGosikfzNe1bRPRR+BgGc7Hje+7di61UnvtRWU8GdqRn0ZdhMyL/EFu/rom7txOtM6jGUSR5548vB2jOEhBDObDLIDXJp67T2J38Mjw9ocaH3aJ7GP3dhWKNxnlMTdUoWl2elNxe7cJ0GG2vFS+ZSH/aruhn68EscD+eSZZivjG6M7qUU2mpVGaPr+R/KJ98Pzp0dJuLJSXxuYD7upv98HjQGMFLSzhEvScErAJvxhvjXPpmcubGctgXmv1CbuUrBMkAjx6BpVs7JTx0HEkrGs13ZqBd1AeO0tQFKEXzBNOz9kUS1KhzOWOeBkZD8+XSyP2l4fyvjsdVE78AFGNMwLAVw7Y1Ij0/lzAelVVxNRYtz7qHkenDvM/Srxb/l4Ka+ZTJzUSMTsglxPKGMrhze6mIH8M2ahHL3SpiilQtNwpIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015DKbYkB6uBLRSRouyE2YmC",
      "input": {
        "note": "The lemon now fills the wrist view between the jaws, so I am closing the gripper on it.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015DKbYkB6uBLRSRouyE2YmC",
      "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, 0.804, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.326, 1.7729, 0.8242, 0.0383, 0.2489, 0.1234, 0.0544]\nstate[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1672 left_yaw=0.0031 left_pitch=-0.0576 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4036 right_y=0.0943 right_z=0.0161 right_yaw=0.0332 right_pitch=-0.2859 right_roll=-0.1193 right_gripper=0.0544\nstate[joint_eff]: [-0.0479, -1.2786, 6.9949, 1.7753, -0.0659, -0.0611, -0.0122, 0.0342, -9.3607, 5.3265, 1.58, 0.2027, 0.0171, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75efb1ab4cf7ed827e4034990b2085ea5255cd6a421c56ba1da9e4e29df911c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c55fe2ea14a9d6a4efbf4837b3132e37c906ae413156290fb69b13254301e766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2717341b168d347dbbaba55b861e002425d8ed7510e7d68687860fd9b7792c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 7.122 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, 0.8013, 0.6067, -0.4129, -0.0193, -0.0383, 0.9992, 0.4164, 1.4635, 0.6743, -0.0223, 0.3191, 0.1974, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1725 left_yaw=0.0029 left_pitch=-0.0324 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3599 right_y=0.1025 right_z=0.0705 right_yaw=0.0315 right_pitch=-0.1709 right_roll=-0.0853 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5111, 7.0085, 1.7802, -0.0708, -0.0366, -0.0122, -0.253, -5.6684, 8.1436, 1.8584, 0.0855, -0.0122, -0.022]\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, 0.804, 0.6067, -0.4278, -0.0193, -0.0383, 0.9992, 0.3283, 1.7561, 0.8211, 0.0566, 0.2565, 0.1307, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.05 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4073 right_y=0.0952 right_z=0.0247 right_yaw=0.0276 right_pitch=-0.253 right_roll=-0.1106 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.4564, 7.241, 1.8632, -0.022, -0.0464, -0.0122, -0.4444, -7.4872, 7.2957, 1.8193, 0.1392, 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 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, 0.804, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.326, 1.7729, 0.8242, 0.0383, 0.2489, 0.1234, 0.0544]\nstate[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1672 left_yaw=0.0031 left_pitch=-0.0576 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4036 right_y=0.0943 right_z=0.0161 right_yaw=0.0332 right_pitch=-0.2859 right_roll=-0.1193 right_gripper=0.0544\nstate[joint_eff]: [-0.0479, -1.2786, 6.9949, 1.7753, -0.0659, -0.0611, -0.0122, 0.0342, -9.3607, 5.3265, 1.58, 0.2027, 0.0171, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75efb1ab4cf7ed827e4034990b2085ea5255cd6a421c56ba1da9e4e29df911c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c55fe2ea14a9d6a4efbf4837b3132e37c906ae413156290fb69b13254301e766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2717341b168d347dbbaba55b861e002425d8ed7510e7d68687860fd9b7792c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQYKjgEIEhgCKkCjY5e2KLNYS+RiWH2Esh5u+tR6s223QVFIPy5bWNZXAh+teUx5aYVePVR11N8bJqYbMNkJKfgxkqgC8jGxMWsNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaqZzNUGEgxjOvrWaW4eVBtM950aDEZcRrN/iwlkAYHX+SIw3lZKustGmxDS94So1cm6erwb2epPxvVFX/6jdR9fR2doFv6C7wcpXyTm3A/F9WXoKq8EpBPZTxWh+USDe21QIIg/Nflb/M0k1Y5SML7SSi1Ea8Lmqw44fAD9sZEhz31JrmA5HgZs8518yPYojHGMimJjZFIRKnDdNpmT1NqSpZmXJOosRNd0/gFcdIzl7+ViGZlmaZ3HP46LqkvLosK6ctvR4vZX28pG5vFQhsPgVj4nK2bUYK+Kd2CyQm8chYT/yqmoiKcjT1Z8HIQ+Du0byl1YmOiNF+DMaF4hwL79BjkWgISWP5j9GXNEREIEAI38tKf9V5y9X/Gxf9NRK31O/hv+e53YWLHgEfGeyfma+S/Dw0M2He/pCytlSFRuv9vXeon114bHpf9oUwsJn3PY0j3YfPmhhlwsQRfgiIfr1tV7EKF06GPVSzV8NyM1u02bG+9YfBSiioYNK6UY0sqSGRJpXNtv/QlLPWg28GiGIaNTt+eyHiPM/dLbpiSbKfqXlh88a+cDtVnzOM2xA5DNlcza3qtVW7X7O5EU/63cvMPUZmUoI9VD6iNRLJqcsUzwablBAqkOe7yGusHsTvJsRO/3B+if6Co8SGnhmErsKxqtYPVvAshw1iqmgbIHUqvLdMzjqV1qxuw3WO4CweWW9uQdZ3bMt5Gx/eoo1fJyYfhCVXwkV5euIUftJxVQcHeaPrMZMLdhyE5RD7fHPftBy+/GSRJ3JYMDJyritGfxDRYE5rnWdZK/5K4a5xBSN90IuTb3bB+7HHVIPDnupdsZHPOkDD6HxFkOy6AKFYYtTCnOdRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AEG4RDHVyzJqnBxuPGWJtm",
      "input": {
        "note": "The close read 0.05 (empty) and the lemon is still just ahead of the jaws, so I am reopening and advancing 4 cm further out.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AEG4RDHVyzJqnBxuPGWJtm",
      "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, 0.804, 0.6067, -0.4534, -0.0193, -0.0383, 0.9992, 0.2882, 1.898, 0.9852, -0.0299, 0.2199, 0.0818, 0.9948]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1637 left_yaw=0.0029 left_pitch=-0.0755 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4362 right_y=0.0929 right_z=0.0087 right_yaw=0.0413 right_pitch=-0.3261 right_roll=-0.1322 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.8046, -0.0562, -0.0659, -0.0122, -0.6769, -8.0205, 7.7607, 1.6044, 0.0659, 0.0611, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3c885b0d6790f244d7c1a0705bca6aad7d9af51e1770d9d3c1a06fb67a563ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ca97c0633d5cb6df7c1e7c91da0e3263f4b6f70df13fe984c76d621ed9970c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb316376e802a1bf7df2d5ecb7683d32c5a23e993897d256d1aad5710400c137",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 3.049 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, 0.804, 0.6067, -0.4278, -0.0193, -0.0383, 0.9992, 0.3283, 1.7561, 0.8211, 0.0566, 0.2565, 0.1307, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1687 left_yaw=0.0029 left_pitch=-0.05 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4073 right_y=0.0952 right_z=0.0247 right_yaw=0.0276 right_pitch=-0.253 right_roll=-0.1106 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.4564, 7.241, 1.8632, -0.022, -0.0464, -0.0122, -0.4444, -7.4872, 7.2957, 1.8193, 0.1392, 0.0171, -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, 0.804, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.326, 1.7729, 0.8242, 0.0383, 0.2489, 0.1234, 0.0544]\nstate[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1672 left_yaw=0.0031 left_pitch=-0.0576 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4036 right_y=0.0943 right_z=0.0161 right_yaw=0.0332 right_pitch=-0.2859 right_roll=-0.1193 right_gripper=0.0544\nstate[joint_eff]: [-0.0479, -1.2786, 6.9949, 1.7753, -0.0659, -0.0611, -0.0122, 0.0342, -9.3607, 5.3265, 1.58, 0.2027, 0.0171, 0.0855]\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, 0.804, 0.6067, -0.4534, -0.0193, -0.0383, 0.9992, 0.2882, 1.898, 0.9852, -0.0299, 0.2199, 0.0818, 0.9948]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1637 left_yaw=0.0029 left_pitch=-0.0755 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4362 right_y=0.0929 right_z=0.0087 right_yaw=0.0413 right_pitch=-0.3261 right_roll=-0.1322 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.8046, -0.0562, -0.0659, -0.0122, -0.6769, -8.0205, 7.7607, 1.6044, 0.0659, 0.0611, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3c885b0d6790f244d7c1a0705bca6aad7d9af51e1770d9d3c1a06fb67a563ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ca97c0633d5cb6df7c1e7c91da0e3263f4b6f70df13fe984c76d621ed9970c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb316376e802a1bf7df2d5ecb7683d32c5a23e993897d256d1aad5710400c137",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gQKjgEIEhgCKkDTUmrKGX5OgNuxaAC9FOx80txBt+hKgWvlhEToATGfORdb6GZ3mStUz/7QfcBUc+AYnxEiVmPvLEOMYudVzmHbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbKZzNUGEgxPwv/+7Z8v694PztwaDLvOkeI8gwwYgtkZnyIwv3++kj+nD673PWbT3TzMAsSa0KPdwMreTQcLHPT3ROfi+9pSL6/viOIN1dxmApmuKvgCMWDWmRgcA5KbutcIHHKApozAyPnRoE48VcNgslO4KfDEozZahgOaL29eJ0VBZDPL1FLfz581rdEXaztKAGHmMc1+niNgcYWpBTc5vcB3bK2o7V6ibvy4JQzuyusDuDksA96am7vCSFxM5knTurP3zazspk08qU+SEH1ag7LDZzAHYjDbn8vEqUDt8GqSASLZSKjmx+cBYEPj4kMO0dhC7dD7V8oHgIrct8MXnoCgapu2v31b2co7Okwd4ha4oBjPIh1i1z/LZPXR05ARu6WUMjaqDBIA+Oz1KfhekEsLv41657DkRETvUGVegwpajbQoB00LPxk9u0si+NOyZT5KUddUL19RfKN6PtFUdSwif7r84UJDm0IjpqvZnP2Ud1OZfCNguis0dK94cP74m18Ex06nUW55QehMkoHG5GIYs6ow989J0/sRiY0llGlhS+rel+7tyZ/Gk5duu7BSfmk5Ld7lmV1zyyWJ+Jp/SVUcBYar8Ts3yfsovRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0192UgZsAVeyJ4KRxMsTzZNz",
      "input": {
        "note": "Lemon is now low in the wrist view (near the fingertips) but shifted to image-left of the jaw column; nudging the arm 2 cm to its left to centre it before closing.",
        "targets": {
          "right_y": 0.115
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_0192UgZsAVeyJ4KRxMsTzZNz",
      "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, 0.804, 0.6067, -0.4568, -0.0193, -0.0383, 0.9992, 0.3164, 1.9041, 0.9943, -0.0429, 0.2409, 0.0998, 0.9954]\nstate[eef_state]: left_x=0.2848 left_y=0.0016 left_z=0.163 left_yaw=0.0029 left_pitch=-0.0789 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4341 right_y=0.1016 right_z=0.0081 right_yaw=0.0404 right_pitch=-0.33 right_roll=-0.1408 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -1.1692, 7.2684, 1.7607, -0.0659, -0.0464, -0.0073, 1.3333, -7.9248, 7.8154, 1.4725, -0.0073, 0.1245, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:170099d651200b0e4714b75a23211dcf0d06ae0d384c37121abd6dd0eceb0a06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6641769060c64dd9172312c73d4313232bfca1e2fe4aee2f486066f7ba48188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c058f71d1fd07520480ac3b40f990bde6d3c13c8ea39f3d027e5f23c1aa65d8",
        "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 · 6.472 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, 0.804, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.326, 1.7729, 0.8242, 0.0383, 0.2489, 0.1234, 0.0544]\nstate[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1672 left_yaw=0.0031 left_pitch=-0.0576 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4036 right_y=0.0943 right_z=0.0161 right_yaw=0.0332 right_pitch=-0.2859 right_roll=-0.1193 right_gripper=0.0544\nstate[joint_eff]: [-0.0479, -1.2786, 6.9949, 1.7753, -0.0659, -0.0611, -0.0122, 0.0342, -9.3607, 5.3265, 1.58, 0.2027, 0.0171, 0.0855]\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, 0.804, 0.6067, -0.4534, -0.0193, -0.0383, 0.9992, 0.2882, 1.898, 0.9852, -0.0299, 0.2199, 0.0818, 0.9948]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1637 left_yaw=0.0029 left_pitch=-0.0755 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4362 right_y=0.0929 right_z=0.0087 right_yaw=0.0413 right_pitch=-0.3261 right_roll=-0.1322 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.8046, -0.0562, -0.0659, -0.0122, -0.6769, -8.0205, 7.7607, 1.6044, 0.0659, 0.0611, -0.1636]",
      "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, 0.804, 0.6067, -0.4568, -0.0193, -0.0383, 0.9992, 0.3164, 1.9041, 0.9943, -0.0429, 0.2409, 0.0998, 0.9954]\nstate[eef_state]: left_x=0.2848 left_y=0.0016 left_z=0.163 left_yaw=0.0029 left_pitch=-0.0789 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4341 right_y=0.1016 right_z=0.0081 right_yaw=0.0404 right_pitch=-0.33 right_roll=-0.1408 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -1.1692, 7.2684, 1.7607, -0.0659, -0.0464, -0.0073, 1.3333, -7.9248, 7.8154, 1.4725, -0.0073, 0.1245, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:170099d651200b0e4714b75a23211dcf0d06ae0d384c37121abd6dd0eceb0a06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6641769060c64dd9172312c73d4313232bfca1e2fe4aee2f486066f7ba48188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c058f71d1fd07520480ac3b40f990bde6d3c13c8ea39f3d027e5f23c1aa65d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwIKjgEIEhgCKkBxPByzYXPcwW7JN+Kq++nw74POr37cbVGClmf+rIDNa55VecHsD3zbZ0qTsaGhF4gmgYEtzDppejSZimN7dV3TMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbWZzNUGEgwJUr1WnabOwGpFa58aDG9ieCb4P+6/T10TJiIwxQgUmiSEsOEiQtw05tYKKgWUbBcXojXPYvMnnxFJnvpITVzj/SlppH9TNiJfhSQjKmJs08HfT9ZkMXALPzk7q3rSY3XAlEz8KbYXj6sfha2pDYKDJrsNEjeYKe+tM4fS2yBqkU8FX/sjtZ41CyqW03UqSXRbQg6Togtnfm/SWHuK5hxTRtpVeGd7sIXiGwOWhrn4ixgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017fnnzrfbh1SDVpa7gYtnDJ",
      "input": {
        "note": "Lemon is now centred on the jaw column at the bottom of the wrist view; closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017fnnzrfbh1SDVpa7gYtnDJ",
      "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, 0.804, 0.6067, -0.4671, -0.0193, -0.0383, 0.9992, 0.3504, 1.9099, 1.0023, -0.0734, 0.2466, 0.1234, 0.205]\nstate[eef_state]: left_x=0.2833 left_y=0.0016 left_z=0.161 left_yaw=0.003 left_pitch=-0.0892 left_roll=-0.0019 left_gripper=0.9992 right_x=0.427 right_y=0.114 right_z=0.0044 right_yaw=0.0528 right_pitch=-0.3539 right_roll=-0.139 right_gripper=0.205\nstate[joint_eff]: [-0.0615, -1.2513, 7.2684, 1.7851, -0.0611, -0.0269, -0.0122, -0.3214, -8.1983, 7.0769, 1.4774, 0.2173, 0.0562, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f2b857ffdbc7dd7baa7d8dee374e2e79dfda29ff901b8cbae56fd982493169d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a48cb6cceeace433b1ec760e8e992481a17b848263d7bed53e8f57426dd5073a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe56bd046b679e619e530e142cf902dc1b84f8da781614f71277633585acfdd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 11.57 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, 0.804, 0.6067, -0.4534, -0.0193, -0.0383, 0.9992, 0.2882, 1.898, 0.9852, -0.0299, 0.2199, 0.0818, 0.9948]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1637 left_yaw=0.0029 left_pitch=-0.0755 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4362 right_y=0.0929 right_z=0.0087 right_yaw=0.0413 right_pitch=-0.3261 right_roll=-0.1322 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.8046, -0.0562, -0.0659, -0.0122, -0.6769, -8.0205, 7.7607, 1.6044, 0.0659, 0.0611, -0.1636]",
      "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, 0.804, 0.6067, -0.4568, -0.0193, -0.0383, 0.9992, 0.3164, 1.9041, 0.9943, -0.0429, 0.2409, 0.0998, 0.9954]\nstate[eef_state]: left_x=0.2848 left_y=0.0016 left_z=0.163 left_yaw=0.0029 left_pitch=-0.0789 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4341 right_y=0.1016 right_z=0.0081 right_yaw=0.0404 right_pitch=-0.33 right_roll=-0.1408 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -1.1692, 7.2684, 1.7607, -0.0659, -0.0464, -0.0073, 1.3333, -7.9248, 7.8154, 1.4725, -0.0073, 0.1245, -0.0024]",
      "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, 0.804, 0.6067, -0.4671, -0.0193, -0.0383, 0.9992, 0.3504, 1.9099, 1.0023, -0.0734, 0.2466, 0.1234, 0.205]\nstate[eef_state]: left_x=0.2833 left_y=0.0016 left_z=0.161 left_yaw=0.003 left_pitch=-0.0892 left_roll=-0.0019 left_gripper=0.9992 right_x=0.427 right_y=0.114 right_z=0.0044 right_yaw=0.0528 right_pitch=-0.3539 right_roll=-0.139 right_gripper=0.205\nstate[joint_eff]: [-0.0615, -1.2513, 7.2684, 1.7851, -0.0611, -0.0269, -0.0122, -0.3214, -8.1983, 7.0769, 1.4774, 0.2173, 0.0562, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f2b857ffdbc7dd7baa7d8dee374e2e79dfda29ff901b8cbae56fd982493169d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a48cb6cceeace433b1ec760e8e992481a17b848263d7bed53e8f57426dd5073a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe56bd046b679e619e530e142cf902dc1b84f8da781614f71277633585acfdd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISrwYKjgEIEhgCKkAqkG/jeDoDBeEjOTFfoLbkvTEXr+qU3KfC1W51kjMMp7gi/fDLWgCdiA9M5gXshOMg//K9yi2No+5hQ6dLN4qPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbyZzNUGEgy7T82KufwfmTQVZY8aDByd5JfaFE1WQ4ndXSIwSyZpWvM9rGo4s64NzUlokSqIPQtgZovDU02rpLnsxl7FyI1ZX/SJOyXYoigWgAQsKs0EBOdVawb02phPJjESa3O7ZuY6gyKdtpony+4pQDQnzmcW5lCLu7wX558Hj40DpzkmsnNnvRcP0rdZqncHh5YTUmevmZ0ydi+fzkaBRbpkObZThDVDhNSqn23TOKkuupyDw2ypgw/sxfzXfLO8fGrYKggyenaIwoprtxaCK1vxsvJldCZB6gGbAw18c7VtzXBDHyUGy9hAZNI6H7DgDtipkjQ7U/GHmElpk73PbIcV93UMCgMdGnDf4uZ/nnTg4/bCC+tUQ3EpDj0PZzrZ8E+I+pyl+5W5IUKHbvsB+rV0Hc60z30/pyOQwI13Befs6aRqyqMMsmRQ69sNJ+059uwFRCOV04WXuXjJTSbc1URsw9mGAc6O+aUufO+PPX9o+2gaR0oV8PoK6cEewsFxKAhfANda05GI+h6k9cPx+MIzEPyXk1A1qph4GoAXcdTQLLwQzcWSu9kmXeBc6NtWVHkfI4RpacqqvxgbiGUiMFPjn5vCWBumWWeRz1rORkhdZRo1WkuYrBjs7arBI2uKXdA20fwkoNl4oZ6A7Lo7SDAZ3qgIbhNtLpzsa2xbYEBvO+WCQM1E+tUi8+O9LSL9PNCQv09EG7s5KyZcUMwaZHkKDKeDsnAEAq0vO/0CmuqZZAEEGtTRqiGK+ew1t0xWHCaY/5XKOvLCXW81KQu4FNSq9wvWc4g+tUhegmJjT+I5ureFOlft2IzQx/7NGKZ/++JSPpbddvLGmuQv3wJDfKI6vNbSQybNHlvlW3rQtUDn8i1ZWaqlRjFfIQJoe3cHoRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WqoJfeLRmeah1uMGfQCWrR",
      "input": {
        "note": "Gripper closed to 0.2 (1.9 cm gap) which is too narrow for a 6 cm lemon, so I am lifting 10 cm to check in the overhead view whether the lemon came with the jaws.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WqoJfeLRmeah1uMGfQCWrR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4797, -0.0193, -0.0383, 0.9992, 0.3508, 1.7477, 1.2324, -0.4728, 0.2424, 0.1154, 0.2033]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1581 left_yaw=0.003 left_pitch=-0.1037 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4285 right_y=0.1155 right_z=0.1018 right_yaw=0.0606 right_pitch=-0.3625 right_roll=-0.1427 right_gripper=0.2033\nstate[joint_eff]: [-0.0752, -1.4017, 6.9812, 1.7411, -0.0513, -0.0464, -0.0073, -0.0615, -10.8786, 8.8957, 1.4481, 0.149, 0.022, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:277ae1581c1c23ce194081fb6e9fb1d62afe3bd263d278cd396398132b6d3cde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a34303f6e9dd0adeaa3b7a8c9b40c886df70cf6841a7c45383accbf6a42cee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:979d78c8324e4ad98aab7798728d68e79c5a027924a1e1dd53a7ff20faa23c0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 12.54 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, 0.804, 0.6067, -0.4568, -0.0193, -0.0383, 0.9992, 0.3164, 1.9041, 0.9943, -0.0429, 0.2409, 0.0998, 0.9954]\nstate[eef_state]: left_x=0.2848 left_y=0.0016 left_z=0.163 left_yaw=0.0029 left_pitch=-0.0789 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4341 right_y=0.1016 right_z=0.0081 right_yaw=0.0404 right_pitch=-0.33 right_roll=-0.1408 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -1.1692, 7.2684, 1.7607, -0.0659, -0.0464, -0.0073, 1.3333, -7.9248, 7.8154, 1.4725, -0.0073, 0.1245, -0.0024]",
      "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, 0.804, 0.6067, -0.4671, -0.0193, -0.0383, 0.9992, 0.3504, 1.9099, 1.0023, -0.0734, 0.2466, 0.1234, 0.205]\nstate[eef_state]: left_x=0.2833 left_y=0.0016 left_z=0.161 left_yaw=0.003 left_pitch=-0.0892 left_roll=-0.0019 left_gripper=0.9992 right_x=0.427 right_y=0.114 right_z=0.0044 right_yaw=0.0528 right_pitch=-0.3539 right_roll=-0.139 right_gripper=0.205\nstate[joint_eff]: [-0.0615, -1.2513, 7.2684, 1.7851, -0.0611, -0.0269, -0.0122, -0.3214, -8.1983, 7.0769, 1.4774, 0.2173, 0.0562, 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, 0.8059, 0.6067, -0.4797, -0.0193, -0.0383, 0.9992, 0.3508, 1.7477, 1.2324, -0.4728, 0.2424, 0.1154, 0.2033]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1581 left_yaw=0.003 left_pitch=-0.1037 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4285 right_y=0.1155 right_z=0.1018 right_yaw=0.0606 right_pitch=-0.3625 right_roll=-0.1427 right_gripper=0.2033\nstate[joint_eff]: [-0.0752, -1.4017, 6.9812, 1.7411, -0.0513, -0.0464, -0.0073, -0.0615, -10.8786, 8.8957, 1.4481, 0.149, 0.022, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:277ae1581c1c23ce194081fb6e9fb1d62afe3bd263d278cd396398132b6d3cde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a34303f6e9dd0adeaa3b7a8c9b40c886df70cf6841a7c45383accbf6a42cee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:979d78c8324e4ad98aab7798728d68e79c5a027924a1e1dd53a7ff20faa23c0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISwgsKjgEIEhgCKkBMlNObvL11ii+k9UofRgQ6YE49kV5O9bzF7jANeZu+xBoeB7HT9cZ7ZWGdoPq1CqTbUNyRSioMou8nGucw7J73Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcmZzNUGEgyP7saiq5sIj8534j0aDJYlJYRN9NrMPyXr+iIwQK8s5m3tY3xSjIqvYIOlALCbW+4Pwmdx2aG4WLpTq/Ix/gO0Rxh4zF1U17ursn0qKuAJxYCEaY57467rUFFqRjl4WF6P4XKMEOmwTgV3U4wz80grxucaqzuaDYlgR90O5LSGTJiiszdlVBNKPbMWA26/hytmOe1fAlyuxQTfOz191VfY5tH570uijRvrqw0x2mHW6gHVHux1Zu6gDYqMh26v8Xgt1+dCkZMGy5CHl4NC6m7emv2RnrOsfsjj3yDX2PQUvI6KtCtAvjADXb8eBmcPV8ZN2uMVqlMJ8gJT0oma8t4lbRvXRZIboWv+w7ozvHQfUh5zeE52Dy498YSnHoXWJT780oJY/fxgjL52knpNTaW7M1Uy22shR6/g9eLZtDLKTRDFZzQwh2r0/dT6juEz4EDqMPnEPcKJl2MqJQlKi3IW/P7KmnnnDuYgiavuHm5lxonijYIkcgXU/Rk+i9dx61E0hp93IcG+Rvgx2SkRLKiNzc4OYHJouHlZIbYeFR35Nc9du+9rRz34+ky6D80E1RV4F5FdwON0VISutJROksnfVHu7M7j2n1+gat1pBiXWw8/F4WW76OmlpkKx7yyuII0JIJFj8z1RzY/8+YPfBfUhLFWp2QxG53weWkZeNfap+SMwjGYDFtGfYfzgfjmYzMY72JSb1ibWnW7AomhUt3EuhS09i7AWocxyV+kghVROSnJhM9cJBgwMHQvjbxm6/kPio/kwvuWpeh+y2U8x0jNIqcAL4TJH8GHqMJB0ve1G05PMozt1ThmPl19IssWlvWt+k3DxI7rgJtsdB2vqRgL2WMCO9gB97AkWgXilN8sW4FkhFo3HbFbQgKGVN+tMjuHIouMPtxGPOyvTUf5xFG1MxF+KfNFGj9hI4C5f9wYkCGAO/oxUUpkau5Fh0bJi5d4yVcb6h8soJxGPo05PbC36/0TmQbc3+LzBM5+fnzs8bqzNJa0a9SdBmG/BxW8o133+0udTUxE0+3JKOFEdsqmYvzDmp3J+iegNxDOixz6DDM5769thH4KK//H8GRfl4mt4qqXKc6ldWs5VpLaH/A08nhh+//iZtojeqWUlxqFIKiGZzfxHiJ6ssNQu0r9BPjgIidC8JAuqQ2YDWNTCJYV+Qe56Hh9/snWK1s4CR9vOSbAAi4Jm/WrBEGzxRCqPNoMdBm/iyWdaqJUneURv4mdrM9Ejc1JMYyrfZvY7MVqh6SmAIZHh+OpIIRFjhA0C90hTd8sK6/tbOqR+1OiLredumKNp0VO4ZsU1FG7NVqgOey1YXvFYl/20IjgN2vNz9DnXl9wsGUi83JORRRY6VLTl8cF6o8mJ1D02DPtDRhsvYOivb7LtkkGy4RsCeQ7QRgJ35vvICmwjkM0hhz2AfigRj+Bn+hdUdh25x0MZjorMLs6reD+PYlJNNkw6Z+kXW+2MsomUPFKeXM4ggksDtjES6U2dBg8RfnZsqOAXfmaxCOCveT2K7Y68KL9Q1EyHgWp2vVwlZiwinV+iKyRD1hDLhf33c7hK/rar8DRUII5Gnr5jSNXX+u7RDN2POOWZbNw9eO+J8nsNeAl5icbdRB+1gbezhiUQyIs6zdBcuaKA0Vms2gZ+DRa7hrhNverJXG8eWfN3nqJqITrDbZhugVci61ZOp2Xe/RyiMHoFR+8CRBHbYihmx4GuANln4qHCz4uHaw7UHI0qc/y4Iu3nC8pq3ENMVkC/KPZsuC8TQ5ztGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YB7FaUf1ZgcyetjKQAzfi1",
      "input": {
        "note": "The lemon is grasped and lifted (visible held above the jaws). Carrying it up and left toward the open safe, which sits near the table centre.",
        "targets": {
          "right_y": 0.26,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01YB7FaUf1ZgcyetjKQAzfi1",
      "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, 0.8062, 0.6067, -0.4957, -0.0193, -0.0387, 0.9992, 0.6716, 2.064, 2.1239, -1.1305, 0.3866, 0.3721, 0.2032]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1549 left_yaw=0.0032 left_pitch=-0.1201 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4291 right_y=0.2605 right_z=0.2142 right_yaw=0.0989 right_pitch=-0.3659 right_roll=-0.1408 right_gripper=0.2032\nstate[joint_eff]: [-0.1162, -1.2786, 6.9812, 1.7753, -0.0513, -0.0659, -0.0122, 0.2393, -10.359, 7.6786, 0.989, 0.315, 0.1832, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46aea9339fd6312b064bba4d01e8ca38554e47c5af3d7c9bc30a734688ac9532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fca85bcf7eac2485646d5f7e2ee57dd96bbc84e7cc9c2386463aaeb4cf8f1d9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f959cda1b9c28f70cda52e69a839fce8527f5dd44367eb7e6e7f759443d544e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 13.2 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, 0.804, 0.6067, -0.4671, -0.0193, -0.0383, 0.9992, 0.3504, 1.9099, 1.0023, -0.0734, 0.2466, 0.1234, 0.205]\nstate[eef_state]: left_x=0.2833 left_y=0.0016 left_z=0.161 left_yaw=0.003 left_pitch=-0.0892 left_roll=-0.0019 left_gripper=0.9992 right_x=0.427 right_y=0.114 right_z=0.0044 right_yaw=0.0528 right_pitch=-0.3539 right_roll=-0.139 right_gripper=0.205\nstate[joint_eff]: [-0.0615, -1.2513, 7.2684, 1.7851, -0.0611, -0.0269, -0.0122, -0.3214, -8.1983, 7.0769, 1.4774, 0.2173, 0.0562, 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, 0.8059, 0.6067, -0.4797, -0.0193, -0.0383, 0.9992, 0.3508, 1.7477, 1.2324, -0.4728, 0.2424, 0.1154, 0.2033]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1581 left_yaw=0.003 left_pitch=-0.1037 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4285 right_y=0.1155 right_z=0.1018 right_yaw=0.0606 right_pitch=-0.3625 right_roll=-0.1427 right_gripper=0.2033\nstate[joint_eff]: [-0.0752, -1.4017, 6.9812, 1.7411, -0.0513, -0.0464, -0.0073, -0.0615, -10.8786, 8.8957, 1.4481, 0.149, 0.022, -0.1832]",
      "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, 0.8062, 0.6067, -0.4957, -0.0193, -0.0387, 0.9992, 0.6716, 2.064, 2.1239, -1.1305, 0.3866, 0.3721, 0.2032]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1549 left_yaw=0.0032 left_pitch=-0.1201 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4291 right_y=0.2605 right_z=0.2142 right_yaw=0.0989 right_pitch=-0.3659 right_roll=-0.1408 right_gripper=0.2032\nstate[joint_eff]: [-0.1162, -1.2786, 6.9812, 1.7753, -0.0513, -0.0659, -0.0122, 0.2393, -10.359, 7.6786, 0.989, 0.315, 0.1832, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46aea9339fd6312b064bba4d01e8ca38554e47c5af3d7c9bc30a734688ac9532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fca85bcf7eac2485646d5f7e2ee57dd96bbc84e7cc9c2386463aaeb4cf8f1d9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f959cda1b9c28f70cda52e69a839fce8527f5dd44367eb7e6e7f759443d544e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WE29YWKUnHsNiBz4njKqDe",
      "input": {
        "note": "Wrist view shows the red safe interior just to the left of the jaws with the lemon still held; shifting ~6 cm further left to hover over the middle of the safe's open compartment.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WE29YWKUnHsNiBz4njKqDe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5114, -0.0193, -0.0387, 0.9992, 0.799, 2.2284, 2.3779, -1.2861, 0.4183, 0.458, 0.2032]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1516 left_yaw=0.0033 left_pitch=-0.1373 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4059 right_y=0.3194 right_z=0.2069 right_yaw=0.1364 right_pitch=-0.3965 right_roll=-0.1546 right_gripper=0.2032\nstate[joint_eff]: [-0.0479, -1.3333, 6.9402, 1.7265, -0.0611, -0.0611, -0.0122, -0.6496, -11.6171, 8.1026, 0.8913, 0.3834, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe7fc82ca47dea67292a7bee508f08649ac9710bd832a133723ab57149e21cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c075cbf1eda7120238c1441d8d7cc32f96fcbff14da4f5ea9de22d22dea749c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83551758fcfde572f2f10738770d3519b686200f1570d49d721c0e49d781c9ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 8.123 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, 0.8059, 0.6067, -0.4797, -0.0193, -0.0383, 0.9992, 0.3508, 1.7477, 1.2324, -0.4728, 0.2424, 0.1154, 0.2033]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1581 left_yaw=0.003 left_pitch=-0.1037 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4285 right_y=0.1155 right_z=0.1018 right_yaw=0.0606 right_pitch=-0.3625 right_roll=-0.1427 right_gripper=0.2033\nstate[joint_eff]: [-0.0752, -1.4017, 6.9812, 1.7411, -0.0513, -0.0464, -0.0073, -0.0615, -10.8786, 8.8957, 1.4481, 0.149, 0.022, -0.1832]",
      "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, 0.8062, 0.6067, -0.4957, -0.0193, -0.0387, 0.9992, 0.6716, 2.064, 2.1239, -1.1305, 0.3866, 0.3721, 0.2032]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1549 left_yaw=0.0032 left_pitch=-0.1201 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4291 right_y=0.2605 right_z=0.2142 right_yaw=0.0989 right_pitch=-0.3659 right_roll=-0.1408 right_gripper=0.2032\nstate[joint_eff]: [-0.1162, -1.2786, 6.9812, 1.7753, -0.0513, -0.0659, -0.0122, 0.2393, -10.359, 7.6786, 0.989, 0.315, 0.1832, -0.0269]",
      "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, 0.8078, 0.6067, -0.5114, -0.0193, -0.0387, 0.9992, 0.799, 2.2284, 2.3779, -1.2861, 0.4183, 0.458, 0.2032]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1516 left_yaw=0.0033 left_pitch=-0.1373 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4059 right_y=0.3194 right_z=0.2069 right_yaw=0.1364 right_pitch=-0.3965 right_roll=-0.1546 right_gripper=0.2032\nstate[joint_eff]: [-0.0479, -1.3333, 6.9402, 1.7265, -0.0611, -0.0611, -0.0122, -0.6496, -11.6171, 8.1026, 0.8913, 0.3834, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe7fc82ca47dea67292a7bee508f08649ac9710bd832a133723ab57149e21cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c075cbf1eda7120238c1441d8d7cc32f96fcbff14da4f5ea9de22d22dea749c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83551758fcfde572f2f10738770d3519b686200f1570d49d721c0e49d781c9ef",
        "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_01T8SxKNWG25HK4aNFWtd7uE",
      "input": {
        "note": "I realise the lemon was never actually grasped — it is still sitting on the table (it moved right in the wrist view as the arm moved left). Returning over the lemon, this time reaching ~3 cm further out before closing.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.46,
          "right_y": 0.115,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01T8SxKNWG25HK4aNFWtd7uE",
      "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, -0.5224, -0.0189, -0.0383, 0.9992, 0.3267, 1.9518, 1.2369, -0.4694, 0.1864, 0.0387, 0.9975]\nstate[eef_state]: left_x=0.2747 left_y=0.0017 left_z=0.1495 left_yaw=0.0028 left_pitch=-0.1484 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4207 right_y=0.1118 right_z=0.0162 right_yaw=0.1098 right_pitch=-0.5716 right_roll=-0.1863 right_gripper=0.9975\nstate[joint_eff]: [-0.0889, -1.2239, 7.1043, 1.7411, -0.0708, -0.0366, -0.0073, -0.4171, -12.506, 9.4838, 2.2247, 0.0562, -0.1685, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26ebcb67786c5667da001dbc38fc3ab13d85db27604e386ff63995f2b871438e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7d231a672d317f54bd052405334e740a49c059c35940bb6c1b3cfdb3af45aee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:972fb97daddb85cc868554240a943a56eb613c4dae1922a5bc12d179080b0bb1",
        "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 · 13.21 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, 0.8062, 0.6067, -0.4957, -0.0193, -0.0387, 0.9992, 0.6716, 2.064, 2.1239, -1.1305, 0.3866, 0.3721, 0.2032]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1549 left_yaw=0.0032 left_pitch=-0.1201 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4291 right_y=0.2605 right_z=0.2142 right_yaw=0.0989 right_pitch=-0.3659 right_roll=-0.1408 right_gripper=0.2032\nstate[joint_eff]: [-0.1162, -1.2786, 6.9812, 1.7753, -0.0513, -0.0659, -0.0122, 0.2393, -10.359, 7.6786, 0.989, 0.315, 0.1832, -0.0269]",
      "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, 0.8078, 0.6067, -0.5114, -0.0193, -0.0387, 0.9992, 0.799, 2.2284, 2.3779, -1.2861, 0.4183, 0.458, 0.2032]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1516 left_yaw=0.0033 left_pitch=-0.1373 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4059 right_y=0.3194 right_z=0.2069 right_yaw=0.1364 right_pitch=-0.3965 right_roll=-0.1546 right_gripper=0.2032\nstate[joint_eff]: [-0.0479, -1.3333, 6.9402, 1.7265, -0.0611, -0.0611, -0.0122, -0.6496, -11.6171, 8.1026, 0.8913, 0.3834, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5224, -0.0189, -0.0383, 0.9992, 0.3267, 1.9518, 1.2369, -0.4694, 0.1864, 0.0387, 0.9975]\nstate[eef_state]: left_x=0.2747 left_y=0.0017 left_z=0.1495 left_yaw=0.0028 left_pitch=-0.1484 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4207 right_y=0.1118 right_z=0.0162 right_yaw=0.1098 right_pitch=-0.5716 right_roll=-0.1863 right_gripper=0.9975\nstate[joint_eff]: [-0.0889, -1.2239, 7.1043, 1.7411, -0.0708, -0.0366, -0.0073, -0.4171, -12.506, 9.4838, 2.2247, 0.0562, -0.1685, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26ebcb67786c5667da001dbc38fc3ab13d85db27604e386ff63995f2b871438e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7d231a672d317f54bd052405334e740a49c059c35940bb6c1b3cfdb3af45aee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:972fb97daddb85cc868554240a943a56eb613c4dae1922a5bc12d179080b0bb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyQgKjgEIEhgCKkCAYlETdpIrMwiImtCrkVN2VrHQeSzJE19i1/QqaNvtG+WfTXBP3p6iO/AOKAN9d7fG+vl+73EkBlm0ONkIy6WSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6ZzNUGEgxY+BuI4Awh3gWl46MaDAMQLrOTlZ3jpakqtyIwwd60ogSs0S0GA5MIx+Jz1vDY8JICH+EiSsrNaPrH0+7zLWnaYMBm2vX8q8WmMhjCKucGvcDC6B2UWkZEwABKeAMzS60sQqbItpXbGzQYolnyv9ioPx3WfF2Hxv4aSf/sYnqMCbvPEVuJY2OVcJB61yapFBWnfY49h3SJ5iYvQJQx3BbmAJcoVV7pFTeMdLtf7x4DZBLBuHvVX3p0+wUGlHaCem7OhlofrZI+e49iRcOLNx+ScrxNxZCnH9hif7hVJnhDWei7kxxYjxNzP2n5Q/Mo+o2v2A5i30FDXEcggEeEB7E+B6Z2nj+ZDEAmInGC20duduSJZ9JtPXyyYn81Hpq09w/0sDLGaChGLKSm5c87Hsi9KMQi4fxAZe+v9sbeQ+tl08VXwBJr7JcJB4a52ISkLCd1ojSmmH4j6liYD3vfZJj1YzXBSBYuuDE/KXhVKh+WPeyG8pc4m10CDORWoDX9OfIqqSXw+9RF0zIK42jrUaqVXvUkTAn1V+d7P2+i5G6lLsubh5BzffO1sHpim+p0sCqrYbiZBWK3XLhyptSdZFMIxCdvzRLNEDyp0AGPkqu7/ZL0/H5qvxLvHxVE9pDNNrHfPh25ylddMWSdmnwS/48no3LjwhiBAEcTqIUOszg4P3maTtnS3IvFeQr//W5/viNkZn6XD3/WEuRHrhSBdoR0MOlfJMPMW+8MMnXIr7ieMi9JFMMZQjvvIKxi8YVG6fs0DYOM97tHjpwwANCgaOyKwOb/y/xzLTt5DpNB7puYuDnElN4kkq/nO938KFbweBV9nSYSW1muCD+T3lB9PI02tuESiDVHJpDq/hTaCqtWTek5A9WCsszd+uWg9IjvdcaA/aQ/aGIPheFIrR4/rK6vS4TCuOcDAXxtskpMc3tk0dsgnFnEohgpBq4Pb9hW6GwbkuyTvL70h+L83+ESMGaknVniBKtWfNEEfELByHRiHEpE9/zXujoj+WdOCTttAoiiSAQryS5VT6HTmt8gcuOmrZV9TsvYMCQUFr9GxF9RExZS+HbuLYbsOWu+0SqqnR/M4BBrTupXHLNwfZqTNyIVIN7cZoJMDuGCkyKR5oV1WFS+sh9COTuHYEIZALGD7LCuRFjYNoIKjOFc/WdOqxGSHXYDnsowiuDC8OgJBq6YmSDGct4eGJ8OO6C5w1EFeMHtFZIEXYqpPFyO6m7XzR4sDsNfqHTgRlP7XPrJWZEI/YQppRuyQRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FdmMWSeJP4iL2Z8piGMvKX",
      "input": {
        "note": "The lemon now fills the wrist view just right of the jaw column; nudging 2 cm right and closing the gripper fully on it.",
        "targets": {
          "right_gripper": 0,
          "right_y": 0.095
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FdmMWSeJP4iL2Z8piGMvKX",
      "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, 0.8082, 0.6067, -0.5308, -0.0189, -0.0383, 0.9992, 0.2863, 1.9461, 1.2003, -0.4725, 0.1707, -0.0029, 0.0089]\nstate[eef_state]: left_x=0.2733 left_y=0.0018 left_z=0.1479 left_yaw=0.0028 left_pitch=-0.1571 left_roll=-0.0007 left_gripper=0.9992 right_x=0.412 right_y=0.0937 right_z=0.0065 right_yaw=0.1076 right_pitch=-0.6121 right_roll=-0.1963 right_gripper=0.0089\nstate[joint_eff]: [-0.0342, -1.2239, 6.9265, 1.7167, -0.022, -0.0464, -0.0122, -0.4581, -10.8239, 6.5983, 1.1209, 0.0513, 0.0024, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31bad6d4ec3ea49f3992f4688dd1cb7973889c188ae05a5a9ff43982fdae9787",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d1681490f3217fbee5362de2d8f47e6212a090dd645164f11bc36fc536d0f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6a1bc6f821716be5989798ff005b556de65413bc64eb16a90af93329eda86f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 4.795 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, 0.8078, 0.6067, -0.5114, -0.0193, -0.0387, 0.9992, 0.799, 2.2284, 2.3779, -1.2861, 0.4183, 0.458, 0.2032]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1516 left_yaw=0.0033 left_pitch=-0.1373 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4059 right_y=0.3194 right_z=0.2069 right_yaw=0.1364 right_pitch=-0.3965 right_roll=-0.1546 right_gripper=0.2032\nstate[joint_eff]: [-0.0479, -1.3333, 6.9402, 1.7265, -0.0611, -0.0611, -0.0122, -0.6496, -11.6171, 8.1026, 0.8913, 0.3834, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5224, -0.0189, -0.0383, 0.9992, 0.3267, 1.9518, 1.2369, -0.4694, 0.1864, 0.0387, 0.9975]\nstate[eef_state]: left_x=0.2747 left_y=0.0017 left_z=0.1495 left_yaw=0.0028 left_pitch=-0.1484 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4207 right_y=0.1118 right_z=0.0162 right_yaw=0.1098 right_pitch=-0.5716 right_roll=-0.1863 right_gripper=0.9975\nstate[joint_eff]: [-0.0889, -1.2239, 7.1043, 1.7411, -0.0708, -0.0366, -0.0073, -0.4171, -12.506, 9.4838, 2.2247, 0.0562, -0.1685, -0.105]",
      "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, 0.8082, 0.6067, -0.5308, -0.0189, -0.0383, 0.9992, 0.2863, 1.9461, 1.2003, -0.4725, 0.1707, -0.0029, 0.0089]\nstate[eef_state]: left_x=0.2733 left_y=0.0018 left_z=0.1479 left_yaw=0.0028 left_pitch=-0.1571 left_roll=-0.0007 left_gripper=0.9992 right_x=0.412 right_y=0.0937 right_z=0.0065 right_yaw=0.1076 right_pitch=-0.6121 right_roll=-0.1963 right_gripper=0.0089\nstate[joint_eff]: [-0.0342, -1.2239, 6.9265, 1.7167, -0.022, -0.0464, -0.0122, -0.4581, -10.8239, 6.5983, 1.1209, 0.0513, 0.0024, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31bad6d4ec3ea49f3992f4688dd1cb7973889c188ae05a5a9ff43982fdae9787",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d1681490f3217fbee5362de2d8f47e6212a090dd645164f11bc36fc536d0f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6a1bc6f821716be5989798ff005b556de65413bc64eb16a90af93329eda86f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwkKjgEIEhgCKkCSY9qFhhEwfEL6NXqbO5p1ZMSCku6w1lxONiRYjOgpFOhK7ci9pr0NnKAySI7l1Wf72rCgrxVOF/R8ysau9g3rMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfuZzNUGEgyeFDCjZNHm12eamoUaDO/dz4jRc2I/XgzukyIwQTFBfwypKeg0tC70kJUloO2fMctgfZS/XrTmzwfYLx2BMqMhC4x3HfUrzQvQe0w/KskHWE1OADB3OHmD16RYDWZnJnmdQrXdxDC/O+ATPl0VHEQIkCX2wkO52jkRY1XediMin6telde70qxqpWbPYQGuLwjt2WZK2BbsqGPfSnnTwAOW/iCpZ55bYry5IDS9Qtso6pI4bcd0aqYpBEnG0IBrgWUXsN2dWfvyXA1p/I4Onj069O21CG5z6AdQoTCMxc3dhtxUnFkyGF30vwtK7K061hZi3FL0sUd1lczJWCTvlkDWOo+WMiZuyRXUG1q7BdY8xMkF/Sn9oInsX/ZVt+kcX6GGDAE40q3nahfmBdhxmiMwGepSbKNaiLcqAJiCXtMXMU9ka2CCO4qnCTg5jjPl2ySbnNDDde6MDlKtQivNoSMGhdu4MCwNad8Q6a0AFUNbalmtNAiodstnzgZ7S8HXhiXd66a+dR9S+Iz6COdXn67nteJpMr1XXMbC+4mWNrbvY0e0PasG5ZiVdOKcM1m7tdwhRziVbQnpbov6PgxmPFU2YYb0HJsqBmlvI1gdZRWH3VrMG/QSPtDHf4oEfjDyR6k4PJjgUG6YNCwUHJUcHO0ZLeN3sUJkmuBRmKk2DIMN2V/lqIQB9LQWXKPWmjuio9NagpZEE7yOJvGuzx3jR13oAmFtnq4cZeRNpHwING7hE1Sii3emTSIogLwx1bOv2nytdSUGgABYERF4yp27Mz+KFNIsm+D/QO5kchX4TrrPMddy0uADW2U3tlNJgs2Mfbfa2hDYIrQ1v3N2wKdQKquM+veQmXXZATJIEHep8LGA7IJgalMvGa64ZOTpg+DEhIp0j6zwVrcdUjQezPfYleeHbFYk2Y7jEteIZWuTH4v9wj8n4EI33H0GUthxVv4FkwO2fCRFFTWtylRrv+c7n/9JNmcVejRp7RqCcVKHrmY6BE6+F0Q6kR3klZN+lB3Js+DsLhu/e1+CgEV2b4ngxNPktXTfwDFoHtVoSkVQ021WMNhQojCplvq1i5hLSTjAqqJ6TTD58tDQyOmVoUXYMAPMSairkFbt0N2jkw/V2OIv4yFJ62W66qoeEiu1Ig8D20NREA2ZFrP0JR1uGVrjgBBa9Kl7F5zPxbTKwWwoY1vKWcCeJhK8GDqtnSt9Ss/BjGznNnGD4IGZ/GhpBgp4e6FmbFSI2Emkx+aYFBk+8avBqLBMwIh3+UUEyxHTjcYbHYGvOh2QHFC+51xO3UN5rv5d3IxH1PH+q7+56kmgswMjbhz7vmspzlT2NVEfeb+H0rEyIaRyUJxckkkYTK89Vp7XARdzUmddjL5/FUdNm/r15PIESHPvWu1yGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KCBw48A6qXf7jq8TtKAAP9",
      "input": {
        "note": "Closed empty again — the lemon sits beyond the fingertips and the wrist has pitched down to its limit, shortening reach. Backing up to a vertical-tool hover further out so I can descend straight down onto the lemon.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0,
          "right_x": 0.46,
          "right_y": 0.1,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01KCBw48A6qXf7jq8TtKAAP9",
      "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, 0.8082, 0.6067, -0.5404, -0.0193, -0.0383, 0.9992, 0.3046, 1.7054, 0.952, 0.0399, 0.2516, -0.0574, 0.9976]\nstate[eef_state]: left_x=0.2717 left_y=0.0019 left_z=0.1461 left_yaw=0.0032 left_pitch=-0.1667 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4486 right_y=0.0987 right_z=0.0921 right_yaw=0.1209 right_pitch=-0.1097 right_roll=-0.2041 right_gripper=0.9976\nstate[joint_eff]: [-0.1573, -1.0188, 6.9675, 1.6435, -0.0611, -0.022, -0.0122, 0.1573, -10.3863, 6.4068, 2.1074, 0.2662, -0.0464, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45520371eb02bdf4a835d22728a457bf994a28e83ddda7a60706cd755ef65534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0c211852d391584f2ee42e4420fbe318c4307b459e3f48607fe63fe76dbdc68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ac7101f7dc32371af567ab729b50d3c5d158fde260b7c37ad614fa7c70dc9cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 9.61 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5224, -0.0189, -0.0383, 0.9992, 0.3267, 1.9518, 1.2369, -0.4694, 0.1864, 0.0387, 0.9975]\nstate[eef_state]: left_x=0.2747 left_y=0.0017 left_z=0.1495 left_yaw=0.0028 left_pitch=-0.1484 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4207 right_y=0.1118 right_z=0.0162 right_yaw=0.1098 right_pitch=-0.5716 right_roll=-0.1863 right_gripper=0.9975\nstate[joint_eff]: [-0.0889, -1.2239, 7.1043, 1.7411, -0.0708, -0.0366, -0.0073, -0.4171, -12.506, 9.4838, 2.2247, 0.0562, -0.1685, -0.105]",
      "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, 0.8082, 0.6067, -0.5308, -0.0189, -0.0383, 0.9992, 0.2863, 1.9461, 1.2003, -0.4725, 0.1707, -0.0029, 0.0089]\nstate[eef_state]: left_x=0.2733 left_y=0.0018 left_z=0.1479 left_yaw=0.0028 left_pitch=-0.1571 left_roll=-0.0007 left_gripper=0.9992 right_x=0.412 right_y=0.0937 right_z=0.0065 right_yaw=0.1076 right_pitch=-0.6121 right_roll=-0.1963 right_gripper=0.0089\nstate[joint_eff]: [-0.0342, -1.2239, 6.9265, 1.7167, -0.022, -0.0464, -0.0122, -0.4581, -10.8239, 6.5983, 1.1209, 0.0513, 0.0024, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8082, 0.6067, -0.5404, -0.0193, -0.0383, 0.9992, 0.3046, 1.7054, 0.952, 0.0399, 0.2516, -0.0574, 0.9976]\nstate[eef_state]: left_x=0.2717 left_y=0.0019 left_z=0.1461 left_yaw=0.0032 left_pitch=-0.1667 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4486 right_y=0.0987 right_z=0.0921 right_yaw=0.1209 right_pitch=-0.1097 right_roll=-0.2041 right_gripper=0.9976\nstate[joint_eff]: [-0.1573, -1.0188, 6.9675, 1.6435, -0.0611, -0.022, -0.0122, 0.1573, -10.3863, 6.4068, 2.1074, 0.2662, -0.0464, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45520371eb02bdf4a835d22728a457bf994a28e83ddda7a60706cd755ef65534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0c211852d391584f2ee42e4420fbe318c4307b459e3f48607fe63fe76dbdc68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ac7101f7dc32371af567ab729b50d3c5d158fde260b7c37ad614fa7c70dc9cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShwUKjgEIEhgCKkAw66LeoacUUAXDDPo+eoP6lIj1Mekgwf/qV3bokQyr8QB2nv4QrjSqusGfage8i+oaKMZ/FYDSoMtocTOuG3JLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYOazNUGEgwQOHgvfgLdA6g9xMQaDB2E6BEWuw+bi8srCyIw0NZBeIfgXpdVujziJv0n8wzY3U09Oq+F0zQkKVNB+R3KP0cx5Y3KC1XN672281tXKqUDfkq5dqE1uKnu0agc7Wkw4Stgix2OzMovQ/9Su8GANe9C03LjO8/eOkm27UXnNMxp0IrBLvUqDWFTPYYrklUVPyIohg/LIUSZ0v7iCsSCScLNrF9qzVUw1Rkjvr9Uo1jhQJgzqCrNnYT1lZAOQXR+egdd4tko9CqIb9hfKzum3bMASy/dAuyU7ijPVx2SYt9cfeQuChrvKUNINAq+Ynutqlz7EZlhH7VfzrHOnApDELlaA/IetveT8WHelUUrV5tZFiVSouwh2/pNdf/VdIXqMOGL0mINB8jMzxpNut6tdTG+4TzQe6szoRhKX9gBylzJ/2XO7RWRXPXVj0lUskw12fFtASOMwFYTs8CDR67pSoYiYkTCXG95TlJ6Lu5cxbXvVQCIpOSRelq2Vw8Qqwh8FYvyZfxlWpTqAgDY4o3vdCBq7iK/kIg7/WfBFhF3fwbn2oQ4YTo/ZsYyfO/V5vf5PyXgLWCYnT7t8OC2sAnf71zmcIhhGr3O+k85NB9ZZLB+noinrF84O+EecquMo60rBTDVeEKmZOmb4ZecYPOFXJngg1GtexgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XXdV53enzQVZwHW6ABH3jj",
      "input": {
        "note": "Tool is now near-vertical at x=0.45 with the lemon just below-centre in the wrist view; descending to lemon height to see the alignment at grasp level.",
        "targets": {
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XXdV53enzQVZwHW6ABH3jj",
      "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, -0.5484, -0.0193, -0.0383, 0.9992, 0.3046, 1.8297, 0.8516, 0.1864, 0.2493, -0.0635, 0.9988]\nstate[eef_state]: left_x=0.2704 left_y=0.0019 left_z=0.1443 left_yaw=0.0032 left_pitch=-0.1762 left_roll=0.0 left_gripper=0.9992 right_x=0.4354 right_y=0.095 right_z=0.026 right_yaw=0.1241 right_pitch=-0.1876 right_roll=-0.2215 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -1.2513, 7.0906, 1.6679, -0.0806, -0.0708, -0.0122, -0.0752, -8.5402, 6.3658, 2.2247, 0.0904, -0.0024, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f74396251f85bd794dd7b69ae5fca05a4f5808da6c7beeca6421a2df5ba5876b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9072573bc98fa47f7550daf45c0c1cf5f3fa26c0440264d9b1acf726a34e1d06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a0be58ec062eab504a4c841b3495e0e18dcd264c4c3aba341afe5c14612d636",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.624 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, 0.8082, 0.6067, -0.5308, -0.0189, -0.0383, 0.9992, 0.2863, 1.9461, 1.2003, -0.4725, 0.1707, -0.0029, 0.0089]\nstate[eef_state]: left_x=0.2733 left_y=0.0018 left_z=0.1479 left_yaw=0.0028 left_pitch=-0.1571 left_roll=-0.0007 left_gripper=0.9992 right_x=0.412 right_y=0.0937 right_z=0.0065 right_yaw=0.1076 right_pitch=-0.6121 right_roll=-0.1963 right_gripper=0.0089\nstate[joint_eff]: [-0.0342, -1.2239, 6.9265, 1.7167, -0.022, -0.0464, -0.0122, -0.4581, -10.8239, 6.5983, 1.1209, 0.0513, 0.0024, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8082, 0.6067, -0.5404, -0.0193, -0.0383, 0.9992, 0.3046, 1.7054, 0.952, 0.0399, 0.2516, -0.0574, 0.9976]\nstate[eef_state]: left_x=0.2717 left_y=0.0019 left_z=0.1461 left_yaw=0.0032 left_pitch=-0.1667 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4486 right_y=0.0987 right_z=0.0921 right_yaw=0.1209 right_pitch=-0.1097 right_roll=-0.2041 right_gripper=0.9976\nstate[joint_eff]: [-0.1573, -1.0188, 6.9675, 1.6435, -0.0611, -0.022, -0.0122, 0.1573, -10.3863, 6.4068, 2.1074, 0.2662, -0.0464, -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, 0.8097, 0.6067, -0.5484, -0.0193, -0.0383, 0.9992, 0.3046, 1.8297, 0.8516, 0.1864, 0.2493, -0.0635, 0.9988]\nstate[eef_state]: left_x=0.2704 left_y=0.0019 left_z=0.1443 left_yaw=0.0032 left_pitch=-0.1762 left_roll=0.0 left_gripper=0.9992 right_x=0.4354 right_y=0.095 right_z=0.026 right_yaw=0.1241 right_pitch=-0.1876 right_roll=-0.2215 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -1.2513, 7.0906, 1.6679, -0.0806, -0.0708, -0.0122, -0.0752, -8.5402, 6.3658, 2.2247, 0.0904, -0.0024, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f74396251f85bd794dd7b69ae5fca05a4f5808da6c7beeca6421a2df5ba5876b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9072573bc98fa47f7550daf45c0c1cf5f3fa26c0440264d9b1acf726a34e1d06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a0be58ec062eab504a4c841b3495e0e18dcd264c4c3aba341afe5c14612d636",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AkKjgEIEhgCKkAXyB1B6KQyFRt5cfUr/dR0OP2gHcFpUdiPnN2yDazJLPpd0nDrEPXMknb+kmZPFvK9z/n/iH/9Sxston5dhXs4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY2azNUGEgy+ydhQwbujmC7bjX4aDCqGRWeLetIgUTvHTSIwi13kEUtS6/DQurDi/6v5xU2XBg2LsWvI2Hply9+q0oKChKPA2hW3jkyLDZ46a4CTKoYI9P5WtubOj8QMbsSpyNQ9NzV/9FyyA97xgx2EvyL54gr70rs7uKpJV3Jpi2nn0tzrIstWy12FcniBr695ZbWMiczn+9RL0vOKJ7ql3wB4DG82XbE/KO4xU5KgyV4y6kPgviRrwcqvlyRpxg9Qg1NZ6qfXGYHS4wAYWN9ewZqB8E6bOH4COFpGKnQFEmU67Yf8W5YM/qWO9D+JRiwkn0x07cm007SdE7iXAfaX/Ixzfy0fDXXTmjVt6oscsCil/TyfEV37WrKBW4TpFbLpDYagZaKYwjkpnrLbTX8LyBBzfCTFWpKPwY2dpeqCvl2UCSeIf+/BMCp+TOR+K1oyZVBzg1ej2kVPzuoG92BzboH5xbaIbr522IBrHOS02zOp29zF4P4GkE3gtsq6Kr0BjFHM67BKwmJmo8iGZrclXidPSelnXdf+ItSBitmyzDySaLWZLr3SPaxyWf+P6g6QIgGJz5S/3HTlj3bjFHAJnyuOxeMLDnrkUqu8RIplhrQPJZOQMqqOzj07Kp8M05v/7mye3M6ZlEd5wvST/kjkEHDANLFGGIJxdn9xVZ/yDhvWIciivPnbrl1fnhFB6BryQ99gwMp81gM56DGv+6obMFm2DxERMeOdUgCHF5vjq7IXfGbF9h8o/UUJfP/JS/gGC5A9pk9fuGNwZDYdeF0/a9cP/S/st0lnHe/1hSR4KxwyiK6mzlzYlCZWqWo2OBPFVZXTpPlWkrkg0KQXb3pzu1yYjNMN9q0nQvCev8fF8OxG6ORBYXULEVVqnkPvWzcjeGCN0TumTaPrxDTqp1GyET0gX+dxNkkTeVpmZmr0VHurBFqKxdzSkjWBT8B6nHQZmwQYmeCj5LkciUcDPX7oY/XFntWsaeG5phjrCR1A7xNgosgfUCDQ4O7FKq4Sg1JAyimwyZLEOBvLIkRDMzq1GqcvB5NOl+BWMUA3Rbmgcr5NRfPf7enbLApkDwliNXSQfBcPpov8uGBTl1X1QL4B/wGN/aivUfDaNQo4cJHG6CpC91+M0Y6Wr9IbxPWTRvHYZV5mD3X5OMN/KLuNRkSz/IY7yL9JV8xjQEUCOOpnZDQcpN8IUADaTw5yiLc2hwMSZFhSvImCl/Ig33TVoS8QS3PfSaC+K3IZWP+V57Xm6DDlC05MvYOsxUJ4FV2N1rQdTIYbOHGwXYQq7tDptHjYt3ydp+DN+z4tamhFctiNI5kT+E3QoJPIDfbisFBrICwV7QZRl8a2XsyzFelCqVUJItXhqcJ6+0/78iESo1/wjRi2+HE6wqbfJoqgP+gvP5D86ERtW76ALzGNIf45MhKEnEh0mPX6ig1K0RfUKi7ASWGWyMn0ZEXux64793uPhriE8dUNihhLHkrR8xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JEGQaCuj1wF4vgKxPipj2y",
      "input": {
        "note": "The lemon still sits beyond the jaws in the wrist view; commanding a further 8 cm of reach to see how far the arm can actually extend at lemon height.",
        "targets": {
          "right_x": 0.52,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JEGQaCuj1wF4vgKxPipj2y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5625, -0.0189, -0.0383, 0.9992, 0.2478, 2.0548, 1.1919, 0.0521, 0.2077, -0.1066, 0.9989]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1416 left_yaw=0.0029 left_pitch=-0.1911 left_roll=0.0001 left_gripper=0.9992 right_x=0.5075 right_y=0.0945 right_z=0.0226 right_yaw=0.1255 right_pitch=-0.2162 right_roll=-0.2253 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -1.265, 6.8718, 1.7118, -0.0269, -0.0317, -0.0122, -0.4991, -10.3043, 7.5009, 1.6777, 0.0317, -0.0806, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e0aeb533ada7d755eb46d0dae6e2bd0de9abd74a169f9c70c95d291187fbcd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4db5ff31bddd66333081797517ac2e24262a533395a456a80c64acd14659d79b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef36de7d6a76aee441c8d96e977e082f9bf374ae7adf2dfad4aa2332bf807312",
        "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 · 4.907 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, 0.8082, 0.6067, -0.5404, -0.0193, -0.0383, 0.9992, 0.3046, 1.7054, 0.952, 0.0399, 0.2516, -0.0574, 0.9976]\nstate[eef_state]: left_x=0.2717 left_y=0.0019 left_z=0.1461 left_yaw=0.0032 left_pitch=-0.1667 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4486 right_y=0.0987 right_z=0.0921 right_yaw=0.1209 right_pitch=-0.1097 right_roll=-0.2041 right_gripper=0.9976\nstate[joint_eff]: [-0.1573, -1.0188, 6.9675, 1.6435, -0.0611, -0.022, -0.0122, 0.1573, -10.3863, 6.4068, 2.1074, 0.2662, -0.0464, -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, 0.8097, 0.6067, -0.5484, -0.0193, -0.0383, 0.9992, 0.3046, 1.8297, 0.8516, 0.1864, 0.2493, -0.0635, 0.9988]\nstate[eef_state]: left_x=0.2704 left_y=0.0019 left_z=0.1443 left_yaw=0.0032 left_pitch=-0.1762 left_roll=0.0 left_gripper=0.9992 right_x=0.4354 right_y=0.095 right_z=0.026 right_yaw=0.1241 right_pitch=-0.1876 right_roll=-0.2215 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -1.2513, 7.0906, 1.6679, -0.0806, -0.0708, -0.0122, -0.0752, -8.5402, 6.3658, 2.2247, 0.0904, -0.0024, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5625, -0.0189, -0.0383, 0.9992, 0.2478, 2.0548, 1.1919, 0.0521, 0.2077, -0.1066, 0.9989]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1416 left_yaw=0.0029 left_pitch=-0.1911 left_roll=0.0001 left_gripper=0.9992 right_x=0.5075 right_y=0.0945 right_z=0.0226 right_yaw=0.1255 right_pitch=-0.2162 right_roll=-0.2253 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -1.265, 6.8718, 1.7118, -0.0269, -0.0317, -0.0122, -0.4991, -10.3043, 7.5009, 1.6777, 0.0317, -0.0806, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e0aeb533ada7d755eb46d0dae6e2bd0de9abd74a169f9c70c95d291187fbcd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4db5ff31bddd66333081797517ac2e24262a533395a456a80c64acd14659d79b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef36de7d6a76aee441c8d96e977e082f9bf374ae7adf2dfad4aa2332bf807312",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmwQKjgEIEhgCKkCXTMS5UgL1UucZ+UfoE9iD78RC86eoqv9cpOofc44GmzL4/v61nsfYvx+VqxJf9HfSsqdIm3/TSjnKAJPaM0iTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKazNUGEgyqts+azXiFM9NDZF0aDCliU2BfC6bhmGoXbSIw+w3BefEQx+K/wmN4lBEQ7efvBGTab8dZVpmRT86CzFUSz+CXnhWB52DMyX2HGbPkKrkCnILIrw56zaZ5ZtE1b5iNyqaUrJAV4ns3fXpRFiEbIpZ530NLl8ycw+ZCIgvZr6guztliRpC/ORfED++nY9UbUA/Jx3b5TuCPQ++7+6g9tX5KJZeKIqpJi0e0/BOzxHJqC8+kxG44dPaLONxe2nFeQuWJGtFlNS23duP9EbxLVxAvxTnfl/OyT9FgUM9SHpsYTcLWN5pWMDtnlB9e2vwCp+cMezjPQQYzZMx6Vd8xsz96clgiEmNnZ1c+KBwwJG0xjIi/iAxWh9rab7R1lD/xu3Mdkf06eW+/lmoK5rW6OrvPbTZ9wZrq989bmvF03fARNwcpw8PBDrvALoHzYw6Es22MSJqXzYnbpmumRPquOYO17prc3W1b7Z92fzVvzvjGQClVlKyCTh6bi2sSAf0JqA0o5pmAhnOOgBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016sg7Gi6sFqv5DpHzvn4N3b",
      "input": {
        "note": "At x=0.51 the lemon finally sits between the jaws at the bottom of the wrist view; closing on it.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016sg7Gi6sFqv5DpHzvn4N3b",
      "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, 0.8116, 0.6067, -0.5743, -0.0193, -0.0383, 0.9992, 0.2474, 2.0632, 1.1908, 0.0193, 0.2047, -0.1093, 0.429]\nstate[eef_state]: left_x=0.266 left_y=0.002 left_z=0.1392 left_yaw=0.0033 left_pitch=-0.204 left_roll=0.0007 left_gripper=0.9992 right_x=0.5006 right_y=0.0931 right_z=0.0126 right_yaw=0.128 right_pitch=-0.2588 right_roll=-0.2301 right_gripper=0.429\nstate[joint_eff]: [-0.0342, -1.306, 6.9675, 1.6288, -0.0806, -0.0562, -0.0122, -0.3077, -11.5624, 5.9282, 1.7851, 0.0952, -0.0269, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ee30a4bdf68f0168742c6ab46865b35be7b059f2f98fe5ae97c0e4a3b9b4297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce55cfeed3b4c43c58b1325aec63f3077a42eec71f7e073241608356856f151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:feed2e0ea90a6acfb8ee1587e1cd9f98da170f830b816a0907d1984b7012c2fd",
        "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 · 10.79 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, 0.8097, 0.6067, -0.5484, -0.0193, -0.0383, 0.9992, 0.3046, 1.8297, 0.8516, 0.1864, 0.2493, -0.0635, 0.9988]\nstate[eef_state]: left_x=0.2704 left_y=0.0019 left_z=0.1443 left_yaw=0.0032 left_pitch=-0.1762 left_roll=0.0 left_gripper=0.9992 right_x=0.4354 right_y=0.095 right_z=0.026 right_yaw=0.1241 right_pitch=-0.1876 right_roll=-0.2215 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -1.2513, 7.0906, 1.6679, -0.0806, -0.0708, -0.0122, -0.0752, -8.5402, 6.3658, 2.2247, 0.0904, -0.0024, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5625, -0.0189, -0.0383, 0.9992, 0.2478, 2.0548, 1.1919, 0.0521, 0.2077, -0.1066, 0.9989]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1416 left_yaw=0.0029 left_pitch=-0.1911 left_roll=0.0001 left_gripper=0.9992 right_x=0.5075 right_y=0.0945 right_z=0.0226 right_yaw=0.1255 right_pitch=-0.2162 right_roll=-0.2253 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -1.265, 6.8718, 1.7118, -0.0269, -0.0317, -0.0122, -0.4991, -10.3043, 7.5009, 1.6777, 0.0317, -0.0806, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8116, 0.6067, -0.5743, -0.0193, -0.0383, 0.9992, 0.2474, 2.0632, 1.1908, 0.0193, 0.2047, -0.1093, 0.429]\nstate[eef_state]: left_x=0.266 left_y=0.002 left_z=0.1392 left_yaw=0.0033 left_pitch=-0.204 left_roll=0.0007 left_gripper=0.9992 right_x=0.5006 right_y=0.0931 right_z=0.0126 right_yaw=0.128 right_pitch=-0.2588 right_roll=-0.2301 right_gripper=0.429\nstate[joint_eff]: [-0.0342, -1.306, 6.9675, 1.6288, -0.0806, -0.0562, -0.0122, -0.3077, -11.5624, 5.9282, 1.7851, 0.0952, -0.0269, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ee30a4bdf68f0168742c6ab46865b35be7b059f2f98fe5ae97c0e4a3b9b4297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce55cfeed3b4c43c58b1325aec63f3077a42eec71f7e073241608356856f151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feed2e0ea90a6acfb8ee1587e1cd9f98da170f830b816a0907d1984b7012c2fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6wQKjgEIEhgCKkATCBNsQnTAjuXlaMh+v4C+oywUuP1kIpwm0kMcnatEEJzIe1rjklZvTMxujxgiDHHERasPDGWNDDXBua3hF8EBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZiazNUGEgxdJyLheTIGPE6o+f4aDCZ1QiDk1U8nSaRvxSIw0I3V5SCcwB2jMShnbBzQrq5iiqw1Vgp/Ax448pDqirENTirSte9YGWc59lH7EnaOKokDJL4Qkt8qROHCtkRcWkcpWk3GchJCDGbgmMzSVVGifBLpgBL98R6wi9pLIB7vZIgqPMKtfsNwhztAgvS2+UiEquKyCrxrWI469ZNdUDaDetnGGDNkKCF+gam4GdvhpwY3Yf4yRyOGdRjSRSsC847uKg9w9CZfdIX9sjcZkOm33huU8F3OmARYq1+iBTjP4IPC0e/u33+ZxuYnBO7hU5tZUseKVOe1fcXen1ckdZsPx1c0o+tgjw8jVcIcNppqsHsZ+U63JOwWD7VnZUX3xWakNiKIlygZWn1VnCRv8UczA3cbYD8Cgt9wko0onQpbITOestuMDNjwabTyJDiBKckmshAVN15X3vtxTF1LD1Sf2ph4dwOd4obGehEhIB6biAg9uNCH6aP6E9AWRJbrOd6YhO2zKwZTXaPMa0Joa1KVe2GhY8Je3s+XKyIOO+atKlCRo4GGn6MImwmCOQIZuIW/6Qi78pKZoJ0zmNyGKQzuyT6skP+jj3dp5gr2gDQJx/pIKOaRw/lbLAlMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MZYUsB7NkzEyW1BQebi5mJ",
      "input": {
        "note": "Gripper settled at 0.43 (≈4 cm) — the lemon is grasped. Lifting it clear of the table before carrying to the safe.",
        "targets": {
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01MZYUsB7NkzEyW1BQebi5mJ",
      "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, -0.585, -0.0193, -0.0383, 0.9992, 0.2474, 1.9011, 1.8984, -0.8631, 0.2012, -0.1165, 0.4297]\nstate[eef_state]: left_x=0.2642 left_y=0.002 left_z=0.1367 left_yaw=0.0034 left_pitch=-0.2174 left_roll=0.001 left_gripper=0.9992 right_x=0.5007 right_y=0.0937 right_z=0.236 right_yaw=0.1346 right_pitch=-0.2725 right_roll=-0.2338 right_gripper=0.4297\nstate[joint_eff]: [-0.0068, -1.4154, 6.9675, 1.6239, -0.0659, -0.0562, -0.0122, -0.3487, -9.6068, 8.3624, 1.5165, 0.1245, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5c2d9d42b9fdc6c06b65af3f0793a92fe964a8f8b394284369241ca3b57218f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb19799760f9dc785b798e4c91da93a3580ad42689b2f1c43d9d5edc384f4e15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65ed4d27d87741e2d2a75a5a4b3b392d5fcc7284ac820271be5674914120827a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 6.335 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, 0.8104, 0.6067, -0.5625, -0.0189, -0.0383, 0.9992, 0.2478, 2.0548, 1.1919, 0.0521, 0.2077, -0.1066, 0.9989]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1416 left_yaw=0.0029 left_pitch=-0.1911 left_roll=0.0001 left_gripper=0.9992 right_x=0.5075 right_y=0.0945 right_z=0.0226 right_yaw=0.1255 right_pitch=-0.2162 right_roll=-0.2253 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -1.265, 6.8718, 1.7118, -0.0269, -0.0317, -0.0122, -0.4991, -10.3043, 7.5009, 1.6777, 0.0317, -0.0806, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8116, 0.6067, -0.5743, -0.0193, -0.0383, 0.9992, 0.2474, 2.0632, 1.1908, 0.0193, 0.2047, -0.1093, 0.429]\nstate[eef_state]: left_x=0.266 left_y=0.002 left_z=0.1392 left_yaw=0.0033 left_pitch=-0.204 left_roll=0.0007 left_gripper=0.9992 right_x=0.5006 right_y=0.0931 right_z=0.0126 right_yaw=0.128 right_pitch=-0.2588 right_roll=-0.2301 right_gripper=0.429\nstate[joint_eff]: [-0.0342, -1.306, 6.9675, 1.6288, -0.0806, -0.0562, -0.0122, -0.3077, -11.5624, 5.9282, 1.7851, 0.0952, -0.0269, 1.0232]",
      "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, 0.8143, 0.6067, -0.585, -0.0193, -0.0383, 0.9992, 0.2474, 1.9011, 1.8984, -0.8631, 0.2012, -0.1165, 0.4297]\nstate[eef_state]: left_x=0.2642 left_y=0.002 left_z=0.1367 left_yaw=0.0034 left_pitch=-0.2174 left_roll=0.001 left_gripper=0.9992 right_x=0.5007 right_y=0.0937 right_z=0.236 right_yaw=0.1346 right_pitch=-0.2725 right_roll=-0.2338 right_gripper=0.4297\nstate[joint_eff]: [-0.0068, -1.4154, 6.9675, 1.6239, -0.0659, -0.0562, -0.0122, -0.3487, -9.6068, 8.3624, 1.5165, 0.1245, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5c2d9d42b9fdc6c06b65af3f0793a92fe964a8f8b394284369241ca3b57218f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb19799760f9dc785b798e4c91da93a3580ad42689b2f1c43d9d5edc384f4e15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65ed4d27d87741e2d2a75a5a4b3b392d5fcc7284ac820271be5674914120827a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISsAgKjgEIEhgCKkCNr2wKNxHchVpdoYHyO3//tF01x5eJ/Il38LXkGLFXtcNHowm0/zYscmUJreUkaBu/ssJwdvbw4Y4bhXtn+wxLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaSazNUGEgzG83dc3QNO1wqGPUwaDL+svmhPRCA+PoKlXyIwS+8s/h9A9eKUzao7VzobuE5RtQV1sT9FyofOdcd+b88eDxI7bpyFbqdW5hv8jYTEKs4GP/hFEtEUQCfSi3wEp21vLCgvyabVOPwZI1IAE4nlgttjzIBpzUHYMHWtFJp4TFQzr9x31iig4kuTwY6tM5ej1qg0ks0VFsIZ9Tf2MmJzYF67CsTnjoZxl+cXhMc3pzeNZ9Je4Kr52OBPDvjm1KD1UWtFR34UUTTUpYS5nKiKCb9QmJkRgnyZHKjs1cwwbIS19iCg/ZhhuUI91qirKLMcMFnPnF2ymXPmD5CN+0gOfcIbaMcvl0PjFRsMTkEQr8spNmH8G8jMMh39ayTOfatJWFbw3BpjRQTui1wVwGngGELsPNAoI0uM7KIOBLHiYU5RcsFgf/40CklvGDfovHCH45cUyYClo+EYmgO1Q1zzvIY7svSKSRm1uWWV4xAKP4M9Cp30f8FqgegZMAT4nKGaU2+QPjetcBjJimGDhSlBVOxIwxuSNi928171TP39vlwKz1yNxamiYEhgrdmET210+k7wgm1dYGG2yAhT1NNmT5rXS9rofr+ODwLndixK+MRHLWwSPMAih150KyJred+R58VmgifHAkAgyGkQr3bJZBVwGIGU6q5WAdwqLUk/4VCtq8DS2EZXGwwUPNS3gBqwMj8gQevLtn0R1U1aIQDBPwQB0PbwyORJ19yrc2YZcTHRj+ts8l+JilIoC+p1hPDzvFyyMDQrd9hMPegJuAa3m8b1FyXr3iPMCX/RoBopAjQOjm4E2AG9bCu31iqBSyYk9svq5QdQkDQTWkqrO+uSdcablQ8RxfojA26qAO3L0a03GOMvmXfO6wqD7S6WkOAq2IdXP0KVU2DJnkzAv1sP1Arje98YGHG34Nrd42uUw6cYA0F3MGmVNiHcr4/qWjHaw57FZEG9W7wBNgqdEO8QtrA/+LnpGk7KLQdc0KJLYngYHFMPFxVWI9XF7Ra54JNhSOe8NWH2cm3iJmZSrOD/A+RvX2o+8TFdLwTyMl50Q/jYEGbTi1mLfYvpRumimutcCkfAtRL6aSID0o4GdT12gSowIJkiZ0uSX1CFsueeXdVgstjkDK+j3nsuopm2m1ovSjjatoSoFRc43C805j1Ppcp1Yj8ef4o/ftMVYwMT+wkO+0JdWAANXHJc7m3b+EgrqGx58tYwht1UTcRXL4pjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L26xZSdPa8kBqijtQYTjLb",
      "input": {
        "note": "Lemon is held high. Carrying it left over the open red interior of the safe.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.27,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01L26xZSdPa8kBqijtQYTjLb",
      "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, -0.5888, -0.0193, -0.0387, 0.9992, 0.6762, 2.1399, 2.3177, -1.1824, 0.4374, 0.2092, 0.4297]\nstate[eef_state]: left_x=0.2636 left_y=0.002 left_z=0.1356 left_yaw=0.0036 left_pitch=-0.2231 left_roll=0.0008 left_gripper=0.9992 right_x=0.4472 right_y=0.2675 right_z=0.2427 right_yaw=0.1708 right_pitch=-0.304 right_roll=-0.249 right_gripper=0.4297\nstate[joint_eff]: [-0.0615, -1.347, 6.8718, 1.5897, -0.0806, -0.0611, -0.0122, 0.253, -10.6598, 8.1026, 1.3162, 0.3394, 0.1197, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:934487e4f55645b6e925274a0d8dbd6ca265595c3b460032d5b7cc09d0a9410f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1324e362fcf27a726dd42683bfa3a7dfe881724e2ae3c8497424793abfe53fa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5883d96aa845d17945a61334847dbd8fbeb56a5efb5bafa9a24f91a987b43681",
        "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 · 5.151 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, 0.8116, 0.6067, -0.5743, -0.0193, -0.0383, 0.9992, 0.2474, 2.0632, 1.1908, 0.0193, 0.2047, -0.1093, 0.429]\nstate[eef_state]: left_x=0.266 left_y=0.002 left_z=0.1392 left_yaw=0.0033 left_pitch=-0.204 left_roll=0.0007 left_gripper=0.9992 right_x=0.5006 right_y=0.0931 right_z=0.0126 right_yaw=0.128 right_pitch=-0.2588 right_roll=-0.2301 right_gripper=0.429\nstate[joint_eff]: [-0.0342, -1.306, 6.9675, 1.6288, -0.0806, -0.0562, -0.0122, -0.3077, -11.5624, 5.9282, 1.7851, 0.0952, -0.0269, 1.0232]",
      "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, 0.8143, 0.6067, -0.585, -0.0193, -0.0383, 0.9992, 0.2474, 1.9011, 1.8984, -0.8631, 0.2012, -0.1165, 0.4297]\nstate[eef_state]: left_x=0.2642 left_y=0.002 left_z=0.1367 left_yaw=0.0034 left_pitch=-0.2174 left_roll=0.001 left_gripper=0.9992 right_x=0.5007 right_y=0.0937 right_z=0.236 right_yaw=0.1346 right_pitch=-0.2725 right_roll=-0.2338 right_gripper=0.4297\nstate[joint_eff]: [-0.0068, -1.4154, 6.9675, 1.6239, -0.0659, -0.0562, -0.0122, -0.3487, -9.6068, 8.3624, 1.5165, 0.1245, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5888, -0.0193, -0.0387, 0.9992, 0.6762, 2.1399, 2.3177, -1.1824, 0.4374, 0.2092, 0.4297]\nstate[eef_state]: left_x=0.2636 left_y=0.002 left_z=0.1356 left_yaw=0.0036 left_pitch=-0.2231 left_roll=0.0008 left_gripper=0.9992 right_x=0.4472 right_y=0.2675 right_z=0.2427 right_yaw=0.1708 right_pitch=-0.304 right_roll=-0.249 right_gripper=0.4297\nstate[joint_eff]: [-0.0615, -1.347, 6.8718, 1.5897, -0.0806, -0.0611, -0.0122, 0.253, -10.6598, 8.1026, 1.3162, 0.3394, 0.1197, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:934487e4f55645b6e925274a0d8dbd6ca265595c3b460032d5b7cc09d0a9410f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1324e362fcf27a726dd42683bfa3a7dfe881724e2ae3c8497424793abfe53fa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5883d96aa845d17945a61334847dbd8fbeb56a5efb5bafa9a24f91a987b43681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QYKjgEIEhgCKkCxgMw9JvjNUDXIai0JrfhKUdUGxC0czqrGSsuzFgJ6rZX1YC/j12ezcmhYpXk1glTX3mXgRbmTmYzBi/cQE1gwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAayazNUGEgxlSrN+hxjKAzy0R8EaDLtbp8SXac/0gzI3AiIw1DiG+Vud3My6IztkNIZQHNrTh6uDEcMvlcnCLD65Ui5gEzi92qNfAYPUiqvp+ViuKoMFGYCWH0WeXDjx1I1Gh2Ju0JsZEedMBpY1E1uEofhpvfy394uRcdzyjcjaPaPeh8B2w3KbZJ7xeGEa+bT40Vb4o59Inhtq35I6rRExih+QSpV1buafc8Wtcsw1ptrpBZZk2qgEXeH9IHC90T4kV4Xwj1MRBd4QmnqQHywPinXmJ3gsOUrtrdq8tm73rc8fG6IjtckVazOdZc+RfGsD/opS4lNNfiUeSymWmn12bhGVHJBMZDuMgRaDOUIlPX7JFobmV1TYztARcUQt9TDmcTw1rSesdYcblvtakGDxhN2Y32nzu5DJswVitxGOOdi2uoe7Qkoe+YvqVDHt8MdWSk3cp3+MlTCWrBAudh9ZOc4UAvAg4rSTnj+YC9X5iU93+Jgzu8IwJMpWWrTvNTM7i749jXI5PdEHBRNMG7baXKUk0GLEwV3UBfiSS3DRuy3bxHUko+xYpSsf1NDbBYpvWmz6xG0XbpBK9lDz+LZGiUPqOPvO2KeXD4ldN1do0vHNtmvR3ayWOkOCgodvT2IdgwhW/s8r4+QLfywl+IVxesK0bruV2YZCVItO4lFgvRiHjtb7HbkmdcVS8D9R2FHRqv0iZwH9y5/xj7c/53Sa460lOAytVy6lT54V9JzgeoXzOeYpYcw11rvCA24QiYq/zKf/oVtkowlW3u4KB6g6mOmJGORKKxLa40BnTjWNAe/dTkbkICYNjTmpNWz9RquGcYllYLRcRldFctPKku5rAVGdqpmwzQ8B7qCxIJHu9gJ2D/tSLSr6O4fh5+M71o67J2XII3M9FxteBwPfCAdV37Y0S5Wlto9B1Zj7c8Cu+I+xnsZU+cArzNNFA1Pq1qKNCHj/z/cS2RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SFKsTUerps8cJv5LpTKADJ",
      "input": {
        "note": "Wrist view shows the raised lid rim ahead and the red compartment just below/nearer; moving 3 cm back and down to hover inside the safe opening.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SFKsTUerps8cJv5LpTKADJ",
      "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, -0.0193, -0.0383, 0.9992, 0.7124, 2.0212, 1.7695, -0.9245, 0.4488, 0.231, 0.4306]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0035 left_pitch=-0.2296 left_roll=0.0012 left_gripper=0.9992 right_x=0.4074 right_y=0.2553 right_z=0.1353 right_yaw=0.1515 right_pitch=-0.4434 right_roll=-0.3385 right_gripper=0.4306\nstate[joint_eff]: [-0.1846, -0.9504, 7.0359, 1.5263, -0.0855, -0.022, -0.0073, 0.1709, -15.4735, 8.2803, 1.5995, 0.3004, 0.1441, 0.8767]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccb5803b091100e22a564ff352f447198ca3c00c31d352d0be241d0057f069da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f9bb9b4ae615ef4cf958df4ba8f04c37c1d8b3c680a4da03c84fe7c2c0aed5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2898f438044a654b4b55533239efbda59cbdc435cd3d4a0e4cd78bc1328af576",
        "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 · 12.12 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, 0.8143, 0.6067, -0.585, -0.0193, -0.0383, 0.9992, 0.2474, 1.9011, 1.8984, -0.8631, 0.2012, -0.1165, 0.4297]\nstate[eef_state]: left_x=0.2642 left_y=0.002 left_z=0.1367 left_yaw=0.0034 left_pitch=-0.2174 left_roll=0.001 left_gripper=0.9992 right_x=0.5007 right_y=0.0937 right_z=0.236 right_yaw=0.1346 right_pitch=-0.2725 right_roll=-0.2338 right_gripper=0.4297\nstate[joint_eff]: [-0.0068, -1.4154, 6.9675, 1.6239, -0.0659, -0.0562, -0.0122, -0.3487, -9.6068, 8.3624, 1.5165, 0.1245, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5888, -0.0193, -0.0387, 0.9992, 0.6762, 2.1399, 2.3177, -1.1824, 0.4374, 0.2092, 0.4297]\nstate[eef_state]: left_x=0.2636 left_y=0.002 left_z=0.1356 left_yaw=0.0036 left_pitch=-0.2231 left_roll=0.0008 left_gripper=0.9992 right_x=0.4472 right_y=0.2675 right_z=0.2427 right_yaw=0.1708 right_pitch=-0.304 right_roll=-0.249 right_gripper=0.4297\nstate[joint_eff]: [-0.0615, -1.347, 6.8718, 1.5897, -0.0806, -0.0611, -0.0122, 0.253, -10.6598, 8.1026, 1.3162, 0.3394, 0.1197, 1.033]",
      "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, 0.8188, 0.6067, -0.5926, -0.0193, -0.0383, 0.9992, 0.7124, 2.0212, 1.7695, -0.9245, 0.4488, 0.231, 0.4306]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0035 left_pitch=-0.2296 left_roll=0.0012 left_gripper=0.9992 right_x=0.4074 right_y=0.2553 right_z=0.1353 right_yaw=0.1515 right_pitch=-0.4434 right_roll=-0.3385 right_gripper=0.4306\nstate[joint_eff]: [-0.1846, -0.9504, 7.0359, 1.5263, -0.0855, -0.022, -0.0073, 0.1709, -15.4735, 8.2803, 1.5995, 0.3004, 0.1441, 0.8767]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccb5803b091100e22a564ff352f447198ca3c00c31d352d0be241d0057f069da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f9bb9b4ae615ef4cf958df4ba8f04c37c1d8b3c680a4da03c84fe7c2c0aed5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2898f438044a654b4b55533239efbda59cbdc435cd3d4a0e4cd78bc1328af576",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS9wMKjgEIEhgCKkAhK0mL5F4DE+nS0V/gl1yD+rxgGERManlyYEK+MndJmGG1OBLRTMHOV0FyIohZq9hsmsvUmtOPLpJQaxA8TSA/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbKazNUGEgzKJIco15C337E5je8aDLNTCUctD+CxeJr1cyIw/H3uMVqrrkyNA+oVs7PGqIznrW7ui8OipaSL4vnSUAOtgUlC+rx5SIBkWg4rXJw2KpUCPYZJKR/VzRBDjr9jR1gX4+mtLj+L3b9mq9SKU6DYcNgXr0ouzHDxku7Y2n3rPyXAPyBxgnnY5bH3VjDfjhFyvsi31YIQZc7pL1bD0hq9DfptkklvPKOCgzqPel1UnC2kB+j2vvD8BziaaGhaz1TqZYmim5Vqy3gobrlnMhixNZyalHEcUqTCtQJ96CcOIOlWEVNife6Xy1d7twNo3YBZUiIZbv/ROcLFagnzzIykQXFxj05RDF+yshDAnwMTboBU5y2qSxE9Er9AeILJrcWlnRYC8AJhDFjm+DS9RjOptmiU5mwVYYsklhnv4y5yb+jkPJ6aqfxaCeAZYHAl9/RFTFDTS969y5j9noEDu/LaYt9YNibtnhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q2RbmQTzGXRY8izaptVKSU",
      "input": {
        "note": "The wrist camera shows red walls all around — the lemon is inside the safe compartment. Opening the gripper to release it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Q2RbmQTzGXRY8izaptVKSU",
      "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, 0.7189, 1.9942, 1.747, -0.8497, 0.4492, 0.2367, 0.995]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0033 left_pitch=-0.2296 left_roll=0.0007 left_gripper=0.9992 right_x=0.4133 right_y=0.2645 right_z=0.1471 right_yaw=0.1725 right_pitch=-0.3747 right_roll=-0.2899 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -1.2376, 6.8855, 1.4725, -0.0904, -0.0562, -0.0122, -0.4308, -13.4222, 7.4598, 1.4237, 0.2662, 0.1197, -0.2418]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bcaf0c2286c01b4742dbd7655b25785357ea52e0403d66c9eb7bc4dfc6dbda1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22c5b3fd36b39ca03c677c4ebd130dff2120623fb3bc661619ed58c8fe474c74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ee30eb7708a250c2efe4dbb945a0f6eac6a8d0f78ce2dac471885c6615bffbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.927 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5888, -0.0193, -0.0387, 0.9992, 0.6762, 2.1399, 2.3177, -1.1824, 0.4374, 0.2092, 0.4297]\nstate[eef_state]: left_x=0.2636 left_y=0.002 left_z=0.1356 left_yaw=0.0036 left_pitch=-0.2231 left_roll=0.0008 left_gripper=0.9992 right_x=0.4472 right_y=0.2675 right_z=0.2427 right_yaw=0.1708 right_pitch=-0.304 right_roll=-0.249 right_gripper=0.4297\nstate[joint_eff]: [-0.0615, -1.347, 6.8718, 1.5897, -0.0806, -0.0611, -0.0122, 0.253, -10.6598, 8.1026, 1.3162, 0.3394, 0.1197, 1.033]",
      "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, 0.8188, 0.6067, -0.5926, -0.0193, -0.0383, 0.9992, 0.7124, 2.0212, 1.7695, -0.9245, 0.4488, 0.231, 0.4306]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0035 left_pitch=-0.2296 left_roll=0.0012 left_gripper=0.9992 right_x=0.4074 right_y=0.2553 right_z=0.1353 right_yaw=0.1515 right_pitch=-0.4434 right_roll=-0.3385 right_gripper=0.4306\nstate[joint_eff]: [-0.1846, -0.9504, 7.0359, 1.5263, -0.0855, -0.022, -0.0073, 0.1709, -15.4735, 8.2803, 1.5995, 0.3004, 0.1441, 0.8767]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.7189, 1.9942, 1.747, -0.8497, 0.4492, 0.2367, 0.995]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0033 left_pitch=-0.2296 left_roll=0.0007 left_gripper=0.9992 right_x=0.4133 right_y=0.2645 right_z=0.1471 right_yaw=0.1725 right_pitch=-0.3747 right_roll=-0.2899 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -1.2376, 6.8855, 1.4725, -0.0904, -0.0562, -0.0122, -0.4308, -13.4222, 7.4598, 1.4237, 0.2662, 0.1197, -0.2418]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bcaf0c2286c01b4742dbd7655b25785357ea52e0403d66c9eb7bc4dfc6dbda1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22c5b3fd36b39ca03c677c4ebd130dff2120623fb3bc661619ed58c8fe474c74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ee30eb7708a250c2efe4dbb945a0f6eac6a8d0f78ce2dac471885c6615bffbc",
        "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_013tgseCTRPoCQpsLenfN7jX",
      "input": {
        "note": "The lemon is now inside the safe. Retracting the right arm to home and bringing the left arm over toward the small white plush toy on the left side of the safe.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.38,
          "left_y": -0.1,
          "left_z": 0.15,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_013tgseCTRPoCQpsLenfN7jX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3813, 1.4139, 0.9695, -0.4675, -0.2539, -0.313, 0.9993, 0.0528, 1.1053, 1.0573, -0.9077, 0.1154, -0.3115, 0.9967]\nstate[eef_state]: left_x=0.3644 left_y=-0.0944 left_z=0.1311 left_yaw=0.0032 left_pitch=-0.2967 left_roll=0.0136 left_gripper=0.9993 right_x=0.2913 right_y=-0.0014 right_z=0.1956 right_yaw=0.1269 right_pitch=-0.3918 right_roll=-0.2896 right_gripper=0.9967\nstate[joint_eff]: [-0.5538, -5.4769, 9.5932, 1.7558, -0.3004, -0.0024, -0.0855, -0.1436, -3.6718, 6.3111, 1.5653, -0.0806, -0.0464, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd265399e9fd526efd551e20c2dcbd99cb93b87cf2e50591fc67211d2b7ca5c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba00cf5798f7eb3f7203d1385e784576606d23c4e55aac20ffdaf8a5037987c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d78d845c7a7d7a06ed65467115313e12baaa530c950e3483ce930b8368834bd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 6.838 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, 0.8188, 0.6067, -0.5926, -0.0193, -0.0383, 0.9992, 0.7124, 2.0212, 1.7695, -0.9245, 0.4488, 0.231, 0.4306]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0035 left_pitch=-0.2296 left_roll=0.0012 left_gripper=0.9992 right_x=0.4074 right_y=0.2553 right_z=0.1353 right_yaw=0.1515 right_pitch=-0.4434 right_roll=-0.3385 right_gripper=0.4306\nstate[joint_eff]: [-0.1846, -0.9504, 7.0359, 1.5263, -0.0855, -0.022, -0.0073, 0.1709, -15.4735, 8.2803, 1.5995, 0.3004, 0.1441, 0.8767]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.7189, 1.9942, 1.747, -0.8497, 0.4492, 0.2367, 0.995]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0033 left_pitch=-0.2296 left_roll=0.0007 left_gripper=0.9992 right_x=0.4133 right_y=0.2645 right_z=0.1471 right_yaw=0.1725 right_pitch=-0.3747 right_roll=-0.2899 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -1.2376, 6.8855, 1.4725, -0.0904, -0.0562, -0.0122, -0.4308, -13.4222, 7.4598, 1.4237, 0.2662, 0.1197, -0.2418]\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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3813, 1.4139, 0.9695, -0.4675, -0.2539, -0.313, 0.9993, 0.0528, 1.1053, 1.0573, -0.9077, 0.1154, -0.3115, 0.9967]\nstate[eef_state]: left_x=0.3644 left_y=-0.0944 left_z=0.1311 left_yaw=0.0032 left_pitch=-0.2967 left_roll=0.0136 left_gripper=0.9993 right_x=0.2913 right_y=-0.0014 right_z=0.1956 right_yaw=0.1269 right_pitch=-0.3918 right_roll=-0.2896 right_gripper=0.9967\nstate[joint_eff]: [-0.5538, -5.4769, 9.5932, 1.7558, -0.3004, -0.0024, -0.0855, -0.1436, -3.6718, 6.3111, 1.5653, -0.0806, -0.0464, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd265399e9fd526efd551e20c2dcbd99cb93b87cf2e50591fc67211d2b7ca5c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba00cf5798f7eb3f7203d1385e784576606d23c4e55aac20ffdaf8a5037987c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d78d845c7a7d7a06ed65467115313e12baaa530c950e3483ce930b8368834bd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISpAYKjgEIEhgCKkCIlqHbhg1d8/zkkVik0PTce6hcFh3fChdb5Vc31tf+tKz7/lGGQX7taNZjE/nXPDHJf1dTHBhtRoJjth/S8U/xMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcaazNUGEgyEbTSLmQM2xd96tKAaDK2LgMpmhSUxuN5sEiIw9RR1qq6mqbP4PYdk6yw3I93uFuD7RiH2s1q8kNsIv+2O4VEvqkUfpHmAhY9HryaVKsIEbXv0WiHOjdWiZkGmFR0fNtfb7o70yJrOTPdJby/uzXU8EEB5edzYr8vEG6i98cs3jVhGe+aPxEYwvpCSwf3A85dWCHGfj/VGBA0ovaWdxc9l/IyxORAgQ0+RteDKRasLvOmFcm6QSeAdW/wtKfv/8r7jbg6CKCy+wRl1xH5hOdvc3dJu6y0SB6MCM1jf7vJuSNgGS2mB+hLn329Jfkc8B61fzcbMgFhPtZJFaW/H4HJIbIGivcgEkXnmGnddzNcc7WkBhD5OMXIpBzyG/zWr6CFC0UedGTMsAaXWyLTBV5xjDFe2YlBTrlsI3FGWVYM1tLaqk1xEvByIcL+90mbg37Mhn3pWuJu3ylYmLDEsrXCyjmRXVkm7/fs4S7Bg5cHFkvJRo04mAOa/K7EyyGR2XrNvBNPc8XmPQMYUMRgWZR3wLq23/B+nu9qXohtfe24f1R+GHNeeI2QDFDyn+Qv2vph2w+W7PXTHkGIhpQxdrVZNka9I3qxR9pcB+07V+A85/WoxcUUka7dnNpo6/uD6hmqOOtyFl/iLzk3dktqKx1bT5LF7PJMuusQipw6TnuAiaUVGNk+lfmJbKR5pkQm7B8FRgRgDLBG9Y6AlE/g0nY7KhNooMfj2y4uwnKW7MZfLMUpKPMa40+nqkduK74EGUeHBQlYey9ycCEBRs2baUTIEQiqb+sMDuM6NsDfS2zbozC3Uj7K+k6jVBZ2jHW5rf+xC1zTSNK68MscBLwJBrU4Jsn9e8nS5fDDxEh8LF4QJwKwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RKvScd3jefnLHH8F8SfebJ",
      "input": {
        "note": "Left wrist view shows the small tan plush toy just below-right of the jaw column; shifting slightly right and descending to table level to grasp it.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.115,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01RKvScd3jefnLHH8F8SfebJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4076, 1.6875, 0.8307, -0.1207, -0.2596, -0.342, 0.9992, 0.0513, 1.1091, 1.055, -0.926, 0.1085, -0.3286, 0.9968]\nstate[eef_state]: left_x=0.3785 left_y=-0.1101 left_z=0.0288 left_yaw=0.007 left_pitch=-0.355 left_roll=0.0261 left_gripper=0.9992 right_x=0.2875 right_y=-0.0008 right_z=0.1911 right_yaw=0.1425 right_pitch=-0.4184 right_roll=-0.2916 right_gripper=0.9968\nstate[joint_eff]: [-0.5538, -6.8581, 4.9983, 1.5067, -0.2418, 0.1001, -0.0171, 0.0068, -3.3709, 6.653, 1.4237, 0.105, 0.1294, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f03b834aa145684f81d68251c49baeddc090bc8cce7990becb7d584c961c8ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27fbacdc60cd920f271ad2d6855cd29580c33f2b1bc6edba7c73a042e1252f56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bf01a91774799399f9c4bd22382e375869355b7994a459639b865c991397fea",
        "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 · 3.517 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.7189, 1.9942, 1.747, -0.8497, 0.4492, 0.2367, 0.995]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0033 left_pitch=-0.2296 left_roll=0.0007 left_gripper=0.9992 right_x=0.4133 right_y=0.2645 right_z=0.1471 right_yaw=0.1725 right_pitch=-0.3747 right_roll=-0.2899 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -1.2376, 6.8855, 1.4725, -0.0904, -0.0562, -0.0122, -0.4308, -13.4222, 7.4598, 1.4237, 0.2662, 0.1197, -0.2418]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3813, 1.4139, 0.9695, -0.4675, -0.2539, -0.313, 0.9993, 0.0528, 1.1053, 1.0573, -0.9077, 0.1154, -0.3115, 0.9967]\nstate[eef_state]: left_x=0.3644 left_y=-0.0944 left_z=0.1311 left_yaw=0.0032 left_pitch=-0.2967 left_roll=0.0136 left_gripper=0.9993 right_x=0.2913 right_y=-0.0014 right_z=0.1956 right_yaw=0.1269 right_pitch=-0.3918 right_roll=-0.2896 right_gripper=0.9967\nstate[joint_eff]: [-0.5538, -5.4769, 9.5932, 1.7558, -0.3004, -0.0024, -0.0855, -0.1436, -3.6718, 6.3111, 1.5653, -0.0806, -0.0464, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4076, 1.6875, 0.8307, -0.1207, -0.2596, -0.342, 0.9992, 0.0513, 1.1091, 1.055, -0.926, 0.1085, -0.3286, 0.9968]\nstate[eef_state]: left_x=0.3785 left_y=-0.1101 left_z=0.0288 left_yaw=0.007 left_pitch=-0.355 left_roll=0.0261 left_gripper=0.9992 right_x=0.2875 right_y=-0.0008 right_z=0.1911 right_yaw=0.1425 right_pitch=-0.4184 right_roll=-0.2916 right_gripper=0.9968\nstate[joint_eff]: [-0.5538, -6.8581, 4.9983, 1.5067, -0.2418, 0.1001, -0.0171, 0.0068, -3.3709, 6.653, 1.4237, 0.105, 0.1294, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f03b834aa145684f81d68251c49baeddc090bc8cce7990becb7d584c961c8ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27fbacdc60cd920f271ad2d6855cd29580c33f2b1bc6edba7c73a042e1252f56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf01a91774799399f9c4bd22382e375869355b7994a459639b865c991397fea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShQcKjgEIEhgCKkCsc+dNNcENmGa9WcJLIR+0PgZWVgHxqJTu5ckzlDZjX/y2ITo5hLlRmPHBavRIoRH4d7SQBZBO7dDqrZGzF7mSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc6azNUGEgytqkE4m3YBrQM2QUgaDN843a0kpLctTW9VPSIwIWjkKVwdOj3o6J114spRwRuOjq/2Zpzm0Tdz9qOOLNgLI14ofp+qXGCHrZjF91etKqMFfmTu+zcjoVJxfNRDbqjVpOPQLQZL0v9oEVV89J0Z8UcGUelNs3bXYzIFt17EebBhWSk+hvBL8LxgYXfytxFsaesYc+G/L3U13Dge8t85eyMXlDIIEjEOQjWIkzMkltQCqMURRzjPDSHgelqpsSlhpLIPjZtHM3RjVHlKYo2sJO2DVlnQjqhIpVnNTjnrt0BZFdd3+nko7xuW0qU+gt5GTokYzW5wmf54z21DhspanCr7c73I7TqlZcqa09hX3XbV24+6u4XTtjU9SMlJmVysLoQcTgdh6HC8DSEdTMlL6w95TLnXeztRdiiqhDnExBEnijpJ0ReYPlJ/E2kCUdprjDiHCn8COIOYDnBu139nr+25Uem6SuzvUXcCmUvdx20BupTOyv33jsJcBpyUgUxkpDBsxP+LNgpylUgjt3xMB4gp1OYO2qrbCY19TGxsplnO+jnWdhixJvkD9242bjqS+Za+Ipy+1XsaMHGCwWzJAC2i7R7lE7M7fRMl1wWKHr40J4tQnLkbyIqEy1llQt8xdGmN5ATGyZxAh4sDU9tY/V++gBYS6D99n5/E5+/U8Ww7llwsYmQl/hqNT4n+RRi26VI9uM7osHinNxYbRjEYavNOkKHS0L8bsc3tIWdN9FI4KFu62vWHrcrY7JHYUlEeExwp01qbyIGdOlDwME0o8sTDnB3Jxq8vz3YPg17lmd8ZBdU7feTvhRNhPkT2bcJFtAMA/S1twtUxfzy0d1v13jqcGic3j3wwsgZ3NjF5bPI/sXTBBPKt2B9Y4CkLY7BlrjVI9f0mLFstuocIXocXmM4paYofb2I1ED/mtuSX42Orv3ZBL9Z6ldyvRvLKQPRUMMTnOWtbdY9i8nArOHlfj3mnfoBpjYZLVJfUaYpWCigCGjwLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QpDwmS91MLPTHpV7wfgwfv",
      "input": {
        "note": "The plush toy is large and low in the left wrist view; based on the lemon lesson the fingertips sit further out than they look, so I advance 3 cm before closing.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.125
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QpDwmS91MLPTHpV7wfgwfv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4053, 1.8263, 0.9718, -0.1577, -0.2584, -0.3462, 0.9992, 0.0509, 1.1107, 1.055, -0.9272, 0.1112, -0.3298, 0.9968]\nstate[eef_state]: left_x=0.4056 left_y=-0.121 left_z=0.0179 left_yaw=0.0163 left_pitch=-0.387 left_roll=0.0376 left_gripper=0.9992 right_x=0.2874 right_y=-0.0014 right_z=0.1906 right_yaw=0.1404 right_pitch=-0.4214 right_roll=-0.2944 right_gripper=0.9968\nstate[joint_eff]: [0.4718, -8.8957, 8.0479, 1.3895, -0.0757, 0.0757, -0.0122, -0.0479, -3.1932, 6.5026, 1.2821, 0.0024, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0249765ec61f0dedd3900bdb3bd10034ceea95001906eb01b0b9d24f8f5fb583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc6173280e18882bdc75c074e89dd3837bb30ae85347921e003326a501a7feda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12fbbd2d39eb5017073ec5103286f21557dcfaf0ac96afa16e7a96966291afa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.938 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]: [-0.3813, 1.4139, 0.9695, -0.4675, -0.2539, -0.313, 0.9993, 0.0528, 1.1053, 1.0573, -0.9077, 0.1154, -0.3115, 0.9967]\nstate[eef_state]: left_x=0.3644 left_y=-0.0944 left_z=0.1311 left_yaw=0.0032 left_pitch=-0.2967 left_roll=0.0136 left_gripper=0.9993 right_x=0.2913 right_y=-0.0014 right_z=0.1956 right_yaw=0.1269 right_pitch=-0.3918 right_roll=-0.2896 right_gripper=0.9967\nstate[joint_eff]: [-0.5538, -5.4769, 9.5932, 1.7558, -0.3004, -0.0024, -0.0855, -0.1436, -3.6718, 6.3111, 1.5653, -0.0806, -0.0464, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4076, 1.6875, 0.8307, -0.1207, -0.2596, -0.342, 0.9992, 0.0513, 1.1091, 1.055, -0.926, 0.1085, -0.3286, 0.9968]\nstate[eef_state]: left_x=0.3785 left_y=-0.1101 left_z=0.0288 left_yaw=0.007 left_pitch=-0.355 left_roll=0.0261 left_gripper=0.9992 right_x=0.2875 right_y=-0.0008 right_z=0.1911 right_yaw=0.1425 right_pitch=-0.4184 right_roll=-0.2916 right_gripper=0.9968\nstate[joint_eff]: [-0.5538, -6.8581, 4.9983, 1.5067, -0.2418, 0.1001, -0.0171, 0.0068, -3.3709, 6.653, 1.4237, 0.105, 0.1294, 0.0024]\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]: [-0.4053, 1.8263, 0.9718, -0.1577, -0.2584, -0.3462, 0.9992, 0.0509, 1.1107, 1.055, -0.9272, 0.1112, -0.3298, 0.9968]\nstate[eef_state]: left_x=0.4056 left_y=-0.121 left_z=0.0179 left_yaw=0.0163 left_pitch=-0.387 left_roll=0.0376 left_gripper=0.9992 right_x=0.2874 right_y=-0.0014 right_z=0.1906 right_yaw=0.1404 right_pitch=-0.4214 right_roll=-0.2944 right_gripper=0.9968\nstate[joint_eff]: [0.4718, -8.8957, 8.0479, 1.3895, -0.0757, 0.0757, -0.0122, -0.0479, -3.1932, 6.5026, 1.2821, 0.0024, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0249765ec61f0dedd3900bdb3bd10034ceea95001906eb01b0b9d24f8f5fb583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc6173280e18882bdc75c074e89dd3837bb30ae85347921e003326a501a7feda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12fbbd2d39eb5017073ec5103286f21557dcfaf0ac96afa16e7a96966291afa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAIKjgEIEhgCKkDGdS1XJ337cXkCjwRM0+8p8qIyrjiQfyJ9fCXrNcwv0dv/sEpFBKoFn6d03EkR4BdTCPrNBLZFiYCVmTFllqjWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdKazNUGEgw2BDp501ZHevBszjUaDEaikB67JbFoTj936CIwpC9scY0/FE4qI9O4Mbe5lXFr+TurG1viue2BuOIA2jLTHbOyU+q9+Udnfo/9QKZqKlcj1oFasH9y6oFr9Rfze535EdzEkNdhqHDE5tZ0Y1/CvAd0QD6bQLuJBvXXFx/OQqp/vZV7kCUBjVRqTdpEHf/FSaUCTmi8N3AwwHmKQVCCxWwy32b0nk0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DZn7BmYvLwEiNCNWcNYwtL",
      "input": {
        "note": "Toy is between the jaws at the bottom of the wrist view; closing on it.",
        "targets": {
          "left_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DZn7BmYvLwEiNCNWcNYwtL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4046, 1.8347, 0.9752, -0.1631, -0.2596, -0.3531, 0.0546, 0.0509, 1.111, 1.055, -0.9459, 0.1112, -0.3328, 0.9968]\nstate[eef_state]: left_x=0.4051 left_y=-0.1202 left_z=0.0151 left_yaw=0.0238 left_pitch=-0.3958 left_roll=0.039 left_gripper=0.0546 right_x=0.2836 right_y=-0.0016 right_z=0.1879 right_yaw=0.143 right_pitch=-0.4409 right_roll=-0.2943 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -9.388, 5.5043, 1.2576, -0.0806, 0.0269, 0.1099, -0.0889, -2.9197, 6.4479, 1.4237, -0.0024, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e8eec482726c56659beffb4ba604cfadfbcb142396e4f646551f54f9c3a84f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c98bc6621d688e8941c7f39b90a59cb60ec17d32419eee5acd09186661799cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:482c99652181ffe65a8333cfa9e4abb2237d80d9373abdc4ec846b56252ce853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.544 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]: [-0.4076, 1.6875, 0.8307, -0.1207, -0.2596, -0.342, 0.9992, 0.0513, 1.1091, 1.055, -0.926, 0.1085, -0.3286, 0.9968]\nstate[eef_state]: left_x=0.3785 left_y=-0.1101 left_z=0.0288 left_yaw=0.007 left_pitch=-0.355 left_roll=0.0261 left_gripper=0.9992 right_x=0.2875 right_y=-0.0008 right_z=0.1911 right_yaw=0.1425 right_pitch=-0.4184 right_roll=-0.2916 right_gripper=0.9968\nstate[joint_eff]: [-0.5538, -6.8581, 4.9983, 1.5067, -0.2418, 0.1001, -0.0171, 0.0068, -3.3709, 6.653, 1.4237, 0.105, 0.1294, 0.0024]\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]: [-0.4053, 1.8263, 0.9718, -0.1577, -0.2584, -0.3462, 0.9992, 0.0509, 1.1107, 1.055, -0.9272, 0.1112, -0.3298, 0.9968]\nstate[eef_state]: left_x=0.4056 left_y=-0.121 left_z=0.0179 left_yaw=0.0163 left_pitch=-0.387 left_roll=0.0376 left_gripper=0.9992 right_x=0.2874 right_y=-0.0014 right_z=0.1906 right_yaw=0.1404 right_pitch=-0.4214 right_roll=-0.2944 right_gripper=0.9968\nstate[joint_eff]: [0.4718, -8.8957, 8.0479, 1.3895, -0.0757, 0.0757, -0.0122, -0.0479, -3.1932, 6.5026, 1.2821, 0.0024, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4046, 1.8347, 0.9752, -0.1631, -0.2596, -0.3531, 0.0546, 0.0509, 1.111, 1.055, -0.9459, 0.1112, -0.3328, 0.9968]\nstate[eef_state]: left_x=0.4051 left_y=-0.1202 left_z=0.0151 left_yaw=0.0238 left_pitch=-0.3958 left_roll=0.039 left_gripper=0.0546 right_x=0.2836 right_y=-0.0016 right_z=0.1879 right_yaw=0.143 right_pitch=-0.4409 right_roll=-0.2943 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -9.388, 5.5043, 1.2576, -0.0806, 0.0269, 0.1099, -0.0889, -2.9197, 6.4479, 1.4237, -0.0024, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e8eec482726c56659beffb4ba604cfadfbcb142396e4f646551f54f9c3a84f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c98bc6621d688e8941c7f39b90a59cb60ec17d32419eee5acd09186661799cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:482c99652181ffe65a8333cfa9e4abb2237d80d9373abdc4ec846b56252ce853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwQQKjgEIEhgCKkDDeJo7Qpb97HouZf3ihtNDcqqAsAJ+K4oz5LSNAo3+U7XM5B6kaJtL73U96CliuLnS0QhrnhuaL71hp/UPa7pcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdiazNUGEgyiHVhQ2HBL3fWjAW4aDNH3Kp1gZuOS6B4saSIwV4Avu43lw+KK1BXAqScSMfhGORfXVQsDqki1nw4rPGBrTrK6l3q6uBNqVWTyncfYKt8CogDoFzNsi4qlTkxC6yYuT2oF9DD6cuUdcQ2oKZrY4Prz1XDOilrL6xYyPCLypS/Z1Io0lRlsJ9hqoVTOQ2/J/bNLdmldyb9Pis5orAQT+UeLjjaSKsQ+57YTHwPx6Di45sMwNlUShPs9X8hZf/AvY4xXA3nE5OZoRJEahwbqYYWQtRFZCyt6JldJfGQKaiaqGVTKDz5QnuI1rrElR+ohxiPXPCTaJKq5htw0G2bTGIkKNL3MhLhFH7edDA8t1zSrBiwn+2pEx5/rAFI27kx1hiqq2nOZwb39xgWeLrcMCNoYC2nrAN027C0VsMCxTu3ZkyJ9QrTMnSZufIlLqP0i1jS2EPI3CQIE6QKrrt1bZWJTbK1V+lcGh7Uqy9RuizbbBOMkqTa5c3gs+PkUTMUIPVDbYhEsVPH4FqmO5cwW74QV8eHMTxnd/XTEZGYfiyQ9VXJBssKrMKBx+JKzU5DBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017sfFNCzvnm5DE6MQgkWkmT",
      "input": {
        "note": "Gripper closed to 0.055 — ambiguous for a squishy plush toy. Lifting 10 cm to check in the overhead view whether the toy came up with the jaws.",
        "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_017sfFNCzvnm5DE6MQgkWkmT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4046, 1.7107, 1.1904, -0.5343, -0.2592, -0.3618, 0.0541, 0.0513, 1.111, 1.055, -0.9642, 0.1112, -0.3332, 0.9968]\nstate[eef_state]: left_x=0.4036 left_y=-0.1196 left_z=0.0944 left_yaw=0.0345 left_pitch=-0.4248 left_roll=0.048 left_gripper=0.0541 right_x=0.2798 right_y=-0.0017 right_z=0.1856 right_yaw=0.1444 right_pitch=-0.4592 right_roll=-0.2926 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -10.947, 8.9231, 1.1697, -0.1636, 0.022, -0.0562, -0.0752, -3.0701, 6.6667, 1.3944, -0.0122, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:827cb456ec23bbacfa9a067e90cb8e0d30d9305acbc5febb82557dc4a9d37f20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ce31aff8301988618d9ac929094782bd6b38ff0a63a1044f3fa16e962f262c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c7a98c624e173bbfb3ab3a35b15fa49a40befae6706b8a68794482af93c5c42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 7.057 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]: [-0.4053, 1.8263, 0.9718, -0.1577, -0.2584, -0.3462, 0.9992, 0.0509, 1.1107, 1.055, -0.9272, 0.1112, -0.3298, 0.9968]\nstate[eef_state]: left_x=0.4056 left_y=-0.121 left_z=0.0179 left_yaw=0.0163 left_pitch=-0.387 left_roll=0.0376 left_gripper=0.9992 right_x=0.2874 right_y=-0.0014 right_z=0.1906 right_yaw=0.1404 right_pitch=-0.4214 right_roll=-0.2944 right_gripper=0.9968\nstate[joint_eff]: [0.4718, -8.8957, 8.0479, 1.3895, -0.0757, 0.0757, -0.0122, -0.0479, -3.1932, 6.5026, 1.2821, 0.0024, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4046, 1.8347, 0.9752, -0.1631, -0.2596, -0.3531, 0.0546, 0.0509, 1.111, 1.055, -0.9459, 0.1112, -0.3328, 0.9968]\nstate[eef_state]: left_x=0.4051 left_y=-0.1202 left_z=0.0151 left_yaw=0.0238 left_pitch=-0.3958 left_roll=0.039 left_gripper=0.0546 right_x=0.2836 right_y=-0.0016 right_z=0.1879 right_yaw=0.143 right_pitch=-0.4409 right_roll=-0.2943 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -9.388, 5.5043, 1.2576, -0.0806, 0.0269, 0.1099, -0.0889, -2.9197, 6.4479, 1.4237, -0.0024, -0.0122, -0.0073]",
      "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]: [-0.4046, 1.7107, 1.1904, -0.5343, -0.2592, -0.3618, 0.0541, 0.0513, 1.111, 1.055, -0.9642, 0.1112, -0.3332, 0.9968]\nstate[eef_state]: left_x=0.4036 left_y=-0.1196 left_z=0.0944 left_yaw=0.0345 left_pitch=-0.4248 left_roll=0.048 left_gripper=0.0541 right_x=0.2798 right_y=-0.0017 right_z=0.1856 right_yaw=0.1444 right_pitch=-0.4592 right_roll=-0.2926 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -10.947, 8.9231, 1.1697, -0.1636, 0.022, -0.0562, -0.0752, -3.0701, 6.6667, 1.3944, -0.0122, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:827cb456ec23bbacfa9a067e90cb8e0d30d9305acbc5febb82557dc4a9d37f20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ce31aff8301988618d9ac929094782bd6b38ff0a63a1044f3fa16e962f262c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c7a98c624e173bbfb3ab3a35b15fa49a40befae6706b8a68794482af93c5c42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnwYKjgEIEhgCKkDq67Kdw4rAoeq1BCPhMPDzx0EDoB4BSsnBFmydVUiph45QiBvzry9wzelad/nmxmA36mcO/rh8t+zrNoDhqsSNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd+azNUGEgzjIJ43fMB4wSb34toaDL/xFC2BmzJFE1+GRSIwPg63ows4A7sbivXaWwZesPlsnPl5WDGSTklc1IPP6Uz8ewDVFXHAJIyTSb9WQNKeKr0Earsg4WzuhKcbXCbGpzr5aRCqEyn+07fvMRcwRnMoP1QZANJftUnCzFLwVqeriwDsIWXk0OQylyXbyjESR+vEE9z5VV2VEdV1gHvvuTLW4soGt3ez/MzaYBULIoXpRpWYdwhcYUwb3y8eTc95Smnt6sMzj8cutORfKgrTNu326wv/dhn7e48GSglCBJNWqvgp7QBnvU+fXTWbTLaVRVDQKMaLyVcNrSwv4eqhVIlSz3dC4Uyy430X2ke8zBKyQLkNrXoG1BgezPWrX+UUqpIqx1VF91W1V73WG98CiskbDGlDlTfpJRQvw9+AmXUIgdqOGIemr4q5azUzQUSueqOv2PP2S1MjrTVLGPU1pOV5U85Ly4o1qCD0zKtVRL70vU5LCAnU2b0ffZD86urcyvoJxyU15t3htJRKZquXRzjMloFt+XwxaYVSCiOPUSkImJBageGeHI4A638ZnZUHreb26O0ot7b3k/CuzX8mKzOg++f+D3lJoQ4LNcMkDwfHDoIRFG7+pQQbqqVJ4BRKGFgMEDMGRF8FPsqBf/mxnm/HuFiVYE+0LqiZZsbRa5SpYgPxyNSh+tWSZRdSXyhTAZqhTpgm81Xu3uVltbEfoT1uj+vPyJXlAL6h6lb2RFLu0Bv+52Q/8IFJqpLSIIze589T2Zu8USJo6HNgrc1DwkuGu72W/QadDDYA6EIRXN8lYQKrtWfrLKb7cW9JTm8Gu8A+k+02xGnf1nTNMMWWGQF2jgTiDIUIgOxuZfpbI7hSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F6pqwRe5ycg3RUGfP5bDJR",
      "input": {
        "note": "The toy did not move, so that close was empty. Reopening and reaching 5 cm further out at table level, as the fingertips reach beyond where the wrist view suggests.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.45,
          "left_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_01F6pqwRe5ycg3RUGfP5bDJR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3618, 1.9598, 1.1847, -0.3351, -0.244, -0.3378, 0.9958, 0.0509, 1.111, 1.055, -0.971, 0.1112, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.432 left_y=-0.1141 left_z=0.0115 left_yaw=0.0609 left_pitch=-0.4819 left_roll=0.0741 left_gripper=0.9958 right_x=0.2783 right_y=-0.0018 right_z=0.1847 right_yaw=0.1444 right_pitch=-0.466 right_roll=-0.2919 right_gripper=0.9969\nstate[joint_eff]: [0.4718, -9.5248, 7.8017, 1.3407, -0.0904, 0.1587, -0.149, -0.0752, -3.0427, 6.4205, 1.3162, -0.0171, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef1e2b5e161ef1836b29c175a5acd803afde0cd1d9a49408760cc39221fdf488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8465a6fd53bd0f5c64008d2c8c852aed0a92049bca85ee1ae20a77dfac6ad973",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c89ddb6c578f4425dedea31738c13b1d355ce5a8a6734f8e8f65f602c59c2b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 14.56 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]: [-0.4046, 1.8347, 0.9752, -0.1631, -0.2596, -0.3531, 0.0546, 0.0509, 1.111, 1.055, -0.9459, 0.1112, -0.3328, 0.9968]\nstate[eef_state]: left_x=0.4051 left_y=-0.1202 left_z=0.0151 left_yaw=0.0238 left_pitch=-0.3958 left_roll=0.039 left_gripper=0.0546 right_x=0.2836 right_y=-0.0016 right_z=0.1879 right_yaw=0.143 right_pitch=-0.4409 right_roll=-0.2943 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -9.388, 5.5043, 1.2576, -0.0806, 0.0269, 0.1099, -0.0889, -2.9197, 6.4479, 1.4237, -0.0024, -0.0122, -0.0073]",
      "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]: [-0.4046, 1.7107, 1.1904, -0.5343, -0.2592, -0.3618, 0.0541, 0.0513, 1.111, 1.055, -0.9642, 0.1112, -0.3332, 0.9968]\nstate[eef_state]: left_x=0.4036 left_y=-0.1196 left_z=0.0944 left_yaw=0.0345 left_pitch=-0.4248 left_roll=0.048 left_gripper=0.0541 right_x=0.2798 right_y=-0.0017 right_z=0.1856 right_yaw=0.1444 right_pitch=-0.4592 right_roll=-0.2926 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -10.947, 8.9231, 1.1697, -0.1636, 0.022, -0.0562, -0.0752, -3.0701, 6.6667, 1.3944, -0.0122, -0.0513, -0.0073]",
      "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]: [-0.3618, 1.9598, 1.1847, -0.3351, -0.244, -0.3378, 0.9958, 0.0509, 1.111, 1.055, -0.971, 0.1112, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.432 left_y=-0.1141 left_z=0.0115 left_yaw=0.0609 left_pitch=-0.4819 left_roll=0.0741 left_gripper=0.9958 right_x=0.2783 right_y=-0.0018 right_z=0.1847 right_yaw=0.1444 right_pitch=-0.466 right_roll=-0.2919 right_gripper=0.9969\nstate[joint_eff]: [0.4718, -9.5248, 7.8017, 1.3407, -0.0904, 0.1587, -0.149, -0.0752, -3.0427, 6.4205, 1.3162, -0.0171, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef1e2b5e161ef1836b29c175a5acd803afde0cd1d9a49408760cc39221fdf488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8465a6fd53bd0f5c64008d2c8c852aed0a92049bca85ee1ae20a77dfac6ad973",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c89ddb6c578f4425dedea31738c13b1d355ce5a8a6734f8e8f65f602c59c2b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2AcKjgEIEhgCKkBycIUYLemxdGOM58nJJXeex7lgOF6lYqvFpxnpEP/V7ArICBTkS43SnsQLKCEcgwSjsLn9BncCFRCRLBEXMOKVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeiazNUGEgwsT5C/CUaUHvDlHb0aDJq9wAGFc3vL1NeyviIwVWPTr60tNUNeyqMXmdji8XppqyNKYg8GlPZfoGrBGXHlopYGq1OrrjRbCLcYXBuNKvYF+SJOt45Zn4YcbsRLM7HcOMHU8uYqqwTuyEj8jteaNArbw2hWpF3nJtqn6J5skIeo1w70/i12fjRjFqLRj1j5Ex8IAxlOC8mpyNx6+fSmEcMuSIwoAdDN8eiuDCWI+9/LmvSO56Yveubva0JlJ6JJ3Q6T26SM+CGEFxho/Lf+IsodgKYzA0MLittr+McCspeeK+EEJbZ2hycldOuZiTFMhag2q0rFS5QmK5uuKqV2cJpdKt7k7a0NRJnh0IdqKhXEaobqxTpBc7N0MK8DQ9xdCchroXlAFLCC1Dvi2q40u3fU1Ewd3ugb4b+/ItemivCxc7VFDQyHZmqefH3jMN8Ptk9VYjB2VZ7EynSQICnaahb8Sy4sq6dCiEg+b/25hSAZwzw9y4jZs4r3fVB3PVcQkX9QQp/DFmR5TGdEz1P/2tBvRZICjuXrH8KetQpJ5CnvkCWP3wMu3AAWnUu04Q8MoibJDr791jXTohdXQ/8Dtgi0t3W8bAsGb/Oi4m8gZ15hculcJRl4/Uu8CFzR0yXOinujeKZA5KwlC3k9iZnpdSik10ZjD9CG9XXGtpxdthryHEVcdF09v4G/BPJbaHuj0Q5AR6SUpWgrMTSfKJXI6o3Qbx9JdhZmhZ4lwYL0QmoMFGwhjZ/Asj0xmAXhsPsckRutnR3PfDR+RwlXBdLDM6BkJu+jwEUbKTEykAsFvFqJ2CaYMxnHRV00I5spRX5T6RSqrYnEqLPT4pwNuJpOVLCFm47GxKvB013L12oCgULgi+JffueRf2RyZi/0/wfzLQ8CnEAMemwaCz2lIfB9zCPbyH8JC6TszJJNg48xJjL5k49J5Ek5a2Nt90M/1P/3r2BQNg4Kr2rvTEl54yJ6IZrZ2o6kxpd4E8JTVsX9lRgvBozqwVg41mxhknkPCUsI+NkLlu+v7fdYZkLsmSKuJ3rb4u3/oeSgixuGOjGCCGncG3FBQyqhesKWF0C3meaWswtqvIky+gfg9VQfbIzB7z+euYHT4gkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CSkWa46frkUkeygPMw8vAv",
      "input": {
        "note": "The toy now appears at the far right edge of the left wrist view, so it is to the arm's right; shifting 3.5 cm right to re-centre it.",
        "targets": {
          "left_y": -0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CSkWa46frkUkeygPMw8vAv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.437, 1.9892, 1.2285, -0.3836, -0.2752, -0.4015, 0.9969, 0.0513, 1.111, 1.055, -0.9714, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.4254 left_y=-0.1417 left_z=0.0094 left_yaw=0.0598 left_pitch=-0.4969 left_roll=0.0848 left_gripper=0.9969 right_x=0.2783 right_y=-0.0018 right_z=0.1846 right_yaw=0.1444 right_pitch=-0.4664 right_roll=-0.2922 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -8.5538, 8.0479, 1.1453, -0.1783, -0.0171, 0.105, -0.0615, -3.0427, 6.4205, 1.1844, 0.0073, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dfa1293a21c3967ce37ec6985c459de543fadadcc1a1a8cbda5bc8ff810ae0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0581fe194bb20d431ba965983df32bc747c7363f96a620a19c60c4531d90697a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57cf0160a606cb719dc8d13ae4773011c8893d4b25b1295f1fa9cff4f351b7e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 9.898 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]: [-0.4046, 1.7107, 1.1904, -0.5343, -0.2592, -0.3618, 0.0541, 0.0513, 1.111, 1.055, -0.9642, 0.1112, -0.3332, 0.9968]\nstate[eef_state]: left_x=0.4036 left_y=-0.1196 left_z=0.0944 left_yaw=0.0345 left_pitch=-0.4248 left_roll=0.048 left_gripper=0.0541 right_x=0.2798 right_y=-0.0017 right_z=0.1856 right_yaw=0.1444 right_pitch=-0.4592 right_roll=-0.2926 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -10.947, 8.9231, 1.1697, -0.1636, 0.022, -0.0562, -0.0752, -3.0701, 6.6667, 1.3944, -0.0122, -0.0513, -0.0073]",
      "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]: [-0.3618, 1.9598, 1.1847, -0.3351, -0.244, -0.3378, 0.9958, 0.0509, 1.111, 1.055, -0.971, 0.1112, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.432 left_y=-0.1141 left_z=0.0115 left_yaw=0.0609 left_pitch=-0.4819 left_roll=0.0741 left_gripper=0.9958 right_x=0.2783 right_y=-0.0018 right_z=0.1847 right_yaw=0.1444 right_pitch=-0.466 right_roll=-0.2919 right_gripper=0.9969\nstate[joint_eff]: [0.4718, -9.5248, 7.8017, 1.3407, -0.0904, 0.1587, -0.149, -0.0752, -3.0427, 6.4205, 1.3162, -0.0171, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.437, 1.9892, 1.2285, -0.3836, -0.2752, -0.4015, 0.9969, 0.0513, 1.111, 1.055, -0.9714, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.4254 left_y=-0.1417 left_z=0.0094 left_yaw=0.0598 left_pitch=-0.4969 left_roll=0.0848 left_gripper=0.9969 right_x=0.2783 right_y=-0.0018 right_z=0.1846 right_yaw=0.1444 right_pitch=-0.4664 right_roll=-0.2922 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -8.5538, 8.0479, 1.1453, -0.1783, -0.0171, 0.105, -0.0615, -3.0427, 6.4205, 1.1844, 0.0073, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dfa1293a21c3967ce37ec6985c459de543fadadcc1a1a8cbda5bc8ff810ae0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0581fe194bb20d431ba965983df32bc747c7363f96a620a19c60c4531d90697a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57cf0160a606cb719dc8d13ae4773011c8893d4b25b1295f1fa9cff4f351b7e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NbeS4BXCbnzjeKiWREcCiH",
      "input": {
        "note": "Re-reading the overhead view, the small toy is nearer the base than I thought (it stays out of the bottom of the wrist frame); pulling back ~8 cm in x over its estimated position.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.16,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NbeS4BXCbnzjeKiWREcCiH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4511, 1.9976, 1.2446, -0.4038, -0.2752, -0.4252, 0.9971, 0.0509, 1.1164, 1.0542, -0.9936, 0.1116, -0.3336, 0.9969]\nstate[eef_state]: left_x=0.4235 left_y=-0.1478 left_z=0.0089 left_yaw=0.0637 left_pitch=-0.5068 left_roll=0.0789 left_gripper=0.9971 right_x=0.2738 right_y=-0.0021 right_z=0.1802 right_yaw=0.1456 right_pitch=-0.4946 right_roll=-0.2895 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -9.2376, 7.2821, 1.199, -0.2222, 0.0122, 0.0073, -0.3487, -3.494, 6.5436, 1.3553, 0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:214f83d23aae98100c50f3eef187c47952c6ab51d6e03e5562bc38f6950d4803",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93e3e7c3e07f079d044530a07ed8d3dd8b5ce69ac660ca0c611442ffb8320acc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:004ec61968373ffc81284bf9c1f0f7aa0acb7926acaa276e47186a26c995cdce",
        "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 · 5.724 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]: [-0.3618, 1.9598, 1.1847, -0.3351, -0.244, -0.3378, 0.9958, 0.0509, 1.111, 1.055, -0.971, 0.1112, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.432 left_y=-0.1141 left_z=0.0115 left_yaw=0.0609 left_pitch=-0.4819 left_roll=0.0741 left_gripper=0.9958 right_x=0.2783 right_y=-0.0018 right_z=0.1847 right_yaw=0.1444 right_pitch=-0.466 right_roll=-0.2919 right_gripper=0.9969\nstate[joint_eff]: [0.4718, -9.5248, 7.8017, 1.3407, -0.0904, 0.1587, -0.149, -0.0752, -3.0427, 6.4205, 1.3162, -0.0171, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.437, 1.9892, 1.2285, -0.3836, -0.2752, -0.4015, 0.9969, 0.0513, 1.111, 1.055, -0.9714, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.4254 left_y=-0.1417 left_z=0.0094 left_yaw=0.0598 left_pitch=-0.4969 left_roll=0.0848 left_gripper=0.9969 right_x=0.2783 right_y=-0.0018 right_z=0.1846 right_yaw=0.1444 right_pitch=-0.4664 right_roll=-0.2922 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -8.5538, 8.0479, 1.1453, -0.1783, -0.0171, 0.105, -0.0615, -3.0427, 6.4205, 1.1844, 0.0073, -0.0366, -0.0122]",
      "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]: [-0.4511, 1.9976, 1.2446, -0.4038, -0.2752, -0.4252, 0.9971, 0.0509, 1.1164, 1.0542, -0.9936, 0.1116, -0.3336, 0.9969]\nstate[eef_state]: left_x=0.4235 left_y=-0.1478 left_z=0.0089 left_yaw=0.0637 left_pitch=-0.5068 left_roll=0.0789 left_gripper=0.9971 right_x=0.2738 right_y=-0.0021 right_z=0.1802 right_yaw=0.1456 right_pitch=-0.4946 right_roll=-0.2895 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -9.2376, 7.2821, 1.199, -0.2222, 0.0122, 0.0073, -0.3487, -3.494, 6.5436, 1.3553, 0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:214f83d23aae98100c50f3eef187c47952c6ab51d6e03e5562bc38f6950d4803",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93e3e7c3e07f079d044530a07ed8d3dd8b5ce69ac660ca0c611442ffb8320acc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:004ec61968373ffc81284bf9c1f0f7aa0acb7926acaa276e47186a26c995cdce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAkKjgEIEhgCKkDzlWhMYNs9t6e+ayNV+WgZ0mGq/CdVxPzT0KMuDq2mv3IWuRFNpvGPjQGdF3zgnWh19S01fPlakNAjYDoZshhgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYCbzNUGEgzUpLhpz4His2RZCwsaDAmPshZrMnrwjlbZkiIwsCncZNZSn0o0wvzpXmymcHVLwEAa/9kdSt6sgDCjC4D6y/GPS0TW8zxGayy3vSA+KrIH2ruzR2+FGVevYSYRAmDntq6oEt3JWYbrPhv5bR1KO4FnZ2ud6CfINkHx8E1xs4JUTiezNTHK92JXs39fKkGlC17/DVy0WBjCx+NIAQEVY1MDI9xOqXcCr9YMISubuUcZqH79MfkTEAEplc6z3TfKH2Xhqu8sRxVQMJfNuLBMmDTvlTe7Ted0+f7UuzK+TwaLFfYQP7MA6TXMR1Re8Qiue5+OV8sWAnMEcacm90cZ4V/MIw4DJD/CFDyjO0mYNk56uyNpAhZgAF7HoWnOQJ17MHY30fqWXwNFzPv22V9nNz9NhCsByBr/Da4lgDziPvZt/kRhZobZnfgxCCREyTcS+TteIMANRoMuO8NFp/ey5mB0Hxy9nH3ldc1eRmUFvEnbaTMBit0j8oGhK+F4wXFL1Ur8FPkQ/YXObZThuIdj0r2v3QpOzsfGfUZN2BQgQEORQnKECOLYNhDMQ/okz2ez4aGM9mEdROPhUs8Nhl7Wd3kftLAhsaCV8BCX0QzucNDE+jYkGEQA2cXk+2mAPY6aHKbapbi2iKFgTwUHg83dbj7LSrl9rJQ2BB/+eYoXfGeAZ8DUR6F5q1Q7RsP3olSBUmG86q7PzCKtyQrCzc0DplMgSG9ozqEmZ8OH8wpR0hUJ5VimsqcMK+eJ6CKqzftrPm9Ja+lvwhEbNH03PVEWq6Rbpa99xerfMcAN3gmiSN23VWwjmsP9/M5PsmSOhzq1XBRbgKRGnQQfcKvlp13xsL2Bzq2whYyWOKwuypmpwFIGWrGdPKoplK//FIXZ0wcrSzUZviVvduWZUHP7VJRzyS9jMGLMaq438xkUoen8/ViCQqGJeRwNoNlzwpi1nB4fi5eCkcgPWTo5q38fvg0S58V/S3BeXuhJn47RgEl1G3etI9DeHoJYWxZg910hb9WsQNHcIZOdvo/iZQeYF5qjbc1CsH2/DG/c4Dgv1nGUp4HlNH5NC2XN/DBXkErYxkHoGHawR3/8KzBlmXtLnBXge17PFQF6OJMV9S8afdT2OXJ8fJpjwmFAdeub8xlB6qIW06p63YgxZM+jY4kPUkLu6hUR2Rf9egaR4D7xnk4OaROnj60bevd2ZIMOE8vYnFdzA9waE5rQ5j4pzg8NVknY43C08gRego4Gy9PVY6Xs+etdEy3N2gA8bsmLWNvYRS3UwawM2SeC+jvSy5SluNPtF65x1wmEXwitvTPTwX9eK0oQ7Ij0dbiqJ48dvpNW1Ai0vepX79VWUAO18xwTdvA8Qj0vTBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S95HyEgvR4G25L4k68oVjy",
      "input": {
        "note": "The last retract did not track (arm stayed at x=0.42 near the table); lifting to 15 cm first, then pulling back in x, as the rig notes recommend for stalled moves.",
        "targets": {
          "left_x": 0.35,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01S95HyEgvR4G25L4k68oVjy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5442, 1.6672, 1.3231, -0.8543, -0.297, -0.511, 0.9971, 0.0513, 1.1183, 1.0542, -1.0122, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3565 left_y=-0.1511 left_z=0.1261 left_yaw=0.0547 left_pitch=-0.5275 left_roll=0.0783 left_gripper=0.9971 right_x=0.2699 right_y=-0.0022 right_z=0.1775 right_yaw=0.1469 right_pitch=-0.515 right_roll=-0.287 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -10.7282, 9.3333, 1.0427, -0.315, -0.1343, -0.0122, -0.0752, -2.9333, 6.4342, 1.3309, 0.0073, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c827ce4c6b56005d0fab627f8ec544f31ff0783938e15e3ca10ae1ed8ac1f68a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76c40a4461f725e8c0130766d75451dda99a4f426153ca0e0870a6b7200b8be6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b800d0d8438da0b466695c29fa1fb0742acd6173c183c6e520ae03bfdeb52ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.492 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]: [-0.437, 1.9892, 1.2285, -0.3836, -0.2752, -0.4015, 0.9969, 0.0513, 1.111, 1.055, -0.9714, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.4254 left_y=-0.1417 left_z=0.0094 left_yaw=0.0598 left_pitch=-0.4969 left_roll=0.0848 left_gripper=0.9969 right_x=0.2783 right_y=-0.0018 right_z=0.1846 right_yaw=0.1444 right_pitch=-0.4664 right_roll=-0.2922 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -8.5538, 8.0479, 1.1453, -0.1783, -0.0171, 0.105, -0.0615, -3.0427, 6.4205, 1.1844, 0.0073, -0.0366, -0.0122]",
      "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]: [-0.4511, 1.9976, 1.2446, -0.4038, -0.2752, -0.4252, 0.9971, 0.0509, 1.1164, 1.0542, -0.9936, 0.1116, -0.3336, 0.9969]\nstate[eef_state]: left_x=0.4235 left_y=-0.1478 left_z=0.0089 left_yaw=0.0637 left_pitch=-0.5068 left_roll=0.0789 left_gripper=0.9971 right_x=0.2738 right_y=-0.0021 right_z=0.1802 right_yaw=0.1456 right_pitch=-0.4946 right_roll=-0.2895 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -9.2376, 7.2821, 1.199, -0.2222, 0.0122, 0.0073, -0.3487, -3.494, 6.5436, 1.3553, 0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5442, 1.6672, 1.3231, -0.8543, -0.297, -0.511, 0.9971, 0.0513, 1.1183, 1.0542, -1.0122, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3565 left_y=-0.1511 left_z=0.1261 left_yaw=0.0547 left_pitch=-0.5275 left_roll=0.0783 left_gripper=0.9971 right_x=0.2699 right_y=-0.0022 right_z=0.1775 right_yaw=0.1469 right_pitch=-0.515 right_roll=-0.287 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -10.7282, 9.3333, 1.0427, -0.315, -0.1343, -0.0122, -0.0752, -2.9333, 6.4342, 1.3309, 0.0073, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c827ce4c6b56005d0fab627f8ec544f31ff0783938e15e3ca10ae1ed8ac1f68a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76c40a4461f725e8c0130766d75451dda99a4f426153ca0e0870a6b7200b8be6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b800d0d8438da0b466695c29fa1fb0742acd6173c183c6e520ae03bfdeb52ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpwUKjgEIEhgCKkBTqg+pNb42IJ/O17714LZheZcttQ9XyPyS/mG5nnlMvoWaOCtQ3ciGNQUUIqPoy79/HdQ8qDKYTFDaRqzi+ksAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYibzNUGEgy9GPMEMjHHf61sQ6YaDEFVoMLcxo5WFjQvsyIwecxYCZ6PlkBUG7LQaaoJWh9PSY29+zJ98y1TyWWn7C/9Ue2WWeQ71Y2SjIG5OPG5KsUDSig6fMAOmpi6nChGHyOsz+Scy529v240cM61j75B86wBiOAWkedDva8P85JEjdFfj538QFH1oRxTjI8140HvBlYQxU6C93g3wiWusM+Hhzpim5Ei6OVkakLFmhSrHIKFZvnmlJJTBBYeTa89az3f2wqzgvzGJ5GQtV70dIEtkXPuP1/pLMkNgqsjwoEws5+FDGCJyYSK1YQZMUSk09tz48N5B27YeSksV5DaExVdxCe5/MIYD8mfxh3tUcxZfs9kPR2quhkyRP8w/qptvmME5mbI1IyJnNIAHcFyHwxF9fhOLDNzjikfxUyp/R7n51P1bM+bDL539Shnf1glVxVEBVK/dzVG1KH0pYTFA5MuElxsmq3f5BMK0we4xb8D4r1Q970QLmyQAu6iTRv/TXltSknknf45e33rUnuk7nQ+SHGqUqHonn2rKE36RsrwulQzs8C9RyXcedkPdbc5adRsPebbyGGprquFzkeO+x1ig12M/odhZ/knzlaMQB307+nO5Hch49uTjgv6VZY6q6KWc4mnkF3wR3qUInPVgatH80XrgRPzhfQa1/sr0AdNgIxFDGW5LvMXGoVgfNTdGdy5oUEf4cm7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L7zww7zRQSwGf1fCh3w8rK",
      "input": {
        "note": "Now the little white dog plush is clearly centred on the jaw column in the left wrist view; descending onto it to grasp.",
        "targets": {
          "left_x": 0.37,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01L7zww7zRQSwGf1fCh3w8rK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5312, 1.8122, 1.092, -0.5201, -0.2924, -0.5026, 0.9971, 0.0509, 1.1194, 1.0542, -1.0203, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.359 left_y=-0.1477 left_z=0.0257 left_yaw=0.073 left_pitch=-0.565 left_roll=0.1062 left_gripper=0.9971 right_x=0.2683 right_y=-0.0024 right_z=0.1763 right_yaw=0.147 right_pitch=-0.5242 right_roll=-0.286 right_gripper=0.9969\nstate[joint_eff]: [0.6906, -8.1573, 5.2718, 1.0232, -0.1294, 0.0122, -0.0122, -0.212, -3.1111, 6.3521, 1.1746, 0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfef4e956fbae233ed59633d002b475648594ca406e0be7afb47a7e3d2cfdf1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e92875638c171c8939faa74cc7f5f3015284fd3de01eab62082dfd42aa3ec68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:222233d2ed6e50681fb5e9ab075fb5f6e8b40b5e19608554b2dbd17ca2d06785",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 6.104 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]: [-0.4511, 1.9976, 1.2446, -0.4038, -0.2752, -0.4252, 0.9971, 0.0509, 1.1164, 1.0542, -0.9936, 0.1116, -0.3336, 0.9969]\nstate[eef_state]: left_x=0.4235 left_y=-0.1478 left_z=0.0089 left_yaw=0.0637 left_pitch=-0.5068 left_roll=0.0789 left_gripper=0.9971 right_x=0.2738 right_y=-0.0021 right_z=0.1802 right_yaw=0.1456 right_pitch=-0.4946 right_roll=-0.2895 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -9.2376, 7.2821, 1.199, -0.2222, 0.0122, 0.0073, -0.3487, -3.494, 6.5436, 1.3553, 0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5442, 1.6672, 1.3231, -0.8543, -0.297, -0.511, 0.9971, 0.0513, 1.1183, 1.0542, -1.0122, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3565 left_y=-0.1511 left_z=0.1261 left_yaw=0.0547 left_pitch=-0.5275 left_roll=0.0783 left_gripper=0.9971 right_x=0.2699 right_y=-0.0022 right_z=0.1775 right_yaw=0.1469 right_pitch=-0.515 right_roll=-0.287 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -10.7282, 9.3333, 1.0427, -0.315, -0.1343, -0.0122, -0.0752, -2.9333, 6.4342, 1.3309, 0.0073, -0.0513, -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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5312, 1.8122, 1.092, -0.5201, -0.2924, -0.5026, 0.9971, 0.0509, 1.1194, 1.0542, -1.0203, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.359 left_y=-0.1477 left_z=0.0257 left_yaw=0.073 left_pitch=-0.565 left_roll=0.1062 left_gripper=0.9971 right_x=0.2683 right_y=-0.0024 right_z=0.1763 right_yaw=0.147 right_pitch=-0.5242 right_roll=-0.286 right_gripper=0.9969\nstate[joint_eff]: [0.6906, -8.1573, 5.2718, 1.0232, -0.1294, 0.0122, -0.0122, -0.212, -3.1111, 6.3521, 1.1746, 0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfef4e956fbae233ed59633d002b475648594ca406e0be7afb47a7e3d2cfdf1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e92875638c171c8939faa74cc7f5f3015284fd3de01eab62082dfd42aa3ec68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:222233d2ed6e50681fb5e9ab075fb5f6e8b40b5e19608554b2dbd17ca2d06785",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvAIKjgEIEhgCKkBFXCudeMRlEoAutqJYCgoIWz0ptIT2VS/014wyNUwcR1Nn/jMUNuGwSuQ79O1pG9xCnpvJoxWGwV/+6S3kUYYTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYybzNUGEgwevZFCXY4z9JdEeuQaDAZGnymeEQjkyLfwRyIwBPNA0blrt1enunDuaQ5kt2/8XCnheZNzMQ12t6eIQyHGglle/VCGIPolgY+AbN8mKluMiDWDHfBg58vN/vCzPZp8Or9tRpgb1pJ8cxlKG4OIm3oxcVl3XPjNmXMOlwtzW7WvT2lFeNBCC1HeDSmJ0t2XGqHo7VpJTTQAC6ZwNqWPvdrqSRtTFQf/V0HwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M8KLjqDL62EYjeaDGCLtqx",
      "input": {
        "note": "The plush dog fills the bottom-centre of the wrist view, right at the jaws; closing to grasp it.",
        "targets": {
          "left_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01M8KLjqDL62EYjeaDGCLtqx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.8263, 1.076, -0.5091, -0.3008, -0.5056, 0.1591, 0.0509, 1.1194, 1.0542, -1.0241, 0.1112, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3561 left_y=-0.1437 left_z=0.0171 left_yaw=0.0904 left_pitch=-0.5758 left_roll=0.1254 left_gripper=0.1591 right_x=0.2674 right_y=-0.0024 right_z=0.1759 right_yaw=0.1476 right_pitch=-0.5279 right_roll=-0.2852 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -9.6615, 7.1043, 0.7692, -0.105, 0.0171, 0.4615, -0.1573, -3.0154, 6.3521, 1.2186, -0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1574001fbde2c1c02ec2e93ea6d16fe204887c240ab766e2db24b14f39499773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa3a100620cabcaf7a096b9893abfe85b60b99967e4cc5251dd1ec4915e7474f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a39faa2d6bb0d2aec5d35f72a7f0b09405c190b7f0cfac259e71ab5d85c9baa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 7.205 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]: [-0.5442, 1.6672, 1.3231, -0.8543, -0.297, -0.511, 0.9971, 0.0513, 1.1183, 1.0542, -1.0122, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3565 left_y=-0.1511 left_z=0.1261 left_yaw=0.0547 left_pitch=-0.5275 left_roll=0.0783 left_gripper=0.9971 right_x=0.2699 right_y=-0.0022 right_z=0.1775 right_yaw=0.1469 right_pitch=-0.515 right_roll=-0.287 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -10.7282, 9.3333, 1.0427, -0.315, -0.1343, -0.0122, -0.0752, -2.9333, 6.4342, 1.3309, 0.0073, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5312, 1.8122, 1.092, -0.5201, -0.2924, -0.5026, 0.9971, 0.0509, 1.1194, 1.0542, -1.0203, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.359 left_y=-0.1477 left_z=0.0257 left_yaw=0.073 left_pitch=-0.565 left_roll=0.1062 left_gripper=0.9971 right_x=0.2683 right_y=-0.0024 right_z=0.1763 right_yaw=0.147 right_pitch=-0.5242 right_roll=-0.286 right_gripper=0.9969\nstate[joint_eff]: [0.6906, -8.1573, 5.2718, 1.0232, -0.1294, 0.0122, -0.0122, -0.212, -3.1111, 6.3521, 1.1746, 0.0269, -0.0708, -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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5297, 1.8263, 1.076, -0.5091, -0.3008, -0.5056, 0.1591, 0.0509, 1.1194, 1.0542, -1.0241, 0.1112, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3561 left_y=-0.1437 left_z=0.0171 left_yaw=0.0904 left_pitch=-0.5758 left_roll=0.1254 left_gripper=0.1591 right_x=0.2674 right_y=-0.0024 right_z=0.1759 right_yaw=0.1476 right_pitch=-0.5279 right_roll=-0.2852 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -9.6615, 7.1043, 0.7692, -0.105, 0.0171, 0.4615, -0.1573, -3.0154, 6.3521, 1.2186, -0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1574001fbde2c1c02ec2e93ea6d16fe204887c240ab766e2db24b14f39499773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa3a100620cabcaf7a096b9893abfe85b60b99967e4cc5251dd1ec4915e7474f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a39faa2d6bb0d2aec5d35f72a7f0b09405c190b7f0cfac259e71ab5d85c9baa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyQQKjgEIEhgCKkAWlY7CTXZTALqXOuXzFSI224KOFjiRryztI5SOAxMbsgF7gzXMse/wQAQs0OJwIzhMIIkhMPC1xSPl48WwPjFzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZObzNUGEgzM+LGJN6Cpo1X/8cgaDPshuH1vPb9ZwxGl4SIw13EH7M1MRTPczrEtrIHK1RYRplsjBK0feTtUqUexRyMkV2K7RnoTG0LQvCMwUD8/KucC/ZA4cR5i16wDXqIJ3iBm/lSSOMJFrHibj15rfJavcTta4rRdFWFo2wDw2rSCPVtZc1IigJtGgSkLFsCUqmaO1MT+HDYR48Z9ptzmw4bpR+j6NGXvM4lUnsuG1iRBISOm/zaa6+GFtEkFgTXKOj3rR+xmNzfpz7DThlzuC8+0XpDRXYCrBJyiXZedq7fEEfu63iVY9m9IEEAXzMBgkwejtpK3kx33ZrnTsC1ylhY0u1DpiyzxnemjNWtcurCBbSPJtuDBcrVNrk84Ya9U+lisa7Lei9roSxobqotFSCZQ8I9e1bqK21GGew/aM6ICyVudndQA6fw0vuzkWVlqwXyWGmG3IbdlvoPYQlzuhJe2hg4pfwwG2/GMksI95adfEFjaHAdaLNo5mEDmAFj7FwTNm4WWap4+UNnqoKk95zi+Hsfxf89xt1QulOj6HDwwJWx1tTFrhceCstDTORkiqihuu5RF69EMRrsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ED7JugcmyqdxxLjyQiRWUH",
      "input": {
        "note": "Gripper settled at 0.16 on the plush dog — it looks grasped. Lifting and carrying it over the open safe compartment.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.36,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01ED7JugcmyqdxxLjyQiRWUH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8082, 2.3852, 2.5874, -1.5574, -0.3573, -0.7769, 0.1602, 0.0509, 1.1194, 1.0542, -1.0382, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3859 left_y=-0.3093 left_z=0.1712 left_yaw=0.0716 left_pitch=-0.59 left_roll=0.1205 left_gripper=0.1602 right_x=0.2643 right_y=-0.0026 right_z=0.1743 right_yaw=0.148 right_pitch=-0.542 right_roll=-0.284 right_gripper=0.9969\nstate[joint_eff]: [-0.5675, -14.8444, 6.8171, 0.5543, -0.442, -0.1441, 0.105, -0.1573, -3.0017, 6.3795, 1.2234, 0.0513, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6668593c80d036619e87c6d24d1ce6db92ba71b3c70082b63bb27f8abd1ea24f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11d3f3194712c16712ffa887b9e3104750a40b109203492d6ccdf47cc42479da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46184c7043d52f65ac7ef54175fc252221cf4000f261f9b3cf1bab2f049b6232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 7.059 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]: [-0.5312, 1.8122, 1.092, -0.5201, -0.2924, -0.5026, 0.9971, 0.0509, 1.1194, 1.0542, -1.0203, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.359 left_y=-0.1477 left_z=0.0257 left_yaw=0.073 left_pitch=-0.565 left_roll=0.1062 left_gripper=0.9971 right_x=0.2683 right_y=-0.0024 right_z=0.1763 right_yaw=0.147 right_pitch=-0.5242 right_roll=-0.286 right_gripper=0.9969\nstate[joint_eff]: [0.6906, -8.1573, 5.2718, 1.0232, -0.1294, 0.0122, -0.0122, -0.212, -3.1111, 6.3521, 1.1746, 0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5297, 1.8263, 1.076, -0.5091, -0.3008, -0.5056, 0.1591, 0.0509, 1.1194, 1.0542, -1.0241, 0.1112, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3561 left_y=-0.1437 left_z=0.0171 left_yaw=0.0904 left_pitch=-0.5758 left_roll=0.1254 left_gripper=0.1591 right_x=0.2674 right_y=-0.0024 right_z=0.1759 right_yaw=0.1476 right_pitch=-0.5279 right_roll=-0.2852 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -9.6615, 7.1043, 0.7692, -0.105, 0.0171, 0.4615, -0.1573, -3.0154, 6.3521, 1.2186, -0.0024, -0.0562, -0.0122]",
      "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]: [-0.8082, 2.3852, 2.5874, -1.5574, -0.3573, -0.7769, 0.1602, 0.0509, 1.1194, 1.0542, -1.0382, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3859 left_y=-0.3093 left_z=0.1712 left_yaw=0.0716 left_pitch=-0.59 left_roll=0.1205 left_gripper=0.1602 right_x=0.2643 right_y=-0.0026 right_z=0.1743 right_yaw=0.148 right_pitch=-0.542 right_roll=-0.284 right_gripper=0.9969\nstate[joint_eff]: [-0.5675, -14.8444, 6.8171, 0.5543, -0.442, -0.1441, 0.105, -0.1573, -3.0017, 6.3795, 1.2234, 0.0513, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6668593c80d036619e87c6d24d1ce6db92ba71b3c70082b63bb27f8abd1ea24f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11d3f3194712c16712ffa887b9e3104750a40b109203492d6ccdf47cc42479da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46184c7043d52f65ac7ef54175fc252221cf4000f261f9b3cf1bab2f049b6232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsQcKjgEIEhgCKkD4Y63MELGHpwE0JpRL2NExSgxgcI+ncBW6f8LwyT0zY4BzzsCSf43WcFlrUCo8TV6t6Ke7gq21SPhHt/utO/XOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZybzNUGEgzCcJZOIgAvHenO3AkaDIiOK7ApNBZeKlJuQCIwuDLBdz8FNFTHkxGxb/ItwvW9g2OdpyxNcFswI+KbAxUO8kyAZwULiRdqMtG5JKM+Ks8FZnGHr/QLUr2OiRIVOHT6OqrB7EAJEIkXstTtJFOrx+ekF7QI53lKvwBA0YIpdxOWKgl53wzHgYhbGyY+wrJGMwjnXPqD1i4DD0SDuEsVBtS49gPWsu9bXOSzt+d84DsbmbDa0UsXEG7i8EMxQjzkf5LHtq2gX+ncTtwFdBR9xN6s2iZaf5IleZiBV23lTval/FhKgrpcF/+jbNfQlouHVOgIodHK0/2WpuWdP5r68Mno06HPLO2mWMRhKlP4p/z4H/nZ0wF9MFRytCWy3JTofrK8OYeYKFqeuqF6n+wd76FHY5Qe6QcBEe15RoQR7dqJpW+ZTodJzQHYvRMmdFs3iUDtRhbUMzgq3zUDD16j+UWMd7SO1Zf776174LWG+9WzyjTDNOZ4vwGFYoP/lRegKc3yZTwZ4khQCJUJKsrRgk1RL8XjLwdSDVgutePyJ7HYywCSqiYw5RF+lXXHmuOEPUFm5qomy+7amDeuhK8jqDf3cL22KMQV6kLpKQRaW+vhXpTgrBDr+0Tu74JsdUxGX+mfBzigeVQF1kaNK1O+gXZ+fndu6EtdVq29da9yo7z0PvFj5YI4hkaUbV25cT6cjenQQlGFwBWlpHaGVQ31986muvCLnBtpDiloTUQV0PzN2Q5dbFovwN+B/XbQjQhE9YKxl4DS/GFHsxNbyzJJJkDj3P46IZYHJusvWL+h7bAyH2cB7EYK6UN+mWZ8Bzi09NLiwPcF1Iin8A5ocKtTPC2aUITlNy/9F90V7F7WAAqErmPDAfAw4lNvXzI4mIsJwpDjY9ZlIlVkAbDMiKXoQLdW9RRXVXWFIhfLFfTi9TWmcl1pywZn3YULd7bKvveNVBK/Lku2iO1BBIrOlYkTVfi9pG8nqhpiJZGtLEhmsKsfv5AHNg9YFNM5Z4T1ULfeRm/JnrMfJK0pdmFIBkKFv59/z8ZP2n4J4IcDBdPIEIMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XDzdd3B1J3q9VoXL93EoVd",
      "input": {
        "note": "Wrist view shows the held dog just over the near-left rim of the safe with the red interior up and to the right; shifting ~4 cm right and forward to centre it over the compartment.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.345,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XDzdd3B1J3q9VoXL93EoVd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8234, 2.4577, 2.6644, -1.5757, -0.3565, -0.8017, 0.1624, 0.0513, 1.1194, 1.0542, -1.0389, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3872 left_y=-0.3218 left_z=0.1571 left_yaw=0.0792 left_pitch=-0.5975 left_roll=0.121 left_gripper=0.1624 right_x=0.2642 right_y=-0.0025 right_z=0.1742 right_yaw=0.1484 right_pitch=-0.5428 right_roll=-0.2839 right_gripper=0.9969\nstate[joint_eff]: [-0.9915, -12.2462, 8.0342, 0.6764, -0.3492, 0.0122, 0.2076, -0.1299, -3.0154, 6.3385, 1.1062, 0.0122, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f1856e9b2450847f2d7b2b87fcf2475a1fc930c0754595bfceafc65334ec868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e4b79bb16827a2026b7bb46f8382dbd2d255713d3cf299b153eff81038e934e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad0c04cc5804446596cc7de9d9a154d8d1dc2c3a87f48adc28a03663205322d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 10.96 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]: [-0.5297, 1.8263, 1.076, -0.5091, -0.3008, -0.5056, 0.1591, 0.0509, 1.1194, 1.0542, -1.0241, 0.1112, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3561 left_y=-0.1437 left_z=0.0171 left_yaw=0.0904 left_pitch=-0.5758 left_roll=0.1254 left_gripper=0.1591 right_x=0.2674 right_y=-0.0024 right_z=0.1759 right_yaw=0.1476 right_pitch=-0.5279 right_roll=-0.2852 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -9.6615, 7.1043, 0.7692, -0.105, 0.0171, 0.4615, -0.1573, -3.0154, 6.3521, 1.2186, -0.0024, -0.0562, -0.0122]",
      "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]: [-0.8082, 2.3852, 2.5874, -1.5574, -0.3573, -0.7769, 0.1602, 0.0509, 1.1194, 1.0542, -1.0382, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3859 left_y=-0.3093 left_z=0.1712 left_yaw=0.0716 left_pitch=-0.59 left_roll=0.1205 left_gripper=0.1602 right_x=0.2643 right_y=-0.0026 right_z=0.1743 right_yaw=0.148 right_pitch=-0.542 right_roll=-0.284 right_gripper=0.9969\nstate[joint_eff]: [-0.5675, -14.8444, 6.8171, 0.5543, -0.442, -0.1441, 0.105, -0.1573, -3.0017, 6.3795, 1.2234, 0.0513, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8234, 2.4577, 2.6644, -1.5757, -0.3565, -0.8017, 0.1624, 0.0513, 1.1194, 1.0542, -1.0389, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3872 left_y=-0.3218 left_z=0.1571 left_yaw=0.0792 left_pitch=-0.5975 left_roll=0.121 left_gripper=0.1624 right_x=0.2642 right_y=-0.0025 right_z=0.1742 right_yaw=0.1484 right_pitch=-0.5428 right_roll=-0.2839 right_gripper=0.9969\nstate[joint_eff]: [-0.9915, -12.2462, 8.0342, 0.6764, -0.3492, 0.0122, 0.2076, -0.1299, -3.0154, 6.3385, 1.1062, 0.0122, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f1856e9b2450847f2d7b2b87fcf2475a1fc930c0754595bfceafc65334ec868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e4b79bb16827a2026b7bb46f8382dbd2d255713d3cf299b153eff81038e934e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad0c04cc5804446596cc7de9d9a154d8d1dc2c3a87f48adc28a03663205322d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywUKjgEIEhgCKkALWrpukPWc/UKu3fOv3vmctYJRZhHsYAArYW+i8//8fyC1lSc0JmBOBxMnuj0JwQbWb2TbnvgkAsbJBZFVoLJWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaObzNUGEgxhy+i1RqQbryoOISkaDDjlP3UyhDiMqXNENiIwXYoOphXXtmNF2MtMDIZ3ZBWvTtVN6DwWiDF3wD8mfIWOlE6ZcjntLT1JoZVF0W/7KukDF4v2GbPXz61WcbXPOLCOxp0wBT7Iq6zSXf8UNgVzRQLdyOq8UgwOMX50elbLvMzQg9MBIYW0qEwkt/WCluc/bsLRGYMHRp34TLr5mUw4C3N8LoGotOigFLL3E01jIxBJh/IXkreRZHr13sY1LHG0zbQOTzt6Fj9lQ29eL8n4uYwpj5AnUBTrjItOhEL/j2Zb0g/TgQe+bh9auXAZLbWZb84wntbEQaG+O6z5UWz+3UD9qj3jvmKgIwsRPv9EY16f1DFJcjnuiaz3b+QAEuG4kDV6YZI8c1mMTkj1Kax1IUoHU822i/0D1BwAwMjsC3eb1EE0uOwHlMltvvCvhJF6XfYc1UNNOpBQSFC/K2OizDUGL3kv7sXgO4A7XXZbIsMa82zeFBJuAAc2ov/1Xv/gTHXTXppPkV7Wioerykzltx949Xf/boAqpOGzkIiD9I5o6I7t+mwVPLA8uKoAuaxXEtXsxGwHu5wzKH2qi2h5p+uxXigYF5MB9FbiDbVWO85KTfgqtxaopFE2YTHeCN99OXLZkGJw0uBsXObVLcJZ3BfX0x5srGRYNvoeE7SlCF0Po+IsR5JhoCg1k4MxNJAbCJCpv32rvzDwA+GTUQDYZZ+eQEKMsJZb4WrLqFRfrs91cF9eZjXCrX4UGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YYztMTVe6HdGgFrPscahkr",
      "input": {
        "note": "The dog is hanging over the safe's red interior; lowering slightly and opening the gripper to drop it inside.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01YYztMTVe6HdGgFrPscahkr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.831, 2.4882, 2.6701, -1.5753, -0.3538, -0.8093, 0.9958, 0.0513, 1.1194, 1.0542, -1.0389, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3857 left_y=-0.3265 left_z=0.1439 left_yaw=0.0883 left_pitch=-0.614 left_roll=0.139 left_gripper=0.9958 right_x=0.2642 right_y=-0.0025 right_z=0.1742 right_yaw=0.1484 right_pitch=-0.5428 right_roll=-0.2839 right_gripper=0.9969\nstate[joint_eff]: [-0.335, -14.0923, 7.3504, 0.6618, -0.2906, 0.0562, -0.1441, -0.1709, -3.0154, 6.3248, 1.0623, 0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea2791a1d28cd9b35a9bf3a844ba105fe9cbf9aad0e417fb4cefc13d106d6813",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53198426154c96df86c160aa194477e7aa5c8f3bef64a1c15e343b6d433293ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fec7d358a077084571576a2333c39d3fafb14ba6d7f3876ec6d5366ee05c5cb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 23.77 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]: [-0.8082, 2.3852, 2.5874, -1.5574, -0.3573, -0.7769, 0.1602, 0.0509, 1.1194, 1.0542, -1.0382, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3859 left_y=-0.3093 left_z=0.1712 left_yaw=0.0716 left_pitch=-0.59 left_roll=0.1205 left_gripper=0.1602 right_x=0.2643 right_y=-0.0026 right_z=0.1743 right_yaw=0.148 right_pitch=-0.542 right_roll=-0.284 right_gripper=0.9969\nstate[joint_eff]: [-0.5675, -14.8444, 6.8171, 0.5543, -0.442, -0.1441, 0.105, -0.1573, -3.0017, 6.3795, 1.2234, 0.0513, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8234, 2.4577, 2.6644, -1.5757, -0.3565, -0.8017, 0.1624, 0.0513, 1.1194, 1.0542, -1.0389, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3872 left_y=-0.3218 left_z=0.1571 left_yaw=0.0792 left_pitch=-0.5975 left_roll=0.121 left_gripper=0.1624 right_x=0.2642 right_y=-0.0025 right_z=0.1742 right_yaw=0.1484 right_pitch=-0.5428 right_roll=-0.2839 right_gripper=0.9969\nstate[joint_eff]: [-0.9915, -12.2462, 8.0342, 0.6764, -0.3492, 0.0122, 0.2076, -0.1299, -3.0154, 6.3385, 1.1062, 0.0122, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.831, 2.4882, 2.6701, -1.5753, -0.3538, -0.8093, 0.9958, 0.0513, 1.1194, 1.0542, -1.0389, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3857 left_y=-0.3265 left_z=0.1439 left_yaw=0.0883 left_pitch=-0.614 left_roll=0.139 left_gripper=0.9958 right_x=0.2642 right_y=-0.0025 right_z=0.1742 right_yaw=0.1484 right_pitch=-0.5428 right_roll=-0.2839 right_gripper=0.9969\nstate[joint_eff]: [-0.335, -14.0923, 7.3504, 0.6618, -0.2906, 0.0562, -0.1441, -0.1709, -3.0154, 6.3248, 1.0623, 0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea2791a1d28cd9b35a9bf3a844ba105fe9cbf9aad0e417fb4cefc13d106d6813",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53198426154c96df86c160aa194477e7aa5c8f3bef64a1c15e343b6d433293ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fec7d358a077084571576a2333c39d3fafb14ba6d7f3876ec6d5366ee05c5cb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016vpmpySKdNsCNn53zuEfwP",
      "input": {
        "note": "Both the lemon and the plush dog are now inside the safe. Moving the closed gripper up and over behind the raised lid so I can sweep it shut.",
        "targets": {
          "left_gripper": 0,
          "left_x": 0.52,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_016vpmpySKdNsCNn53zuEfwP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6476, 2.455, 2.6698, -1.5787, -0.326, -0.6292, 0.0096, 0.0513, 1.1221, 1.0542, -1.0569, 0.1112, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.4346 left_y=-0.2533 left_z=0.158 left_yaw=0.1187 left_pitch=-0.6305 left_roll=0.1714 left_gripper=0.0096 right_x=0.2604 right_y=-0.0027 right_z=0.1716 right_yaw=0.1501 right_pitch=-0.5632 right_roll=-0.2812 right_gripper=0.9969\nstate[joint_eff]: [0.1573, -18.3316, 7.0496, 0.7741, -0.149, 0.1783, 0.7839, -0.1846, -3.1658, 6.5026, 1.2772, 0.0073, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b08e8f1e545d016637f770d9411105e62b411cd7704db1c014acc463076f2447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3239770cf4629dc47770f90fc304db5eb0462c9a8b6dff028f017dbfa19d0f25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a524441b820c6fa31c9cf48fcfe91c7a952de7b0137fe4a2d0c50b34a798254",
        "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 · 5.473 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]: [-0.8234, 2.4577, 2.6644, -1.5757, -0.3565, -0.8017, 0.1624, 0.0513, 1.1194, 1.0542, -1.0389, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3872 left_y=-0.3218 left_z=0.1571 left_yaw=0.0792 left_pitch=-0.5975 left_roll=0.121 left_gripper=0.1624 right_x=0.2642 right_y=-0.0025 right_z=0.1742 right_yaw=0.1484 right_pitch=-0.5428 right_roll=-0.2839 right_gripper=0.9969\nstate[joint_eff]: [-0.9915, -12.2462, 8.0342, 0.6764, -0.3492, 0.0122, 0.2076, -0.1299, -3.0154, 6.3385, 1.1062, 0.0122, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.831, 2.4882, 2.6701, -1.5753, -0.3538, -0.8093, 0.9958, 0.0513, 1.1194, 1.0542, -1.0389, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3857 left_y=-0.3265 left_z=0.1439 left_yaw=0.0883 left_pitch=-0.614 left_roll=0.139 left_gripper=0.9958 right_x=0.2642 right_y=-0.0025 right_z=0.1742 right_yaw=0.1484 right_pitch=-0.5428 right_roll=-0.2839 right_gripper=0.9969\nstate[joint_eff]: [-0.335, -14.0923, 7.3504, 0.6618, -0.2906, 0.0562, -0.1441, -0.1709, -3.0154, 6.3248, 1.0623, 0.0415, -0.0464, -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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6476, 2.455, 2.6698, -1.5787, -0.326, -0.6292, 0.0096, 0.0513, 1.1221, 1.0542, -1.0569, 0.1112, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.4346 left_y=-0.2533 left_z=0.158 left_yaw=0.1187 left_pitch=-0.6305 left_roll=0.1714 left_gripper=0.0096 right_x=0.2604 right_y=-0.0027 right_z=0.1716 right_yaw=0.1501 right_pitch=-0.5632 right_roll=-0.2812 right_gripper=0.9969\nstate[joint_eff]: [0.1573, -18.3316, 7.0496, 0.7741, -0.149, 0.1783, 0.7839, -0.1846, -3.1658, 6.5026, 1.2772, 0.0073, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b08e8f1e545d016637f770d9411105e62b411cd7704db1c014acc463076f2447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3239770cf4629dc47770f90fc304db5eb0462c9a8b6dff028f017dbfa19d0f25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a524441b820c6fa31c9cf48fcfe91c7a952de7b0137fe4a2d0c50b34a798254",
        "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_013SCJsuJLMkYGVqQK5GhY7B",
      "input": {
        "note": "The lid stands open just ahead and above the closed gripper; raising the gripper up against the lid's inner face so I can then pull it back and down to swing it shut.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.28,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013SCJsuJLMkYGVqQK5GhY7B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6754, 2.3306, 2.5256, -1.573, -0.3351, -0.6376, 0.0122, 0.0509, 1.1221, 1.0542, -1.0618, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.4099 left_y=-0.2493 left_z=0.1774 left_yaw=0.1102 left_pitch=-0.6335 left_roll=0.1878 left_gripper=0.0122 right_x=0.2593 right_y=-0.0029 right_z=0.1711 right_yaw=0.1496 right_pitch=-0.5682 right_roll=-0.281 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -16.1983, 5.3402, 0.6422, -0.3883, -0.0806, 0.525, -0.1709, -2.9333, 6.2838, 1.1013, 0.0269, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c943adbb97b668e03ede2233444bf545b5bdb6eaf39bd07284a423312c3b40fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41610f7b061c9f2d2368b7c0d44ed9a6ebb536d1cdc4c3d25ce2c8d75c3d58bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e3773c03d91a3747ab89ef896f6822b46ea914b373fb18b93fe0681afae88195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /messages · status 200 · 13.47 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]: [-0.831, 2.4882, 2.6701, -1.5753, -0.3538, -0.8093, 0.9958, 0.0513, 1.1194, 1.0542, -1.0389, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3857 left_y=-0.3265 left_z=0.1439 left_yaw=0.0883 left_pitch=-0.614 left_roll=0.139 left_gripper=0.9958 right_x=0.2642 right_y=-0.0025 right_z=0.1742 right_yaw=0.1484 right_pitch=-0.5428 right_roll=-0.2839 right_gripper=0.9969\nstate[joint_eff]: [-0.335, -14.0923, 7.3504, 0.6618, -0.2906, 0.0562, -0.1441, -0.1709, -3.0154, 6.3248, 1.0623, 0.0415, -0.0464, -0.0122]\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]: [-0.6476, 2.455, 2.6698, -1.5787, -0.326, -0.6292, 0.0096, 0.0513, 1.1221, 1.0542, -1.0569, 0.1112, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.4346 left_y=-0.2533 left_z=0.158 left_yaw=0.1187 left_pitch=-0.6305 left_roll=0.1714 left_gripper=0.0096 right_x=0.2604 right_y=-0.0027 right_z=0.1716 right_yaw=0.1501 right_pitch=-0.5632 right_roll=-0.2812 right_gripper=0.9969\nstate[joint_eff]: [0.1573, -18.3316, 7.0496, 0.7741, -0.149, 0.1783, 0.7839, -0.1846, -3.1658, 6.5026, 1.2772, 0.0073, -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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6754, 2.3306, 2.5256, -1.573, -0.3351, -0.6376, 0.0122, 0.0509, 1.1221, 1.0542, -1.0618, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.4099 left_y=-0.2493 left_z=0.1774 left_yaw=0.1102 left_pitch=-0.6335 left_roll=0.1878 left_gripper=0.0122 right_x=0.2593 right_y=-0.0029 right_z=0.1711 right_yaw=0.1496 right_pitch=-0.5682 right_roll=-0.281 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -16.1983, 5.3402, 0.6422, -0.3883, -0.0806, 0.525, -0.1709, -2.9333, 6.2838, 1.1013, 0.0269, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c943adbb97b668e03ede2233444bf545b5bdb6eaf39bd07284a423312c3b40fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41610f7b061c9f2d2368b7c0d44ed9a6ebb536d1cdc4c3d25ce2c8d75c3d58bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3773c03d91a3747ab89ef896f6822b46ea914b373fb18b93fe0681afae88195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjAUKjgEIEhgCKkD0DRmFSYRGi5xw3s+AKUiX6FkVLjoB+89amQ3V5ZGpsjbvIYpyCM7gekLdUtgHZcxaGHDsT/LsRPKmQFPhqeb9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc6bzNUGEgxfMg3QVvBroebPpvIaDLiOoJYl5AC+7tkMVSIwHLGkaPOc2thBy4Gfqe+VSgM+xElEz9pKnRo1YwrhXeYtxKiMWPI5vUk2WOgOPbVqKqoDYivovfv2kos9jTf29b2OXVJCBjHfVg1knDSttdQuPNdIP4eqYiwPTBB4bT1kXN/K08Bgpp77GvUmd1xxQ26kstfmQrTgfyRsZyv2r1tD/zVjcT/C0zue92RQmhxdU/9ZXeUxUqpz1Y/FbzNJaRm4qhk2+789vnEZGN1euHeabFheOANODiyPxu0x5zfevqRDXZ4fbTnGwB8wOh9Mq01Ww/YfUWCHzF0wC7NMAZ03mSr4sNoT4lRJXQCuwJUoo/8L6gGTLWzhMDPMUX08azpNsp7qBWmk2p4H355vTVM1CpzKYydt+TSWmtWfJPLYMRkEKOwdaHQpEAYEIpu9s/g615oYd0zdScBG89Rf0+7WtUCu/rHfGZlqDtx0VEjT8AYK5CFvFLJh7VX4LSWgZRP1LhI+7k/ucs8+bl4s7NuZ9Vx6QHuJISfV4r0xkLAIYv5eG7nMtdLU38PmFziPbKRge/v4I9eNUs4UOzJnZUxMtAZRSh9uA6oV3O22/L3ACWOprKZuyl0wNwqUscTLNOtscHQSHTbi4s/HRkt6jNORmxFjZvWE8vV0vdeNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NzibFB7vNgM6BgQNNbBnmK",
      "input": {
        "note": "Gripper is up against the open lid's inner face; pulling back and down to swing the lid shut over the compartment.",
        "targets": {
          "left_x": 0.33,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NzibFB7vNgM6BgQNNbBnmK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.807, 1.9987, 1.5631, -1.0794, -0.3698, -0.7544, 0.0147, 0.0509, 1.124, 1.0542, -1.0786, 0.1116, -0.3332, 0.9969]\nstate[eef_state]: left_x=0.3184 left_y=-0.235 left_z=0.069 left_yaw=0.1591 left_pitch=-0.6793 left_roll=0.2982 left_gripper=0.0147 right_x=0.2556 right_y=-0.0031 right_z=0.1689 right_yaw=0.1508 right_pitch=-0.5868 right_roll=-0.2788 right_gripper=0.9969\nstate[joint_eff]: [-0.6085, -12.7248, 8.6085, 0.8767, -0.4664, -0.1392, 0.2418, -0.1026, -3.1521, 6.2564, 1.199, 0.0122, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d6d2e9c9b8b225a33bb6d1327743aa9e1f8f6ca72fb2567fda0cf80a0fcea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a9da546cb313762f8dac320de525d83586d524d994e48c162811b851cfa43fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:900fa7e8d08f81e9e83a29b36299246cf10aa32249796e301a01257eee8bc1de",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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  ],
  "role": "user"
}
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