adhoc

completed
2026-09-22T23:24:51.224349+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
450.5 s
total steps
312
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

give_up

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/chest in the middle, a yellow lemon to its right, a white fluffy toy to its left, and a brown teddy bear in front. I'm moving the right arm out over the lemon to line up a grasp.
move_to
right_x0.4200right_y0.1000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.606, -0.4034, -0.0204, -0.0254, 0.9996] state[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1786 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.001 right_z=0.1762 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4171, -1.3607, 10.2496, 1.9951, -0.0757, 0.1587, -0.0904, -0.4171, -1.4291, 9.7162, 2.083, -0.0317, 0.0806, -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": 0.42, "right_y": 0.1, "right_z": 0.15, "right_gripper": 1}, "note": "Scene: an open red-lined safe/chest in the middle, a yellow lemon to its right, a white fluffy toy to its left, and a brown teddy bear in front. I'm moving the right arm out over the lemon to line up a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe lemon appears just below and slightly left of the jaw column in the right wrist view, so it is nearly under the fingertips; advancing 3 cm and dropping close to the table to set up the grasp.
move_to
right_x0.4400right_y0.1100right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4057, -0.0189, -0.038, 0.9992, 0.3309, 1.4578, 0.8494, -0.1001, 0.2424, 0.1463, 0.9996] state[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1751 left_yaw=0.002 left_pitch=-0.0191 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3995 right_y=0.0962 right_z=0.1265 right_yaw=0.0378 right_pitch=-0.0935 right_roll=-0.0353 right_gripper=0.9996 state[joint_eff]: [-0.253, -1.4974, 6.8444, 1.8779, -0.0757, -0.0024, -0.022, 0.0752, -6.4889, 8.8821, 1.9512, 0.2418, 0.1734, -0.0513] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.11, "right_z": 0.04}, "note": "The lemon appears just below and slightly left of the jaw column in the right wrist view, so it is nearly under the fingertips; advancing 3 cm and dropping close to the table to set up the grasp."})
tool
executing move_to over 6 steps (0.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe arm only partly tracked the last target (x 0.40, z 0.08); the lemon is still just ahead of the jaws in the wrist view, so I'm re-commanding a deeper, slightly further reach to table level.
move_to
right_x0.4500right_y0.1100right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4088, -0.0189, -0.0383, 0.9992, 0.3328, 1.5749, 0.8146, -0.0044, 0.242, 0.1459, 0.9996] state[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0022 left_pitch=-0.0236 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4043 right_y=0.0988 right_z=0.0835 right_yaw=0.0383 right_pitch=-0.1473 right_roll=-0.0517 right_gripper=0.9996 state[joint_eff]: [0.0342, -1.1829, 7.159, 1.7167, -0.0562, -0.0317, -0.0122, -0.335, -7.6786, 6.9812, 1.9805, 0.0415, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.11, "right_z": 0.0}, "note": "The arm only partly tracked the last target (x 0.40, z 0.08); the lemon is still just ahead of the jaws in the wrist view, so I'm re-commanding a deeper, slightly further reach to table level."})
tool
executing move_to over 6 steps (0.6s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe arm did not move at all on the last command (identical readback), so I'm trying a smaller incremental step down and forward toward the lemon.
move_to
right_x0.4200right_y0.1050right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4095, -0.0189, -0.0383, 0.9992, 0.3325, 1.5749, 0.8146, -0.0048, 0.2424, 0.1459, 0.9996] state[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1739 left_yaw=0.0022 left_pitch=-0.0244 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4043 right_y=0.0985 right_z=0.0835 right_yaw=0.0375 right_pitch=-0.1476 right_roll=-0.0521 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.265, 7.241, 1.6923, -0.0513, -0.0366, -0.0122, -0.4991, -7.5145, 6.9812, 1.8828, 0.0513, -0.0708, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.105, "right_z": 0.05}, "note": "The arm did not move at all on the last command (identical readback), so I'm trying a smaller incremental step down and forward toward the lemon."})
tool
executing move_to over 3 steps (0.3s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe lemon is now at the bottom centre of the right wrist view, right on the jaw column; lowering to mid-lemon height before closing.
move_to
right_x0.4250right_y0.1000right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.3328, 1.6951, 0.8143, 0.0673, 0.2428, 0.1429, 0.9996] state[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1694 left_yaw=0.0022 left_pitch=-0.0458 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4106 right_y=0.1008 right_z=0.0478 right_yaw=0.0369 right_pitch=-0.1939 right_roll=-0.0689 right_gripper=0.9996 state[joint_eff]: [-0.1983, -0.9504, 6.9949, 1.8339, -0.0513, -0.0171, -0.0122, -0.1026, -8.4308, 5.7915, 1.9609, 0.0513, 0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.425, "right_y": 0.1, "right_z": 0.025}, "note": "The lemon is now at the bottom centre of the right wrist view, right on the jaw column; lowering to mid-lemon height before closing."})
tool
executing move_to over 2 steps (0.2s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteJaws straddle the lemon at its mid-height; closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8028, 0.6067, -0.4294, -0.0189, -0.0383, 0.9992, 0.3248, 1.7607, 0.8116, 0.1188, 0.2398, 0.1314, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1687 left_yaw=0.0022 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.4145 right_y=0.0991 right_z=0.0288 right_yaw=0.0369 right_pitch=-0.2111 right_roll=-0.0798 right_gripper=0.9996 state[joint_eff]: [-0.2803, -1.347, 7.0222, 1.6825, -0.0415, -0.0317, -0.0122, -0.3624, -6.3385, 7.3231, 1.6093, 0.0073, 0.0806, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Jaws straddle the lemon at its mid-height; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe close came up empty (gripper 0.01) and the lemon has been nudged back toward the base; opening, lifting and retracting to re-acquire it in the wrist view.
move_to
right_gripper1.0000right_z0.1300right_x0.3700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0189, -0.0383, 0.9992, 0.3138, 1.7939, 0.8131, 0.1368, 0.2272, 0.1238, 0.0088] state[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0549 left_roll=-0.0029 left_gripper=0.9992 right_x=0.416 right_y=0.0969 right_z=0.0184 right_yaw=0.0398 right_pitch=-0.2272 right_roll=-0.0799 right_gripper=0.0088 state[joint_eff]: [-0.0615, -1.2786, 7.1179, 1.7509, -0.0415, -0.0513, -0.0122, 0.0479, -7.159, 6.9128, 1.7314, 0.1783, 0.022, 0.7643] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.13, "right_x": 0.37}, "note": "The close came up empty (gripper 0.01) and the lemon has been nudged back toward the base; opening, lifting and retracting to re-acquire it in the wrist view."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe lemon now sits at the very bottom of the right wrist view, i.e. essentially under the fingertips; descending to mid-lemon height for a second grasp attempt.
move_to
right_x0.3750right_y0.1050right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4507, -0.0189, -0.0387, 0.9992, 0.3622, 1.4376, 0.8841, -0.3336, 0.2474, 0.1505, 0.9946] state[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.0709 left_roll=-0.0029 left_gripper=0.9992 right_x=0.367 right_y=0.0966 right_z=0.1089 right_yaw=0.053 right_pitch=-0.2629 right_roll=-0.0894 right_gripper=0.9946 state[joint_eff]: [-0.253, -0.9778, 7.1726, 1.8584, -0.0708, -0.0659, -0.0122, 0.253, -7.2821, 9.4427, 1.6337, 0.2173, 0.0611, -0.1197] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.105, "right_z": 0.025}, "note": "The lemon now sits at the very bottom of the right wrist view, i.e. essentially under the fingertips; descending to mid-lemon height for a second grasp attempt."})
tool
executing move_to over 6 steps (0.6s)
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 noteWrist view is now empty table, meaning the lemon is directly beneath the jaws; closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.458, -0.0189, -0.0387, 0.9992, 0.374, 1.6348, 0.7254, -0.0551, 0.252, 0.1505, 0.9953] state[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1623 left_yaw=0.0025 left_pitch=-0.0801 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3612 right_y=0.0983 right_z=0.0209 right_yaw=0.0536 right_pitch=-0.3354 right_roll=-0.1182 right_gripper=0.9953 state[joint_eff]: [-0.3077, -1.4291, 6.9675, 1.7216, -0.0366, -0.0464, -0.0122, 0.4718, -5.9145, 5.2855, 1.5507, 0.1343, 0.105, 0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Wrist view is now empty table, meaning the lemon is directly beneath the jaws; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteSecond close was empty again; backing up and to the left, higher, so the wrist camera can see where the lemon actually lies relative to the jaws.
move_to
right_gripper1.0000right_z0.1600right_x0.3200right_y0.1400
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, -0.4728, -0.0189, -0.0387, 0.9992, 0.3782, 1.6531, 0.7139, -0.0719, 0.247, 0.1463, 0.0088] state[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1589 left_yaw=0.0025 left_pitch=-0.0969 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3519 right_y=0.0972 right_z=0.0084 right_yaw=0.059 right_pitch=-0.3812 right_roll=-0.1322 right_gripper=0.0088 state[joint_eff]: [-0.0752, -1.4291, 7.0222, 1.7998, -0.0757, -0.0757, -0.0122, -0.4034, -8.1436, 6.2701, 1.4286, 0.1783, 0.0073, 0.7302] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.16, "right_x": 0.32, "right_y": 0.14}, "note": "Second close was empty again; backing up and to the left, higher, so the wrist camera can see where the lemon actually lies relative to the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe wrist camera now clearly shows the lemon just right of the jaw column and a few cm beyond the fingertips; moving forward 3 cm, 2 cm right and down to lemon mid-height.
move_to
right_x0.3500right_y0.1200right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4812, -0.0189, -0.0387, 0.9992, 0.569, 1.4342, 1.1, -0.7456, 0.3229, 0.2863, 0.9946] state[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1568 left_yaw=0.0025 left_pitch=-0.1072 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3207 right_y=0.1428 right_z=0.1405 right_yaw=0.0915 right_pitch=-0.4087 right_roll=-0.1426 right_gripper=0.9946 state[joint_eff]: [-0.1026, -1.4017, 6.9402, 1.6923, -0.0611, -0.0415, -0.0122, 0.1436, -7.2137, 8.4855, 1.1893, 0.2613, 0.1832, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.12, "right_z": 0.035}, "note": "The wrist camera now clearly shows the lemon just right of the jaw column and a few cm beyond the fingertips; moving forward 3 cm, 2 cm right and down to lemon mid-height."})
tool
executing move_to over 7 steps (0.7s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteLemon is at the bottom edge of the wrist view but ~2 cm right of the jaw column; shifting right slightly and settling at grasp height.
move_to
right_y0.0980right_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, -0.4961, -0.0189, -0.0387, 0.9992, 0.4553, 1.5902, 0.8429, -0.358, 0.2604, 0.1921, 0.9953] state[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1539 left_yaw=0.0025 left_pitch=-0.122 left_roll=-0.0018 left_gripper=0.9992 right_x=0.336 right_y=0.1179 right_z=0.0384 right_yaw=0.0826 right_pitch=-0.4624 right_roll=-0.1525 right_gripper=0.9953 state[joint_eff]: [-0.1436, -1.0735, 6.9402, 1.7411, -0.0659, -0.0464, -0.0122, -0.8137, -4.9299, 4.9299, 1.1795, 0.1783, 0.0171, 0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.098, "right_z": 0.03}, "note": "Lemon is at the bottom edge of the wrist view but ~2 cm right of the jaw column; shifting right slightly and settling at grasp height."})
tool
executing move_to over 2 steps (0.2s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteLemon has disappeared under the jaws in the wrist view; closing to grasp it (stopping just short of full close to avoid squeezing it out).
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, 0.8097, 0.6067, -0.5014, -0.0189, -0.0383, 0.9992, 0.4168, 1.597, 0.8078, -0.2817, 0.226, 0.1566, 0.9954] state[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1529 left_yaw=0.0023 left_pitch=-0.1274 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3421 right_y=0.1121 right_z=0.0318 right_yaw=0.1013 right_pitch=-0.443 right_roll=-0.1277 right_gripper=0.9954 state[joint_eff]: [-0.1573, -1.2239, 6.9128, 1.7753, -0.0855, -0.0122, -0.0122, -0.7453, -7.706, 4.9436, 0.9841, 0.3639, -0.149, -0.0073] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Lemon has disappeared under the jaws in the wrist view; closing to grasp it (stopping just short of full close to avoid squeezing it out)."})
tool
executing move_to over 10 steps (1.0s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteGripper closed to the commanded 0.05; lifting 9 cm to see in the overhead view whether the lemon came with it.
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, 0.8097, 0.6067, -0.5152, -0.0189, -0.0387, 0.9992, 0.4179, 1.5879, 0.7963, -0.2893, 0.2111, 0.149, 0.058] state[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1504 left_yaw=0.0026 left_pitch=-0.1411 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3367 right_y=0.1129 right_z=0.0297 right_yaw=0.1188 right_pitch=-0.4569 right_roll=-0.1215 right_gripper=0.058 state[joint_eff]: [-0.1983, -1.0872, 7.1179, 1.7167, -0.0904, -0.0562, -0.0122, -0.3077, -5.9145, 6.7214, 1.1746, 0.2271, 0.0562, 0.5397] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper closed to the commanded 0.05; lifting 9 cm to see in the overhead view whether the lemon came with it."})
tool
executing move_to over 6 steps (0.6s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteOverhead shows the lemon still on the table, and the wrist view has it at the bottom-right corner — it is about 4 cm to the arm's right of the jaws. Opening and sliding right to line up.
move_to
right_gripper1.0000right_y0.0720
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5186, -0.0189, -0.0383, 0.9992, 0.4179, 1.4837, 1.0134, -0.635, 0.1986, 0.1452, 0.0589] state[eef_state]: left_x=0.2754 left_y=0.0017 left_z=0.1497 left_yaw=0.0024 left_pitch=-0.1445 left_roll=-0.001 left_gripper=0.9992 right_x=0.3342 right_y=0.1142 right_z=0.1002 right_yaw=0.1288 right_pitch=-0.4838 right_roll=-0.1195 right_gripper=0.0589 state[joint_eff]: [-0.0479, -1.2376, 6.9265, 1.6044, -0.0611, -0.0562, -0.0122, -0.3761, -7.4188, 8.6632, 1.2039, 0.2076, 0.0122, 0.0708] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_y": 0.072}, "note": "Overhead shows the lemon still on the table, and the wrist view has it at the bottom-right corner \u2014 it is about 4 cm to the arm's right of the jaws. Opening and sliding right to line up."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe lemon fills the lower-left of the wrist view, ~2.5 cm to the arm's left of the jaw column (and the safe lid has fallen shut — I'll reopen it later). Lining up over the lemon at grasp height.
move_to
right_y0.0950right_x0.3450right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8124, 0.6067, -0.5331, -0.0189, -0.0387, 0.9992, 0.2745, 1.4464, 0.9588, -0.6563, 0.1371, 0.0257, 0.9947] state[eef_state]: left_x=0.2731 left_y=0.0018 left_z=0.1464 left_yaw=0.0027 left_pitch=-0.1617 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3263 right_y=0.0705 right_z=0.0893 right_yaw=0.1132 right_pitch=-0.5417 right_roll=-0.1294 right_gripper=0.9947 state[joint_eff]: [-0.0889, -1.2923, 6.9675, 1.707, -0.0708, -0.0513, -0.0122, -0.1846, -7.5692, 6.065, 1.4286, 0.0171, -0.0415, -0.0611] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.095, "right_x": 0.345, "right_z": 0.03}, "note": "The lemon fills the lower-left of the wrist view, ~2.5 cm to the arm's left of the jaw column (and the safe lid has fallen shut \u2014 I'll reopen it later). Lining up over the lemon at grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteLemon is now centred on the jaw column at the bottom of the wrist view; completing the descent to grasp height (the last move stopped short at z=0.07).
move_to
right_z0.0300right_x0.3600
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, -0.5407, -0.0189, -0.0387, 0.9992, 0.3294, 1.5551, 0.9375, -0.4404, 0.1486, 0.0658, 0.9952] state[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1445 left_yaw=0.0027 left_pitch=-0.1712 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3578 right_y=0.0985 right_z=0.0698 right_yaw=0.1404 right_pitch=-0.4529 right_roll=-0.1026 right_gripper=0.9952 state[joint_eff]: [-0.0205, -1.3744, 6.8855, 1.619, -0.0757, -0.0317, -0.0122, 0.4308, -1.7983, 2.3863, 0.2857, 0.2369, 0.022, 0.0415] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03, "right_x": 0.36}, "note": "Lemon is now centred on the jaw column at the bottom of the wrist view; completing the descent to grasp height (the last move stopped short at z=0.07)."})
tool
executing move_to over 3 steps (0.3s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteLemon sits centred between the two jaws at the bottom of the wrist view; closing fully.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5507, -0.0189, -0.0387, 0.9992, 0.3267, 1.6196, 0.9085, -0.4458, 0.141, 0.0628, 0.9953] state[eef_state]: left_x=0.2702 left_y=0.0018 left_z=0.1427 left_yaw=0.0027 left_pitch=-0.1812 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3441 right_y=0.0942 right_z=0.0371 right_yaw=0.1365 right_pitch=-0.5514 right_roll=-0.1178 right_gripper=0.9953 state[joint_eff]: [-0.0205, -1.1829, 6.8855, 1.7118, -0.0562, -0.0562, -0.0122, -0.2803, -8.2256, 7.9385, 1.1941, 0.0904, -0.0269, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Lemon sits centred between the two jaws at the bottom of the wrist view; closing fully."})
tool
executing move_to over 10 steps (1.0s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThird empty close on the lemon — it keeps rolling out. Pulling the right arm back and up to get an unobstructed overhead view so I can localise the lemon and the other objects properly.
move_to
right_gripper1.0000right_x0.2500right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5629, -0.0189, -0.0387, 0.9992, 0.326, 1.6131, 0.9146, -0.4473, 0.1375, 0.0559, 0.0087] state[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1406 left_yaw=0.0028 left_pitch=-0.1934 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3461 right_y=0.0952 right_z=0.041 right_yaw=0.1447 right_pitch=-0.5415 right_roll=-0.1152 right_gripper=0.0087 state[joint_eff]: [-0.0068, -1.2376, 6.8718, 1.6923, -0.0464, -0.0415, -0.0122, -0.2667, -5.9145, 5.6274, 1.0427, 0.1148, 0.0366, 0.7302] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.25, "right_y": 0.0, "right_z": 0.2}, "note": "Third empty close on the lemon \u2014 it keeps rolling out. Pulling the right arm back and up to get an unobstructed overhead view so I can localise the lemon and the other objects properly."})
tool
executing move_to over 11 steps (1.1s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteClear overhead view: safe (lid shut) centre, lemon to its right, teddy bear in front, white toy left. Repositioning the right arm above the lemon with the wrist pitch commanded back to 0 for a clean vertical grasp.
move_to
right_x0.3800right_y0.1000right_z0.1000right_pitch0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.5747, -0.0189, -0.0387, 0.9992, -0.0071, 1.1286, 1.129, -1.1236, 0.0166, -0.2169, 0.995] state[eef_state]: left_x=0.2662 left_y=0.0019 left_z=0.1374 left_yaw=0.0029 left_pitch=-0.2094 left_roll=0.0002 left_gripper=0.9992 right_x=0.2587 right_y=-0.0012 right_z=0.1884 right_yaw=0.1055 right_pitch=-0.54 right_roll=-0.1222 right_gripper=0.995 state[joint_eff]: [-0.1846, -1.2513, 6.8718, 1.663, -0.0366, -0.0562, -0.0122, -0.1299, -3.5897, 7.9932, 1.2088, -0.2466, -0.1099, -0.2564] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.1, "right_z": 0.1, "right_pitch": 0.0, "right_yaw": 0.0}, "note": "Clear overhead view: safe (lid shut) centre, lemon to its right, teddy bear in front, white toy left. Repositioning the right arm above the lemon with the wrist pitch commanded back to 0 for a clean vertical grasp."})
tool
executing move_to over 19 steps (1.9s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteOverhead shows the lemon sitting just base-ward of the gripper in the same column, so my previous grasps were ~4 cm too far out; pulling back to x=0.315 and dropping to lemon height.
move_to
right_x0.3150right_y0.0970right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5854, -0.0189, -0.0387, 0.9992, 0.4274, 1.4403, 0.6525, 0.0154, 0.3763, 0.1177, 0.9967] state[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1355 left_yaw=0.0029 left_pitch=-0.2204 left_roll=0.0004 left_gripper=0.9992 right_x=0.3612 right_y=0.0971 right_z=0.079 right_yaw=0.0397 right_pitch=-0.1248 right_roll=-0.1643 right_gripper=0.9967 state[joint_eff]: [-0.294, -1.2513, 6.9128, 1.619, -0.0171, -0.0562, -0.0122, 0.1846, -5.6684, 6.4479, 2.0781, 0.3101, 0.2369, 0.1636] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.315, "right_y": 0.097, "right_z": 0.03}, "note": "Overhead shows the lemon sitting just base-ward of the gripper in the same column, so my previous grasps were ~4 cm too far out; pulling back to x=0.315 and dropping to lemon height."})
tool
executing move_to over 4 steps (0.4s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe lemon now fills the bottom centre between the jaws — right in the grasp. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5884, -0.0189, -0.0387, 0.9992, 0.5102, 1.4326, 0.4141, 0.1535, 0.4145, 0.1589, 0.9968] state[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.135 left_yaw=0.0029 left_pitch=-0.2235 left_roll=0.0005 left_gripper=0.9992 right_x=0.3067 right_y=0.0942 right_z=0.0201 right_yaw=0.0633 right_pitch=-0.1943 right_roll=-0.1976 right_gripper=0.9968 state[joint_eff]: [-0.0342, -1.2376, 6.8444, 1.5214, -0.0659, -0.0415, -0.0122, 0.1573, -4.6564, 6.5573, 2.1074, 0.315, 0.0904, 0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The lemon now fills the bottom centre between the jaws \u2014 right in the grasp. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteLemon is firmly grasped (gripper settled at 0.60 ≈ 5.7 cm). Lifting it clear, and bringing the left arm over toward the safe, whose lid got knocked shut and must be reopened first.
move_to
right_z0.1800left_x0.3300left_y-0.2600left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.59, -0.0189, -0.0383, 0.9992, 0.5171, 1.4326, 0.3939, 0.1986, 0.4294, 0.1768, 0.5962] state[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1347 left_yaw=0.0027 left_pitch=-0.225 left_roll=0.0008 left_gripper=0.9992 right_x=0.3072 right_y=0.0942 right_z=0.0211 right_yaw=0.0505 right_pitch=-0.1653 right_roll=-0.1836 right_gripper=0.5962 state[joint_eff]: [-0.0342, -1.2376, 6.8444, 1.4969, -0.0464, -0.0366, -0.0122, 0.0615, -4.6427, 6.1744, 1.7607, 0.2125, 0.0708, 1.0134] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "left_x": 0.33, "left_y": -0.26, "left_z": 0.2}, "note": "Lemon is firmly grasped (gripper settled at 0.60 \u2248 5.7 cm). Lifting it clear, and bringing the left arm over toward the safe, whose lid got knocked shut and must be reopened first."})
tool
executing move_to over 24 steps (2.4s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteLeft wrist view shows the closed aluminium case just beyond the fingertips; lowering to the height of the lid seam near the case's front edge so I can pinch the lid and flip it open.
move_to
left_x0.3500left_y-0.2600left_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.902, 1.6527, 1.4261, -0.8463, -0.5552, -0.7719, 0.9992, 0.5171, 1.1477, 0.8547, -0.6128, 0.4255, 0.1726, 0.5986] state[eef_state]: left_x=0.3232 left_y=-0.253 left_z=0.1852 left_yaw=-0.0025 left_pitch=-0.2662 left_roll=0.0122 left_gripper=0.9992 right_x=0.3003 right_y=0.091 right_z=0.1578 right_yaw=0.05 right_pitch=-0.2256 right_roll=-0.214 right_gripper=0.5986 state[joint_eff]: [-0.3624, -7.5282, 8.9778, 1.0427, -0.5348, 0.1001, -0.0122, -0.1709, -4.9573, 9.3333, 1.7314, 0.1636, 0.0024, 0.2418] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.26, "left_z": 0.07}, "note": "Left wrist view shows the closed aluminium case just beyond the fingertips; lowering to the height of the lid seam near the case's front edge so I can pinch the lid and flip it open."})
tool
executing move_to over 8 steps (0.8s)
step 201
top_cam
camera top_cam step 201
assistant
agent noteI'm hovering over the middle of the lid; pulling back toward the case's near (free) edge and dropping to about lid-seam height to find the lip I can pinch.
move_to
left_x0.3000left_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8581, 1.7977, 1.1702, -0.4465, -0.5442, -0.7437, 0.9991, 0.5171, 1.1446, 0.8581, -0.6353, 0.4255, 0.1726, 0.6002] state[eef_state]: left_x=0.3454 left_y=-0.2544 left_z=0.0796 left_yaw=0.0187 left_pitch=-0.2749 left_roll=0.0262 left_gripper=0.9991 right_x=0.2972 right_y=0.0892 right_z=0.1568 right_yaw=0.0483 right_pitch=-0.2399 right_roll=-0.2215 right_gripper=0.6002 state[joint_eff]: [0.2803, -6.9265, 4.7521, 0.8962, -0.0513, 0.188, -0.0171, -0.0615, -3.2068, 6.3932, 1.5653, 0.1587, -0.0073, 0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_z": 0.045}, "note": "I'm hovering over the middle of the lid; pulling back toward the case's near (free) edge and dropping to about lid-seam height to find the lip I can pinch."})
tool
executing move_to over 4 steps (0.4s)
step 205
assistant
agent noteThe descent stopped at z=0.073 on the lid, so the case top is ~7 cm high. Lifting clear, backing off toward the case's near edge and rolling the wrist 90° so the jaws close vertically — then I can pinch the lid's front lip (one jaw above, one below) and flip it open.
move_to
left_z0.1600left_x0.2400left_roll1.5710
assistant
agent noteCase top measured at z≈0.073. Lifting clear, backing toward the case's near edge and rolling the wrist ~90° so the jaws close vertically, ready to pinch the lid's front lip.
move_to
left_z0.1600left_x0.2400left_roll1.5600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9451, 1.7584, 1.0363, -0.2905, -0.6201, -0.8448, 0.9991, 0.5167, 1.1446, 0.8581, -0.6571, 0.4221, 0.1726, 0.6017] state[eef_state]: left_x=0.3239 left_y=-0.2669 left_z=0.0732 left_yaw=0.0244 left_pitch=-0.1859 left_roll=-0.0553 left_gripper=0.9991 right_x=0.2936 right_y=0.0877 right_z=0.1536 right_yaw=0.0481 right_pitch=-0.2606 right_roll=-0.2291 right_gripper=0.6017 state[joint_eff]: [-0.7863, -7.159, 3.7812, 0.2027, 0.3101, 0.3346, -0.0122, -0.1983, -3.2479, 6.7077, 1.5507, 0.1538, -0.022, 0.1441] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.16, "left_x": 0.24, "left_roll": 1.571}, "note": "The descent stopped at z=0.073 on the lid, so the case top is ~7 cm high. Lifting clear, backing off toward the case's near edge and rolling the wrist 90\u00b0 so the jaws close vertically \u2014 then I can pinch the lid's front lip (one jaw above, one below) and flip it open."})
tool
target for left_roll is outside [-1.5707963267948966, 1.5707963267948966]
assistant
move_to({"targets": {"left_z": 0.16, "left_x": 0.24, "left_roll": 1.56}, "note": "Case top measured at z\u22480.073. Lifting clear, backing toward the case's near edge and rolling the wrist ~90\u00b0 so the jaws close vertically, ready to pinch the lid's front lip."})
tool
executing move_to over 21 steps (2.1s)
step 226
assistant
agent noteWrist is rolled so the jaws now close vertically (upper jaw ~5 cm above, lower ~5 cm below the grasp point). Positioning just in front of the case's near edge at seam height so the open jaws straddle the lid lip.
move_to
left_x0.2600left_y-0.3000left_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1553, 2.1731, 1.4986, -1.5234, -1.2568, -0.7078, 0.9991, 0.5171, 1.15, 0.8562, -0.6857, 0.4072, 0.1612, 0.6036] state[eef_state]: left_x=0.2881 left_y=-0.228 left_z=0.1229 left_yaw=0.0144 left_pitch=-0.1961 left_roll=1.4015 left_gripper=0.9991 right_x=0.288 right_y=0.0874 right_z=0.1468 right_yaw=0.062 right_pitch=-0.2996 right_roll=-0.2421 right_gripper=0.6036 state[joint_eff]: [1.0188, -10.2496, 3.9043, -0.8767, -0.9695, 0.2222, -0.0171, -0.0342, -3.9726, 6.7487, 1.5702, 0.2808, 0.0904, 0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.26, "left_y": -0.3, "left_z": 0.055}, "note": "Wrist is rolled so the jaws now close vertically (upper jaw ~5 cm above, lower ~5 cm below the grasp point). Positioning just in front of the case's near edge at seam height so the open jaws straddle the lid lip."})
tool
executing move_to over 7 steps (0.7s)
step 233
assistant
agent noteThe arm is tracking the rolled pose poorly (z stalled at 0.10); re-commanding lower and slightly forward so the vertically-opened jaws end up straddling the lid's front lip.
move_to
left_x0.2700left_y-0.2900left_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2224, 2.4016, 1.7206, -1.6989, -1.3109, -0.8536, 0.9977, 0.5171, 1.15, 0.8562, -0.7166, 0.4042, 0.1577, 0.6051] state[eef_state]: left_x=0.2864 left_y=-0.2781 left_z=0.1031 left_yaw=-0.0459 left_pitch=-0.1499 left_roll=1.4676 left_gripper=0.9977 right_x=0.2826 right_y=0.0849 right_z=0.1427 right_yaw=0.0619 right_pitch=-0.3289 right_roll=-0.2562 right_gripper=0.6051 state[joint_eff]: [-1.6752, -4.2735, 3.4256, 0.4127, 0.9304, -0.1001, -0.1538, -0.0752, -3.5214, 6.7487, 1.5409, 0.1929, -0.0366, 0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": -0.29, "left_z": 0.04}, "note": "The arm is tracking the rolled pose poorly (z stalled at 0.10); re-commanding lower and slightly forward so the vertically-opened jaws end up straddling the lid's front lip."})
tool
executing move_to over 5 steps (0.5s)
step 238
assistant
agent noteThe left arm won't descend further in the rolled pose and I'm low on budget, so I'm retracting it out of the way; next I'll bring the lemon over the case with the right arm and release it onto/into the open top.
move_to
left_x0.2500left_y-0.0500left_z0.2500left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2369, 2.4367, 1.7126, -1.6981, -1.412, -0.886, 0.9969, 0.5159, 1.1522, 0.8528, -0.7547, 0.4034, 0.1493, 0.6059] state[eef_state]: left_x=0.2895 left_y=-0.2915 left_z=0.1016 left_yaw=-0.1257 left_pitch=-0.0877 left_roll=1.5078 left_gripper=0.9969 right_x=0.2754 right_y=0.0806 right_z=0.1362 right_yaw=0.0591 right_pitch=-0.3698 right_roll=-0.2814 right_gripper=0.6059 state[joint_eff]: [-1.306, -3.0154, 2.9744, 0.3834, 0.9939, -0.0171, -0.0952, -0.0205, -3.6444, 7.0359, 1.5702, 0.1441, 0.022, 0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.25, "left_roll": 0.0}, "note": "The left arm won't descend further in the rolled pose and I'm low on budget, so I'm retracting it out of the way; next I'll bring the lemon over the case with the right arm and release it onto/into the open top."})
tool
executing move_to over 22 steps (2.2s)
step 260
assistant
agent noteOverhead confirms the case lid is shut. Bringing the left arm in with the gripper closed to a thin blade, at just under the lid seam height in front of the case, to try to hook under the lid's front lip.
move_to
left_gripper0.0000left_x0.2700left_y-0.3000left_z0.0620
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3702, 0.7826, 0.9436, -0.8509, -0.3099, -0.186, 0.997, 0.5159, 1.1576, 0.8501, -0.7849, 0.3882, 0.1394, 0.6068] state[eef_state]: left_x=0.2529 left_y=-0.0365 left_z=0.2451 left_yaw=-0.0255 left_pitch=-0.076 left_roll=0.0649 left_gripper=0.997 right_x=0.2688 right_y=0.0797 right_z=0.1296 right_yaw=0.0703 right_pitch=-0.4115 right_roll=-0.2924 right_gripper=0.6068 state[joint_eff]: [-0.0889, -0.5675, 8.8957, 1.6484, -0.1343, 0.1587, -0.0024, -0.0889, -3.8632, 6.6803, 1.4481, 0.3004, 0.0513, 0.0806] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0, "left_x": 0.27, "left_y": -0.3, "left_z": 0.062}, "note": "Overhead confirms the case lid is shut. Bringing the left arm in with the gripper closed to a thin blade, at just under the lid seam height in front of the case, to try to hook under the lid's front lip."})
tool
executing move_to over 24 steps (2.4s)
step 284
assistant
agent noteThe left wrist view shows the case's front face with the lid/base seam just above my closed fingertip; easing forward so the fingertip slips under the lid's overhanging lip.
move_to
left_x0.3000left_z0.0580
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1706, 1.8057, 0.9844, -0.3534, -0.8097, -0.9325, 0.0094, 0.5159, 1.1595, 0.8486, -0.7925, 0.3843, 0.1387, 0.6073] state[eef_state]: left_x=0.2638 left_y=-0.2861 left_z=0.0534 left_yaw=-0.0304 left_pitch=-0.1172 left_roll=0.1049 left_gripper=0.0094 right_x=0.267 right_y=0.0794 right_z=0.1275 right_yaw=0.0717 right_pitch=-0.4231 right_roll=-0.2947 right_gripper=0.6073 state[joint_eff]: [-0.4581, -8.294, 7.665, 1.072, -0.7302, 0.0464, 0.9109, -0.0752, -3.6171, 6.5573, 1.1453, 0.1929, -0.0366, 0.0366] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_z": 0.058}, "note": "The left wrist view shows the case's front face with the lid/base seam just above my closed fingertip; easing forward so the fingertip slips under the lid's overhanging lip."})
tool
executing move_to over 3 steps (0.3s)
step 287
assistant
agent noteThe fingertip is pressed against the case front just under the lid lip; lifting straight up to try to flip the lid open.
move_to
left_z0.1700left_x0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0851, 1.8294, 1.0016, -0.3206, -0.7811, -0.8707, 0.0096, 0.5159, 1.1595, 0.8482, -0.7956, 0.3809, 0.1387, 0.6073] state[eef_state]: left_x=0.2894 left_y=-0.2741 left_z=0.0492 left_yaw=0.0055 left_pitch=-0.1332 left_roll=0.117 left_gripper=0.0096 right_x=0.2661 right_y=0.0796 right_z=0.1269 right_yaw=0.0738 right_pitch=-0.4275 right_roll=-0.2933 right_gripper=0.6073 state[joint_eff]: [-0.8274, -7.4462, 8.4034, 1.1844, -0.315, 0.2173, 0.7643, -0.0752, -3.412, 6.4752, 1.1453, 0.149, -0.0659, -0.0024] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_x": 0.3}, "note": "The fingertip is pressed against the case front just under the lid lip; lifting straight up to try to flip the lid open."})
tool
executing move_to over 8 steps (0.8s)
step 295
assistant
agent noteThe lid will not lift — the fingertip is wedged under the lip and the shoulder is straining without moving, so the case appears latched. Backing both arms off to a safe park pose.
move_to
left_x0.2500left_y-0.1000left_z0.2000right_x0.3000right_y0.0500right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.071, 1.8294, 1.0088, -0.3096, -0.7673, -0.823, 0.012, 0.5159, 1.1595, 0.8478, -0.7959, 0.3775, 0.1387, 0.6073] state[eef_state]: left_x=0.2941 left_y=-0.2752 left_z=0.0507 left_yaw=-0.0152 left_pitch=-0.1388 left_roll=0.1312 left_gripper=0.012 right_x=0.2658 right_y=0.08 right_z=0.1265 right_yaw=0.0765 right_pitch=-0.4295 right_roll=-0.2906 right_gripper=0.6073 state[joint_eff]: [-0.0889, -8.0342, 7.4872, 1.2527, -0.4469, 0.1685, 0.6422, -0.0479, -3.2752, 6.4889, 1.0672, 0.1587, 0.0122, -0.0073] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.1, "left_z": 0.2, "right_x": 0.3, "right_y": 0.05, "right_z": 0.15}, "note": "The lid will not lift \u2014 the fingertip is wedged under the lip and the shoulder is straining without moving, so the case appears latched. Backing both arms off to a safe park pose."})
tool
executing move_to over 16 steps (1.6s)
step 311
assistant
agent noteThe safe's lid fell shut early in the run (knocked closed while I was working next to it), and I could not reopen it: the closed case is latched/too heavy, my fingertip wedged under the lid lip without lifting it, and I ran out of call budget. Only the lemon was grasped; it is still held in the right gripper, and the bear and white toy remain on the table.
give_up
hindsightConcrete lessons for this rig/task: (1) The 'safe' is an aluminium briefcase ~7 cm tall lying flat with its lid hinged at the far side; it is very easy to knock shut with a passing arm and essentially impossible to reopen with these parallel jaws, so PLAN ARM PATHS AWAY FROM THE OPEN LID and do the object placements before anything else. (2) Localising a small round object from the wrist camera alone is unreliable here: I burned ~10 calls on the lemon with three empty closes because the wrist view made it look centred/under the jaws when it was actually ~4 cm further out (toward the fingertips) than it appeared. The fix that worked: retract the arm high and back (z≈0.19, x≈0.26), read the object's position relative to the gripper in the TOP camera (image-down = toward that arm's base, ~2.4 px/cm laterally), and correct x from that. At right_x≈0.315 the lemon that appeared 'below the bottom edge' at x=0.345 was finally grasped (settled gripper 0.60 ≈ 5.7 cm). (3) Wrist pitch drifts to -0.3…-0.5 rad on its own during a sequence of moves; re-command pitch=0 if you want a vertical approach. (4) Rolling the wrist near ±1.57 makes the IK track very poorly — commanded z of 0.04 stalled at 0.10 — so do not rely on a 90° roll for fine work. (5) Moves are frequently delta_clamped and stall well short of target; re-issue with a modestly different target rather than the same one.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.799, 0.9897, 0.8562, -0.8104, -0.6361, -0.5503, 0.0139, 0.3206, 1.2121, 0.9295, -0.8307, 0.2867, -0.0391, 0.6073] state[eef_state]: left_x=0.2524 left_y=-0.1037 left_z=0.1878 left_yaw=0.0098 left_pitch=-0.1384 left_roll=0.1202 left_gripper=0.0139 right_x=0.2852 right_y=0.0458 right_z=0.1337 right_yaw=0.0643 right_pitch=-0.4915 right_roll=-0.308 right_gripper=0.6073 state[joint_eff]: [0.1983, -2.2085, 9.4701, 1.3065, -0.2418, 0.1685, 0.4957, -0.212, -3.0291, 9.935, 1.3993, 0.0513, -0.0611, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The safe's lid fell shut early in the run (knocked closed while I was working next to it), and I could not reopen it: the closed case is latched/too heavy, my fingertip wedged under the lid lip without lifting it, and I ran out of call budget. Only the lemon was grasped; it is still held in the right gripper, and the bear and white toy remain on the table.", "hindsight": "Concrete lessons for this rig/task: (1) The 'safe' is an aluminium briefcase ~7 cm tall lying flat with its lid hinged at the far side; it is very easy to knock shut with a passing arm and essentially impossible to reopen with these parallel jaws, so PLAN ARM PATHS AWAY FROM THE OPEN LID and do the object placements before anything else. (2) Localising a small round object from the wrist camera alone is unreliable here: I burned ~10 calls on the lemon with three empty closes because the wrist view made it look centred/under the jaws when it was actually ~4 cm further out (toward the fingertips) than it appeared. The fix that worked: retract the arm high and back (z\u22480.19, x\u22480.26), read the object's position relative to the gripper in the TOP camera (image-down = toward that arm's base, ~2.4 px/cm laterally), and correct x from that. At right_x\u22480.315 the lemon that appeared 'below the bottom edge' at x=0.345 was finally grasped (settled gripper 0.60 \u2248 5.7 cm). (3) Wrist pitch drifts to -0.3\u2026-0.5 rad on its own during a sequence of moves; re-command pitch=0 if you want a vertical approach. (4) Rolling the wrist near \u00b11.57 makes the IK track very poorly \u2014 commanded z of 0.04 stalled at 0.10 \u2014 so do not rely on a 90\u00b0 roll for fine work. (5) Moves are frequently delta_clamped and stall well short of target; re-issue with a modestly different target rather than the same one."})
tool
give_up: The safe's lid fell shut early in the run (knocked closed while I was working next to it), and I could not reopen it: the closed case is latched/too heavy, my fingertip wedged under the lid lip without lifting it, and I ran out of call budget. Only the lemon was grasped; it is still held in the right gripper, and the bear and white toy remain on the table.
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 · 21.47 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.606, -0.4034, -0.0204, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1786 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.001 right_z=0.1762 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3607, 10.2496, 1.9951, -0.0757, 0.1587, -0.0904, -0.4171, -1.4291, 9.7162, 2.083, -0.0317, 0.0806, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb0dd683e802dde380a5a515826ca2fbabdcee9aa43c72eeee52b333e077494d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2b9a25370c8ef4d0b84c92c5648f53fdce8c730d945044c372480e90ba840b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0080067841eb40ae29b01c515c6bcc0f25c4dc0e65877db9bf21d25ece78afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 8.632 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.606, -0.4034, -0.0204, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1786 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.001 right_z=0.1762 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3607, 10.2496, 1.9951, -0.0757, 0.1587, -0.0904, -0.4171, -1.4291, 9.7162, 2.083, -0.0317, 0.0806, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb0dd683e802dde380a5a515826ca2fbabdcee9aa43c72eeee52b333e077494d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2b9a25370c8ef4d0b84c92c5648f53fdce8c730d945044c372480e90ba840b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0080067841eb40ae29b01c515c6bcc0f25c4dc0e65877db9bf21d25ece78afe",
        "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_01DieiotegjQzhTGp8MjCm79",
      "input": {
        "note": "Scene: an open red-lined safe/chest in the middle, a yellow lemon to its right, a white fluffy toy to its left, and a brown teddy bear in front. I'm moving the right arm out over the lemon to line up a grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.42,
          "right_y": 0.1,
          "right_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_01DieiotegjQzhTGp8MjCm79",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4057, -0.0189, -0.038, 0.9992, 0.3309, 1.4578, 0.8494, -0.1001, 0.2424, 0.1463, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1751 left_yaw=0.002 left_pitch=-0.0191 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3995 right_y=0.0962 right_z=0.1265 right_yaw=0.0378 right_pitch=-0.0935 right_roll=-0.0353 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.4974, 6.8444, 1.8779, -0.0757, -0.0024, -0.022, 0.0752, -6.4889, 8.8821, 1.9512, 0.2418, 0.1734, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41f89561a8d7dfb5f8a2ef538c0270f39375b41ea25904ed856d227601b190ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5f625bbf142a5b76b535505664da276f98d1ed72576824e57406f3bd718f58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2464022cec0024c9a3f6ff196853c06ab781448275bfbcab10cd1e6ee8baadd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 5.361 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.606, -0.4034, -0.0204, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1786 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.001 right_z=0.1762 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3607, 10.2496, 1.9951, -0.0757, 0.1587, -0.0904, -0.4171, -1.4291, 9.7162, 2.083, -0.0317, 0.0806, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4057, -0.0189, -0.038, 0.9992, 0.3309, 1.4578, 0.8494, -0.1001, 0.2424, 0.1463, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1751 left_yaw=0.002 left_pitch=-0.0191 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3995 right_y=0.0962 right_z=0.1265 right_yaw=0.0378 right_pitch=-0.0935 right_roll=-0.0353 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.4974, 6.8444, 1.8779, -0.0757, -0.0024, -0.022, 0.0752, -6.4889, 8.8821, 1.9512, 0.2418, 0.1734, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41f89561a8d7dfb5f8a2ef538c0270f39375b41ea25904ed856d227601b190ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5f625bbf142a5b76b535505664da276f98d1ed72576824e57406f3bd718f58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2464022cec0024c9a3f6ff196853c06ab781448275bfbcab10cd1e6ee8baadd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAoKjgEIEhgCKkAvS++ctoiQvWnOQmkCzi8W+R3nMqp8uoLf3XOOFb0OzkMcT2y1J0N7IzuS5PvJ8sKNsUIY7Vvmk2fECVwwy2qgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeiczNUGEgwD09RTrLm0jn4dsL8aDG5uPwhELYSNIPYe+iIwphoDjsFjatJitOhcpA8au90iFrDxEx567M0UnYADwvyWVW/UyFPL2NgTZCkYL4moKrIIOiB1oVdQvx7w2cUdJML0ON5AOd4ktS6W4UnS3DfFLUWkvA5UMOq3O6Y1LU12A4ZFnz83ynqhO8+ft6qExPMXP9k0NoOKatLvearPQ98hzbTIOKxZyXeWdKKUxxrC/HxLzHXfaU+0nmputn7+c577amYM0MdigzvZLNLTZcqQZ1QOCDlfT/9qb8AYqYQRohpyu4VLGBlI2Wzya8IzQQfzT8H0lz4yqQcT4KuIclXbAUsbaL0O+Ev8D7DDFvknTOo1Lwr+qqClySluyfzwiRs6eqVZFoUmUXxflucyQ2yKzlHalp4MgLMUUHJAJzxg6AYLwpThg1+OXraEi6nQt9MQDX3a34vZ0VCPTI/IG+2Cb9TSXvkadGH3wWQ9gr3IpgXRcgSFHkYNynzjXzapx78btKaB9eYkhi+s2rPyRDvoN+DVgbTk619dcKEVTuEOzhp+f4ZDmEivQg0sGU+wiFEgdIRJYpBH/XO7KoLsFibklMFj1cAxGh0kLWj5E9UsjvWB3lpVrlpf6OvjztsCCMhVkmsnf3o1jL8yhPBVohhUuQAl8rB10NmHja/s2UNHpV27G3KKJPG5ER3NfIFySWxQK4RkirR4MJ/EFaIs3uv8bJUBb0ztY19t4Vdxe15DtLPSC7rkpfE028jfKLjFvG7Dy4RadHpKUh5B68n9eTkR5/4fmmzD/Vbx6AtmKRrDRK6327xn/GGYsr6/PJ2NZ7u7+G5Go9AFUBovAa+1c4Uz38fCYH8QV8S/LkSsYuw5B7Hj82Hl8/mJBqk9RC2gBcYNTtz4qcm3PATi+lF841wHshfB4wseD2nAiY0pTXOawx0ISGfGT0czT+wJSoXhYzBsNL1d2kYkC3HIKOzB//qygJHIF3noKAwuKRTIy4AEz1G6eT8vMW+SAXAfPAna8dUbuq/B5+gGZEuvJsCd7Vu9jz0bYhuZwni7VZWLsDQYZdkLVA7Op+0791dcX9ma9Q9UnFx7jHeTn2ATXybOWOzD0DVtiykwXCWzyfq0pkznkaj3O8xwOuQ0mNbCcVBQl8VutiD2DsLhp6Q2cjMK/KF8EOVMjOpn0TJRbDUhXRwXzXu/O0v+/SAMYF+FceNrcCYos4UDY04oc3jOuU39SxvwLvEyVWA2Mirq0puVU02pxFALfsykk5HaGQliGl4uclTVMa40y7xNUHESASuyrp1oLDZdj6hP1OTWjkSiHtz9u3Cb20lf6yZWrdCBECJkuDX3F/1ORdsMS4NJmBtoI3EF6EQU3nbPvPHqeAUdkF5fNDKyS/146d+bMyJ9+A8ifF79AcyOu5F6s+0QfgVfvP7ErA6zIZzH9M4C+iKhKY1OkakYCqxmmX8Z3e3PoauSjhUQUi4f5rCmQvvvns5J3E2xMzhccT69jKHn96wh3VhrSwaBBWLjq4+MTiz0gqM97d2VlhhDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GHgG86qcnuDXUV23ybBo5j",
      "input": {
        "note": "The lemon appears just below and slightly left of the jaw column in the right wrist view, so it is nearly under the fingertips; advancing 3 cm and dropping close to the table to set up the grasp.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.11,
          "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_01GHgG86qcnuDXUV23ybBo5j",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4088, -0.0189, -0.0383, 0.9992, 0.3328, 1.5749, 0.8146, -0.0044, 0.242, 0.1459, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0022 left_pitch=-0.0236 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4043 right_y=0.0988 right_z=0.0835 right_yaw=0.0383 right_pitch=-0.1473 right_roll=-0.0517 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -1.1829, 7.159, 1.7167, -0.0562, -0.0317, -0.0122, -0.335, -7.6786, 6.9812, 1.9805, 0.0415, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5243754afbc40df314bcd18cc809fe0d9ed13e2613b570e317c16aee221b6b62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:183e9d1e6d3c279ee047d4bc5f7954c87b4fa7b830ec9d78fb15d88f7c3f8d5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0b4dbe1cdbab594aeb1bb49514b002150155f2829018856bf438052d3aa7897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 6.675 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.606, -0.4034, -0.0204, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1786 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.001 right_z=0.1762 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3607, 10.2496, 1.9951, -0.0757, 0.1587, -0.0904, -0.4171, -1.4291, 9.7162, 2.083, -0.0317, 0.0806, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4057, -0.0189, -0.038, 0.9992, 0.3309, 1.4578, 0.8494, -0.1001, 0.2424, 0.1463, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1751 left_yaw=0.002 left_pitch=-0.0191 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3995 right_y=0.0962 right_z=0.1265 right_yaw=0.0378 right_pitch=-0.0935 right_roll=-0.0353 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.4974, 6.8444, 1.8779, -0.0757, -0.0024, -0.022, 0.0752, -6.4889, 8.8821, 1.9512, 0.2418, 0.1734, -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, 0.7986, 0.6067, -0.4088, -0.0189, -0.0383, 0.9992, 0.3328, 1.5749, 0.8146, -0.0044, 0.242, 0.1459, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0022 left_pitch=-0.0236 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4043 right_y=0.0988 right_z=0.0835 right_yaw=0.0383 right_pitch=-0.1473 right_roll=-0.0517 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -1.1829, 7.159, 1.7167, -0.0562, -0.0317, -0.0122, -0.335, -7.6786, 6.9812, 1.9805, 0.0415, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5243754afbc40df314bcd18cc809fe0d9ed13e2613b570e317c16aee221b6b62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:183e9d1e6d3c279ee047d4bc5f7954c87b4fa7b830ec9d78fb15d88f7c3f8d5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0b4dbe1cdbab594aeb1bb49514b002150155f2829018856bf438052d3aa7897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQMKjgEIEhgCKkBsV6dv/2IwmfDo+k3yMnWrpN/5jZ4hOCQ/BcblMnThx2Vg5a93adyAp4hTlm9fH4k6rnCwRfY+LUfPy5rbssWGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6czNUGEgy2fM62gU25QWslA2MaDJYpaAD64d25v0Bu1SIwISmDhfC2Mu/ewl24C6lylx4gYJZLV92kHOf3VqA13LeK+2Cos9HVJhcOwY8BVC6XKrcBG545AndtITqnR9IALcHKL7bSJL4rJN6S1H+z5S4RKkPc9MMWQU1FJp4w/eC+jnFFBflFajmt2E/TleCmNMef5vrqp9mTfRQj/RTKIirk3KdEoqkpwA4lr6sFIDEka/DoEXxN2F+Zo4x82tHoFLfCb8ecd4S0fpDdVaup+WuL6IdugE3kXD01qBjp3IJemhNwR3HV/qBbBYIBbKnWpoOzRMJBESSWp33CeoDSef7lDc51NrJlpNmAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0176N2YNdU1EZvTm68gsp1RP",
      "input": {
        "note": "The arm only partly tracked the last target (x 0.40, z 0.08); the lemon is still just ahead of the jaws in the wrist view, so I'm re-commanding a deeper, slightly further reach to table level.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.11,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0176N2YNdU1EZvTm68gsp1RP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4095, -0.0189, -0.0383, 0.9992, 0.3325, 1.5749, 0.8146, -0.0048, 0.2424, 0.1459, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1739 left_yaw=0.0022 left_pitch=-0.0244 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4043 right_y=0.0985 right_z=0.0835 right_yaw=0.0375 right_pitch=-0.1476 right_roll=-0.0521 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.265, 7.241, 1.6923, -0.0513, -0.0366, -0.0122, -0.4991, -7.5145, 6.9812, 1.8828, 0.0513, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2189e2f2a72a34ff8cd81c8ce2d511522be922c68eb51b64d6c7fac0f2765d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:385773c2e3596d68e689f3100feed388afca3d77f6241c9abaa3daeacb116a35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4513301963431af51b4afa0a5427aafd0694a435457dc2355e9af7fb9378522a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 5.343 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4057, -0.0189, -0.038, 0.9992, 0.3309, 1.4578, 0.8494, -0.1001, 0.2424, 0.1463, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1751 left_yaw=0.002 left_pitch=-0.0191 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3995 right_y=0.0962 right_z=0.1265 right_yaw=0.0378 right_pitch=-0.0935 right_roll=-0.0353 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.4974, 6.8444, 1.8779, -0.0757, -0.0024, -0.022, 0.0752, -6.4889, 8.8821, 1.9512, 0.2418, 0.1734, -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, 0.7986, 0.6067, -0.4088, -0.0189, -0.0383, 0.9992, 0.3328, 1.5749, 0.8146, -0.0044, 0.242, 0.1459, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0022 left_pitch=-0.0236 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4043 right_y=0.0988 right_z=0.0835 right_yaw=0.0383 right_pitch=-0.1473 right_roll=-0.0517 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -1.1829, 7.159, 1.7167, -0.0562, -0.0317, -0.0122, -0.335, -7.6786, 6.9812, 1.9805, 0.0415, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.7986, 0.6067, -0.4095, -0.0189, -0.0383, 0.9992, 0.3325, 1.5749, 0.8146, -0.0048, 0.2424, 0.1459, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1739 left_yaw=0.0022 left_pitch=-0.0244 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4043 right_y=0.0985 right_z=0.0835 right_yaw=0.0375 right_pitch=-0.1476 right_roll=-0.0521 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.265, 7.241, 1.6923, -0.0513, -0.0366, -0.0122, -0.4991, -7.5145, 6.9812, 1.8828, 0.0513, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2189e2f2a72a34ff8cd81c8ce2d511522be922c68eb51b64d6c7fac0f2765d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:385773c2e3596d68e689f3100feed388afca3d77f6241c9abaa3daeacb116a35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4513301963431af51b4afa0a5427aafd0694a435457dc2355e9af7fb9378522a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wYKjgEIEhgCKkDYpDHcVGtE+ow+9nGMeXFOdEkDHP2fYx9m9DKySQb8LooEgtSCuySnhEauNZzW9IMqwRz1j6hnst6HR+PWdLxNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfaczNUGEgyI9j3issz6UqkgWrQaDN7fKEIoVnhUiUxkFyIwVYtRE+/SGhJ2fhET9k1hpRlej12ESKwpKCjqAqFXeRJ2wsmfZM1Ayd2jslNbtpzDKoEFyWCnCTV9FZ7zknRsq57ycVadOalhDn2H1FSjv3Y8zFABY9PiakrDSMRCDn0BGxPIoyf1Ydu7wjgmeHIjPL5i/ivnhiXzqSovVbmGQgXpnx8Uyv0+PHc6WV71KwO7vJSJtaqx8X8wz0CfB8SUSS/OpN1UfhnChEYci7fC9OSCyROu7Y89bIsNv9Gh+7/1Xu2tlrT7eOjj+43kgfw8JVYYjj7iBONB+S8PqmNOol9gEAQVvETKKfeyFBJ8a7eTQxq1ITkmTTvPesEPe/I4QtRmqUxr2IaBSFLYehevWAbiV5pNafdt9oXvVVOp1f2V5IpEwm4l0mzHk7TuNugmW1ld0koYYXd0D6bGUcHr0p/DbqV0RRSTX/YVO7FenG10emaE9XzfeuabnasDg8UDEy+NCNNrm//LvDvjJ0TLR8N1MxndotpHT7Q+sLrf5U31DqX29HC8eUltjAaoxIe6WnWPKaqblZcE93okW6dtAKVfVhhklIbiK59hqFwcwGG/C1SgbPNcCuAmMcbl6lfesD6iJUn5dV3GD39s+y5c16iNF81EHkHqGSTh9KhNSobYxDRrnWkI1szzH/oYUY+UXZEI9nLqOjWKmReeMuchvAjdt6zCK4qX9UbhvXJySczgF3ozsvTPIdlpeLlWy4CmovQhAGLhLybKT5/tEaOcnolojNW8UFb/1WaZ3qz8SvtqIXypVvv+5ad3+YKT/emVDTijOIJB/YOAVj14O7/eZ83ROsRvrwFy0lbiHmVoMU6tmpYZFjFP7AogBN8CN3ETRjRHtokJ5vCNLksa0TSi83jbM15xVyqL89tugq7oOW/BVjTlQaecU1nExuZGjXDzHS/RqzIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014RKEZWLQHH9nRPweF1Ks1k",
      "input": {
        "note": "The arm did not move at all on the last command (identical readback), so I'm trying a smaller incremental step down and forward toward the lemon.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.105,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014RKEZWLQHH9nRPweF1Ks1k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.3328, 1.6951, 0.8143, 0.0673, 0.2428, 0.1429, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1694 left_yaw=0.0022 left_pitch=-0.0458 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4106 right_y=0.1008 right_z=0.0478 right_yaw=0.0369 right_pitch=-0.1939 right_roll=-0.0689 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -0.9504, 6.9949, 1.8339, -0.0513, -0.0171, -0.0122, -0.1026, -8.4308, 5.7915, 1.9609, 0.0513, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f1aa3844bc4a84064abef86512a8c5684e060abff442baac7bbfadb6a03cf25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e37b17ffb87f413feffad748b78fb79c1d0f2eb0bb6100d03e4721c45585d710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f365792a9a01b43f483c8973419c027624829a048351bb43018cb1dc6a7349c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.637 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, 0.7986, 0.6067, -0.4088, -0.0189, -0.0383, 0.9992, 0.3328, 1.5749, 0.8146, -0.0044, 0.242, 0.1459, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0022 left_pitch=-0.0236 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4043 right_y=0.0988 right_z=0.0835 right_yaw=0.0383 right_pitch=-0.1473 right_roll=-0.0517 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -1.1829, 7.159, 1.7167, -0.0562, -0.0317, -0.0122, -0.335, -7.6786, 6.9812, 1.9805, 0.0415, -0.0513, -0.0171]\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, 0.7986, 0.6067, -0.4095, -0.0189, -0.0383, 0.9992, 0.3325, 1.5749, 0.8146, -0.0048, 0.2424, 0.1459, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1739 left_yaw=0.0022 left_pitch=-0.0244 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4043 right_y=0.0985 right_z=0.0835 right_yaw=0.0375 right_pitch=-0.1476 right_roll=-0.0521 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.265, 7.241, 1.6923, -0.0513, -0.0366, -0.0122, -0.4991, -7.5145, 6.9812, 1.8828, 0.0513, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.3328, 1.6951, 0.8143, 0.0673, 0.2428, 0.1429, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1694 left_yaw=0.0022 left_pitch=-0.0458 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4106 right_y=0.1008 right_z=0.0478 right_yaw=0.0369 right_pitch=-0.1939 right_roll=-0.0689 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -0.9504, 6.9949, 1.8339, -0.0513, -0.0171, -0.0122, -0.1026, -8.4308, 5.7915, 1.9609, 0.0513, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f1aa3844bc4a84064abef86512a8c5684e060abff442baac7bbfadb6a03cf25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e37b17ffb87f413feffad748b78fb79c1d0f2eb0bb6100d03e4721c45585d710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f365792a9a01b43f483c8973419c027624829a048351bb43018cb1dc6a7349c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/wQKjgEIEhgCKkDWx7KFCK/3jGs+dfbT6qo9df8X8uuRvbmC2BZfsdfu2wnG367aQnvTwnZbgukK+klpec/L90QQBZZ4Gyk+hSU6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfuczNUGEgwXzh+gz8wBL7HgwgoaDC4Sbn9TtBYaH5kQmSIwXyUcZtAPWypM2fkr09MMTcQxw2HovO8rWD6RG9/GgJQ768i94vgqivDiNGMQSkQKKp0Dd2h+CU+4jpz0V8S471cKm2Gw6By+CX6GTslCORhbLgugF7ueIlzY4UgvzmCefyYucQuxYiStskmG+7LdWsYyI5Op2ybNgGq1WF0ic9uqKuXhzXELSxOo+VkAoMYA3gPWYXvHDGkqDQqsCm14+aCWSNzP90A57PU5vWjxrG2PFJSFov5WZvoe1mtlHDT4rR7gtaPMHLthTSgzMqwzCnUfgdjUrvYgHOoH5VdfL9A5fqasCHhhogfh3mGrD68SD5jWEtGWokSyM2id++zJjY4cuTm+a78LoRFVfNLBxdrhY7egwIfd7dCqrWB80k4ihFR34WRRhbtMZYG7qpskZaDGz5q4c9wRPpdATevHAg31UblP9a8o9i8cynmwgPM2+X0Igpfbm/8X39V1sQ2WZVT9Cfty+QQG/TJCD301hPc1B1sZMq3qSJdPLGUAgefXTz6FKlSCqyivZlKgiFQ9aKJWrR53q4HpR0hwDAf3fLWBzzhKnrb2T5tETXO/V7MiciE/z3urT7QCYLpzqFkdynCs6g0pgGBRsYijKGHUn+oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Brmqb5MkTAh6448Mt6VA11",
      "input": {
        "note": "The lemon is now at the bottom centre of the right wrist view, right on the jaw column; lowering to mid-lemon height before closing.",
        "targets": {
          "right_x": 0.425,
          "right_y": 0.1,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Brmqb5MkTAh6448Mt6VA11",
      "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, 0.8028, 0.6067, -0.4294, -0.0189, -0.0383, 0.9992, 0.3248, 1.7607, 0.8116, 0.1188, 0.2398, 0.1314, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1687 left_yaw=0.0022 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.4145 right_y=0.0991 right_z=0.0288 right_yaw=0.0369 right_pitch=-0.2111 right_roll=-0.0798 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.347, 7.0222, 1.6825, -0.0415, -0.0317, -0.0122, -0.3624, -6.3385, 7.3231, 1.6093, 0.0073, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e453d561222af92305e8fb67cde1b9f88a69073d3086372f3e38af6cdb734ede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fff410029871ea04aec25dd4a3786926a1610cc47b9394fdf830c0f25d0fd4f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:85ec984849d818318ceb92f9364917da712a70b674e8e906a84dd896f8e51e6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 13.51 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, 0.7986, 0.6067, -0.4095, -0.0189, -0.0383, 0.9992, 0.3325, 1.5749, 0.8146, -0.0048, 0.2424, 0.1459, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1739 left_yaw=0.0022 left_pitch=-0.0244 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4043 right_y=0.0985 right_z=0.0835 right_yaw=0.0375 right_pitch=-0.1476 right_roll=-0.0521 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.265, 7.241, 1.6923, -0.0513, -0.0366, -0.0122, -0.4991, -7.5145, 6.9812, 1.8828, 0.0513, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.3328, 1.6951, 0.8143, 0.0673, 0.2428, 0.1429, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1694 left_yaw=0.0022 left_pitch=-0.0458 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4106 right_y=0.1008 right_z=0.0478 right_yaw=0.0369 right_pitch=-0.1939 right_roll=-0.0689 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -0.9504, 6.9949, 1.8339, -0.0513, -0.0171, -0.0122, -0.1026, -8.4308, 5.7915, 1.9609, 0.0513, 0.0073, -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 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, 0.8028, 0.6067, -0.4294, -0.0189, -0.0383, 0.9992, 0.3248, 1.7607, 0.8116, 0.1188, 0.2398, 0.1314, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1687 left_yaw=0.0022 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.4145 right_y=0.0991 right_z=0.0288 right_yaw=0.0369 right_pitch=-0.2111 right_roll=-0.0798 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.347, 7.0222, 1.6825, -0.0415, -0.0317, -0.0122, -0.3624, -6.3385, 7.3231, 1.6093, 0.0073, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e453d561222af92305e8fb67cde1b9f88a69073d3086372f3e38af6cdb734ede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fff410029871ea04aec25dd4a3786926a1610cc47b9394fdf830c0f25d0fd4f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85ec984849d818318ceb92f9364917da712a70b674e8e906a84dd896f8e51e6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsAIKjgEIEhgCKkDYMOTKr3Q4Ek4N6zNPjNGmZG8eM8AQBqD2BMVmO4vAPv7VMJkFAQyTATL6etSsul64quBHQ/0AdO+dIrC+NIC+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYCdzNUGEgzDz+hCSyU/zwxu/6EaDK8fZNK9D2ox6J5umCIwzmgBMRoe4CswAsWjw9SdZ8jSemfXgth96xajoeBW43e22RuFrEQKOZUQgrmkm2lmKk8HxJy1KTX9+gJcACCauVTePEyuEdkU12eJYWaWrEPZLqfchHIIjLillma48t3HVqOJPwvSPUvZGCn3/oqSLTmGnRt8jHURVUJRFwbynCHFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014mcCDUfQPJWKq5KXR8cH7R",
      "input": {
        "note": "Jaws straddle the lemon at its mid-height; closing to grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014mcCDUfQPJWKq5KXR8cH7R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0189, -0.0383, 0.9992, 0.3138, 1.7939, 0.8131, 0.1368, 0.2272, 0.1238, 0.0088]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0549 left_roll=-0.0029 left_gripper=0.9992 right_x=0.416 right_y=0.0969 right_z=0.0184 right_yaw=0.0398 right_pitch=-0.2272 right_roll=-0.0799 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -1.2786, 7.1179, 1.7509, -0.0415, -0.0513, -0.0122, 0.0479, -7.159, 6.9128, 1.7314, 0.1783, 0.022, 0.7643]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d04b44669b228faf5264f76eb6d3edb007c09f346ee84c3703804fbac5e2b889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58735ad19bc7622c8f2137ef17184d26dd05674f35c1beb8838691047125c993",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6708bbb4105be8b670be92d793d454141833361e4f8db5e5966f13d8ebd1d2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 5.875 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.3328, 1.6951, 0.8143, 0.0673, 0.2428, 0.1429, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1694 left_yaw=0.0022 left_pitch=-0.0458 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4106 right_y=0.1008 right_z=0.0478 right_yaw=0.0369 right_pitch=-0.1939 right_roll=-0.0689 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -0.9504, 6.9949, 1.8339, -0.0513, -0.0171, -0.0122, -0.1026, -8.4308, 5.7915, 1.9609, 0.0513, 0.0073, -0.0073]\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, 0.8028, 0.6067, -0.4294, -0.0189, -0.0383, 0.9992, 0.3248, 1.7607, 0.8116, 0.1188, 0.2398, 0.1314, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1687 left_yaw=0.0022 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.4145 right_y=0.0991 right_z=0.0288 right_yaw=0.0369 right_pitch=-0.2111 right_roll=-0.0798 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.347, 7.0222, 1.6825, -0.0415, -0.0317, -0.0122, -0.3624, -6.3385, 7.3231, 1.6093, 0.0073, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0189, -0.0383, 0.9992, 0.3138, 1.7939, 0.8131, 0.1368, 0.2272, 0.1238, 0.0088]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0549 left_roll=-0.0029 left_gripper=0.9992 right_x=0.416 right_y=0.0969 right_z=0.0184 right_yaw=0.0398 right_pitch=-0.2272 right_roll=-0.0799 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -1.2786, 7.1179, 1.7509, -0.0415, -0.0513, -0.0122, 0.0479, -7.159, 6.9128, 1.7314, 0.1783, 0.022, 0.7643]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d04b44669b228faf5264f76eb6d3edb007c09f346ee84c3703804fbac5e2b889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58735ad19bc7622c8f2137ef17184d26dd05674f35c1beb8838691047125c993",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6708bbb4105be8b670be92d793d454141833361e4f8db5e5966f13d8ebd1d2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2AcKjgEIEhgCKkA+qzOklotWehHNVU+NY9mNA8ncfn/m4FbhhQeUojV5J0jQkZOS2tF8Y7IvoWcvpJCzFRZyRBKAovcBAi3+mXlAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY2dzNUGEgzkFqGkOULiEbD+RD4aDFDQs2JrSYjlyFtu3yIwPLifWIKEgmYEM3/StIhQXhqtnycQna9dLt7XtjEUNW7B5AodOizkIzcvgqij/novKvYFVGQTZHPG9T17cR5Vli6R6K4DCJhViVAic586Jm+AcwuChKYjpmSl41t9PPiYclE+5Gky7XTejU+mld+W22ojvjaXBbTK9SREO46wFU8nhkhSdMaUBW+gVJg2Dku46R8kq47h6fnPtZV/4RClpveQiGXX7CY8CN7Uhr1l/rg/5dlQA/kajYe6dW/ZEgWMr3zVWHh0rjb/tjYjHX8GoSBxU1ueNXKkgIMNn+7UTVJt3Yf0VJM94R/TSreQkKVN9198ZlnmmFUBf1jAgL1fKjpM2lIWpVkvG+9+FwnIlPjWw+K8YA5edAaQ5LXWF+Gv3qQkBVzqhAsD7+GUxZR77fvTmmeJtGtCDOkOixEE74pkZ1jmG/GR+xMK/tK8Jj5EWQvo0oxd5vaXwhDASkD2d3fpDPT+hyPbTcH6Lfq0FGM4tyk4KAGYcHDIJD9g/bhhGFpxWfdPRMNaTgSOSYCQ9ZUZ17DgLvzXlWMJlRB2/fUsRyBlN+O1VCwO1eiGr+hY8FBPhrpDxToi5B8sBMe3Rg5bOtalrhU56/AaJgyJ0VhwNFdHN1Km+EICB4LwpqWaEV2Yb5kRyzTLJoOcvtnvkzyLavMgQzNmqtNoG696MXux4rTceG+zcYufnQwuwxZ/2yjH0Ae0CO09Z0YnWYIpQqrRMK6/HBBDYnnJZVzOmxN5w8Jl/grPLjJ6BKOImq2FFihZ1tQnIUIJw0buq5jn5neJQ0Oc+k54u/PbOXYFr2NfEfaiaPnKLhp5SLAo8+fOIX+JNprQKYmET2jVPQ0RFCZUIhbMrLHHnnCILxb+2RZgDaGXPS+AExdNmlQIUopx9TYWmOw7J2nRDnBA8wZi33XkdwQMES96NK+sBezgBouRXQ2t/J+jJCTk5s+qllQUlsQbpG7QYLvF0q6VR7c6dykVSUpGMxo6114IgnAnM0BbHAG3ypvvOj4IC5bWCcn32UL4zMRp/4+maFM3tfNYNZd/Gu6aQo7ytehjeEtPfyNWRCTfV7pC7k4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RidmMJhvBR8UXqSFxq49si",
      "input": {
        "note": "The close came up empty (gripper 0.01) and the lemon has been nudged back toward the base; opening, lifting and retracting to re-acquire it in the wrist view.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.37,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RidmMJhvBR8UXqSFxq49si",
      "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, -0.4507, -0.0189, -0.0387, 0.9992, 0.3622, 1.4376, 0.8841, -0.3336, 0.2474, 0.1505, 0.9946]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.0709 left_roll=-0.0029 left_gripper=0.9992 right_x=0.367 right_y=0.0966 right_z=0.1089 right_yaw=0.053 right_pitch=-0.2629 right_roll=-0.0894 right_gripper=0.9946\nstate[joint_eff]: [-0.253, -0.9778, 7.1726, 1.8584, -0.0708, -0.0659, -0.0122, 0.253, -7.2821, 9.4427, 1.6337, 0.2173, 0.0611, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c715f8def729b43bb33803ea59f14a7d5a6354fef20a2af7c2c70b3a203b207b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65a5513fa5cca73cb810cad352b247ec307a0b01f2dbe84b5e2778242c32302a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:722d4beda5453b17448a9855475fd18e593383d5feda4e6f55240cacf57e3e65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 9.646 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, 0.8028, 0.6067, -0.4294, -0.0189, -0.0383, 0.9992, 0.3248, 1.7607, 0.8116, 0.1188, 0.2398, 0.1314, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1687 left_yaw=0.0022 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.4145 right_y=0.0991 right_z=0.0288 right_yaw=0.0369 right_pitch=-0.2111 right_roll=-0.0798 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.347, 7.0222, 1.6825, -0.0415, -0.0317, -0.0122, -0.3624, -6.3385, 7.3231, 1.6093, 0.0073, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0189, -0.0383, 0.9992, 0.3138, 1.7939, 0.8131, 0.1368, 0.2272, 0.1238, 0.0088]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0549 left_roll=-0.0029 left_gripper=0.9992 right_x=0.416 right_y=0.0969 right_z=0.0184 right_yaw=0.0398 right_pitch=-0.2272 right_roll=-0.0799 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -1.2786, 7.1179, 1.7509, -0.0415, -0.0513, -0.0122, 0.0479, -7.159, 6.9128, 1.7314, 0.1783, 0.022, 0.7643]",
      "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, -0.4507, -0.0189, -0.0387, 0.9992, 0.3622, 1.4376, 0.8841, -0.3336, 0.2474, 0.1505, 0.9946]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.0709 left_roll=-0.0029 left_gripper=0.9992 right_x=0.367 right_y=0.0966 right_z=0.1089 right_yaw=0.053 right_pitch=-0.2629 right_roll=-0.0894 right_gripper=0.9946\nstate[joint_eff]: [-0.253, -0.9778, 7.1726, 1.8584, -0.0708, -0.0659, -0.0122, 0.253, -7.2821, 9.4427, 1.6337, 0.2173, 0.0611, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c715f8def729b43bb33803ea59f14a7d5a6354fef20a2af7c2c70b3a203b207b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65a5513fa5cca73cb810cad352b247ec307a0b01f2dbe84b5e2778242c32302a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:722d4beda5453b17448a9855475fd18e593383d5feda4e6f55240cacf57e3e65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShQYKjgEIEhgCKkDry8xXjHC+VojmXmsb9AwuwDdZ1h8LfDdN55DChAmu+qVpqfTKNDfhlFiS7ZNQ0ixueLfhh3j0HE+hx0VXS3kjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZSdzNUGEgwLkcdZaqJUdqc3jtQaDAnVx053mKF4b2n0RyIwEZNxdsoFP5IPv1Ze46Shgp2mXIdEceKBT19Xgn+ZieKjzOE+CqtaH+fmGDADld28KqME3zarTFmB0xemoRvYLtzdGGWBHSd+5mimYa38PKLh/sn0XwQu4OAqeCUbTPZ5Yaw50s9F9mWVQ4k8MQyhYJjm2fM2+z0w3sQviJTRv1jhkdln9X0qprf56V4N4pdqLgU7R6zeMij5tQJzyv+yMZB10UedmS2ZyohWI454EHOx9mdx/RDHV40xJCPPYr/Ab+qVukL+1erj9omNQRM48/nTb/13CiZN9Nkuk5QhvekYYPL310T8xSH1q18jzhonVDsEElSTzwhWE01TMdihF15xrrlVxqmOHA3xAHCNqxo5EoHuvVk/i6CEqidqAlKVRM39PpvouExfwUupRQSmrJCzNWEzlL/nSC6SB7m9Bgi5M9umoh/0XGNeBTMfrYF4sh3oTQYjH0AnOD4RUrH1z8s+kB/pU3vtxBrMGp3lnmkM14rLu6/Y41zczRlBqMZ4yIlUJsdTrj+DQYTnFccVsuwoRNlubmvSyHa/HTpaEhwd5YVZelDAe3uG4UHwPRInOmN8XFnZAFGuVtrNMzwrIoETImWcondH+umWTGwQLqFa9d/WC26ZEGBkrUsBWCstQwLPWXsm+QOvtvfm4SfxtaBHJ5rZFTeXFqy+L2vRkYm2pzaFmDTJV/5U9evjZeSphXHt65bbM2CIjF8MDGJT9Obvm3hFJtI0gv9+ssHahGYeJ0P8QM/Iwi8+DVboU0gSNK62Pae9xX3a8/yMz/tSK7sjjagA1hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MUk8H28Lq7DothU5MyUTLF",
      "input": {
        "note": "The lemon now sits at the very bottom of the right wrist view, i.e. essentially under the fingertips; descending to mid-lemon height for a second grasp attempt.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.105,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01MUk8H28Lq7DothU5MyUTLF",
      "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, -0.458, -0.0189, -0.0387, 0.9992, 0.374, 1.6348, 0.7254, -0.0551, 0.252, 0.1505, 0.9953]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1623 left_yaw=0.0025 left_pitch=-0.0801 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3612 right_y=0.0983 right_z=0.0209 right_yaw=0.0536 right_pitch=-0.3354 right_roll=-0.1182 right_gripper=0.9953\nstate[joint_eff]: [-0.3077, -1.4291, 6.9675, 1.7216, -0.0366, -0.0464, -0.0122, 0.4718, -5.9145, 5.2855, 1.5507, 0.1343, 0.105, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5851bdf53fafdcb20b8e68985dbace2c93aa4dca0304ddb46c52e3367e6220a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a48996805c080171bed5a44794959cd27c2dcf844ae1875e3badd3e047589c8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:879ba973a095b638f085d0d76ed6dad948e53d6af5a98abe8754783b26c6bd23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 7.04 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0189, -0.0383, 0.9992, 0.3138, 1.7939, 0.8131, 0.1368, 0.2272, 0.1238, 0.0088]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0549 left_roll=-0.0029 left_gripper=0.9992 right_x=0.416 right_y=0.0969 right_z=0.0184 right_yaw=0.0398 right_pitch=-0.2272 right_roll=-0.0799 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -1.2786, 7.1179, 1.7509, -0.0415, -0.0513, -0.0122, 0.0479, -7.159, 6.9128, 1.7314, 0.1783, 0.022, 0.7643]",
      "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, -0.4507, -0.0189, -0.0387, 0.9992, 0.3622, 1.4376, 0.8841, -0.3336, 0.2474, 0.1505, 0.9946]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.0709 left_roll=-0.0029 left_gripper=0.9992 right_x=0.367 right_y=0.0966 right_z=0.1089 right_yaw=0.053 right_pitch=-0.2629 right_roll=-0.0894 right_gripper=0.9946\nstate[joint_eff]: [-0.253, -0.9778, 7.1726, 1.8584, -0.0708, -0.0659, -0.0122, 0.253, -7.2821, 9.4427, 1.6337, 0.2173, 0.0611, -0.1197]\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 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, -0.458, -0.0189, -0.0387, 0.9992, 0.374, 1.6348, 0.7254, -0.0551, 0.252, 0.1505, 0.9953]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1623 left_yaw=0.0025 left_pitch=-0.0801 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3612 right_y=0.0983 right_z=0.0209 right_yaw=0.0536 right_pitch=-0.3354 right_roll=-0.1182 right_gripper=0.9953\nstate[joint_eff]: [-0.3077, -1.4291, 6.9675, 1.7216, -0.0366, -0.0464, -0.0122, 0.4718, -5.9145, 5.2855, 1.5507, 0.1343, 0.105, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5851bdf53fafdcb20b8e68985dbace2c93aa4dca0304ddb46c52e3367e6220a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a48996805c080171bed5a44794959cd27c2dcf844ae1875e3badd3e047589c8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:879ba973a095b638f085d0d76ed6dad948e53d6af5a98abe8754783b26c6bd23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnQMKjgEIEhgCKkBnEQhNOXsNtFH96mJMfScNooACfDV8QunrktkpxoaFaX/IHxGqHP7WLbo+6UsplqPOmrCOR+i0DDP1scoLIK+6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ+dzNUGEgx45w0VIS5DkzvfqYAaDKfUDlIJsihuvAoLxiIwUuLr0lLHvGitSmvbdRUdkui8OEHvBHVvwBDlA6FE73RDtoeuP35YoGcCmfM8YWjRKrsBIhwktyS+67KpHb+hZbB2q6+zyKglzqFEGu5kzRN8jgXBO430QeKEHj5nUeyRO3GuUpCVfba42OUzJOfFrtoR9Y4jp0svMHnYbHeZuqPtyofl45nap1mxXCp5FPUq2Dq2uS2frIjXspjafVZ0/h56svnDDql7QNHt+UkzRuLY7IVmJ8FVCIlbhy++hnlro78efB5YwSdz1QnWB2sU9JJL0MZhRVOTjYUWVFAPTuU1ZK+IStWfNYVnZCSebhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y8DGLye7wa7EGc97QtVJMf",
      "input": {
        "note": "Wrist view is now empty table, meaning the lemon is directly beneath the jaws; closing to grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Y8DGLye7wa7EGc97QtVJMf",
      "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, -0.4728, -0.0189, -0.0387, 0.9992, 0.3782, 1.6531, 0.7139, -0.0719, 0.247, 0.1463, 0.0088]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1589 left_yaw=0.0025 left_pitch=-0.0969 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3519 right_y=0.0972 right_z=0.0084 right_yaw=0.059 right_pitch=-0.3812 right_roll=-0.1322 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -1.4291, 7.0222, 1.7998, -0.0757, -0.0757, -0.0122, -0.4034, -8.1436, 6.2701, 1.4286, 0.1783, 0.0073, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2143dedc49ded896312b2bf894b69c28421aa1b9ca233ac3cfd8430d7d47224",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:119cf1d8a74d83bf4dc44e9ed474c84a98fc22c6e5ae188796f9003c38d026ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb82b56d6179dac28eeb97c287b552df53b00612380e7563b60438fdb69c3ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 8.39 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, -0.4507, -0.0189, -0.0387, 0.9992, 0.3622, 1.4376, 0.8841, -0.3336, 0.2474, 0.1505, 0.9946]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.0709 left_roll=-0.0029 left_gripper=0.9992 right_x=0.367 right_y=0.0966 right_z=0.1089 right_yaw=0.053 right_pitch=-0.2629 right_roll=-0.0894 right_gripper=0.9946\nstate[joint_eff]: [-0.253, -0.9778, 7.1726, 1.8584, -0.0708, -0.0659, -0.0122, 0.253, -7.2821, 9.4427, 1.6337, 0.2173, 0.0611, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, -0.458, -0.0189, -0.0387, 0.9992, 0.374, 1.6348, 0.7254, -0.0551, 0.252, 0.1505, 0.9953]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1623 left_yaw=0.0025 left_pitch=-0.0801 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3612 right_y=0.0983 right_z=0.0209 right_yaw=0.0536 right_pitch=-0.3354 right_roll=-0.1182 right_gripper=0.9953\nstate[joint_eff]: [-0.3077, -1.4291, 6.9675, 1.7216, -0.0366, -0.0464, -0.0122, 0.4718, -5.9145, 5.2855, 1.5507, 0.1343, 0.105, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8078, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.3782, 1.6531, 0.7139, -0.0719, 0.247, 0.1463, 0.0088]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1589 left_yaw=0.0025 left_pitch=-0.0969 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3519 right_y=0.0972 right_z=0.0084 right_yaw=0.059 right_pitch=-0.3812 right_roll=-0.1322 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -1.4291, 7.0222, 1.7998, -0.0757, -0.0757, -0.0122, -0.4034, -8.1436, 6.2701, 1.4286, 0.1783, 0.0073, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2143dedc49ded896312b2bf894b69c28421aa1b9ca233ac3cfd8430d7d47224",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:119cf1d8a74d83bf4dc44e9ed474c84a98fc22c6e5ae188796f9003c38d026ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb82b56d6179dac28eeb97c287b552df53b00612380e7563b60438fdb69c3ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjAcKjgEIEhgCKkCa9VfJrbhG7Z/5b8Inr2U0jcxjshsgc8Y7C4jQDMKyeaYziYStmWXmS0smdRTnyFpJ/SnPZvMDlUXDXLsU2xbGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaadzNUGEgwUy+tX0y/ZWldAyHEaDOTObIVjQXdjp//S/iIwVLZ4TtDOYXOvv9Ztwlk1xuhdGyicuJRR80yWVyjkbxl4Tz+ynD/cNEIZwETA9NAAKqoFguGQPdm7G6uUG1HWvTz0012PTfL1kRL8TLZFmb61YN2f1kbJkaqsbLSyvxrGJoC1G/awuinVRYhihPbe3MJUHqesHXawAPjJoYcAZL7FE2hqqgJR6HIDe6QX0lLEDACQ44vj5N40HRpXWmf21ApzQFXNH8s5hoh5Dq5enRSCMba0xSrCmMVhiKPGd/Nhc+j703Sh70YLWVS7L2KvdXcu8Su6NeyvmJLfSoOzOVIaPY3nzI/tVUc9xDJo78MIkiMhrPVGKMtQA/aLZlFnMMCv9YqL3BS1GvR8AYXmPZGVG1Kf/eXaYcFtMPI6f4ySAhuL3WTDsnzh1hGE7crVgwASEvR8aB4JlQCVX2fPWiKJ0olBJHLA/MBNIdyX+3+0u/zkI+ohCIRjs6Q5RgOqTTFxO7iWw/HbxrWldrl2ieUW79gWtcLKoCgji1sVkVxY0WWf04ZrIjG1J6b7omwFuFUtq0q9iud0zw32wnyLsCVZM0S2SwPtgn4KyT/ApZ5LI5rpddP3U0eDvbNs9rN10Q5W+Mgv1ZyF0VgPjRlEKuI1L2gYLovnyxpb0q/XoC05T1kFtgO8S5JVAGNS+E7Y3T4NAH28D18M/YNiNK3wulyH79UZBB7plXtWUn1DBLrCGuhoLZzGoxGuv5Cw3z0RBhyg7+caQpXkQl11x0XaD2lmbuzK2jvPNcfsFlXlmAZtwVQdKJx3YoTbx8rBNxpZIFbtcGzTpQ3o6ucptlsQW1whdp+qPX0+YeT6IZ4rXB9v2Mt/37sDsx9mPTJCu+NCN5QMOKKtbarfPCbDfMqLpLSzDz0bVhN3Hcr35Rluc5FmGZucEkdGIyJvlrmjrWhG8Zstnn7/MBkkPKcf0ug9kF3FuIZIEkLfhZH9+7szBf1uZRI//bk9jdWCG4OjQBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015xCub3WZEQHaSseQS9BpCN",
      "input": {
        "note": "Second close was empty again; backing up and to the left, higher, so the wrist camera can see where the lemon actually lies relative to the jaws.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.32,
          "right_y": 0.14,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015xCub3WZEQHaSseQS9BpCN",
      "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, -0.4812, -0.0189, -0.0387, 0.9992, 0.569, 1.4342, 1.1, -0.7456, 0.3229, 0.2863, 0.9946]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1568 left_yaw=0.0025 left_pitch=-0.1072 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3207 right_y=0.1428 right_z=0.1405 right_yaw=0.0915 right_pitch=-0.4087 right_roll=-0.1426 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -1.4017, 6.9402, 1.6923, -0.0611, -0.0415, -0.0122, 0.1436, -7.2137, 8.4855, 1.1893, 0.2613, 0.1832, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c043dc3ef2d6845072d42677540d273f57c17d82059ee3c30143b175e3d2bcbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bf159fcaa22ea4f0a6d2f942e5b1b24ec4dfaf4b7b66f178ed3ff2c2de99c40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d007674ac3525278d1a2bbe2de57603787ed84da901f0930f7d2ad8228811a98",
        "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 · 8.1 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, -0.458, -0.0189, -0.0387, 0.9992, 0.374, 1.6348, 0.7254, -0.0551, 0.252, 0.1505, 0.9953]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1623 left_yaw=0.0025 left_pitch=-0.0801 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3612 right_y=0.0983 right_z=0.0209 right_yaw=0.0536 right_pitch=-0.3354 right_roll=-0.1182 right_gripper=0.9953\nstate[joint_eff]: [-0.3077, -1.4291, 6.9675, 1.7216, -0.0366, -0.0464, -0.0122, 0.4718, -5.9145, 5.2855, 1.5507, 0.1343, 0.105, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.3782, 1.6531, 0.7139, -0.0719, 0.247, 0.1463, 0.0088]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1589 left_yaw=0.0025 left_pitch=-0.0969 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3519 right_y=0.0972 right_z=0.0084 right_yaw=0.059 right_pitch=-0.3812 right_roll=-0.1322 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -1.4291, 7.0222, 1.7998, -0.0757, -0.0757, -0.0122, -0.4034, -8.1436, 6.2701, 1.4286, 0.1783, 0.0073, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4812, -0.0189, -0.0387, 0.9992, 0.569, 1.4342, 1.1, -0.7456, 0.3229, 0.2863, 0.9946]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1568 left_yaw=0.0025 left_pitch=-0.1072 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3207 right_y=0.1428 right_z=0.1405 right_yaw=0.0915 right_pitch=-0.4087 right_roll=-0.1426 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -1.4017, 6.9402, 1.6923, -0.0611, -0.0415, -0.0122, 0.1436, -7.2137, 8.4855, 1.1893, 0.2613, 0.1832, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c043dc3ef2d6845072d42677540d273f57c17d82059ee3c30143b175e3d2bcbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bf159fcaa22ea4f0a6d2f942e5b1b24ec4dfaf4b7b66f178ed3ff2c2de99c40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d007674ac3525278d1a2bbe2de57603787ed84da901f0930f7d2ad8228811a98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAgKjgEIEhgCKkDfwRQkeY87QcjZkUT/adk6CNXmH5jg3vcmT3SQh92w1bOj7BlHNyyI1PS9MCmR8X+N1PylBWULDJSHa+viSiivMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+dzNUGEgwHivH2Ez7q+f/H4HEaDGYuJ09IQeVNFtJ20yIwyEIqOTEvURlt+tEIZCbsONv5fqLgwOAQ3IX1QT+LtSYsDRsHvMI1pE2AjpfrUoh6KsYGsxMEvE7lo1wlVn5HCEr4Rl32RpTT2kp03voazJdYKnUdGuM81B1A0xPzkohsVi38XOsUlQhBgJzzywnYjtaDsAx2tCiyXveABWfmPmtE36TMYyaU5gBs8XgicEpFQ/lbZt8WDr1+dcWxquHuYXlyfYDQqif9OhGfKKBVJaDh7vqYeMlRi/nJYXgxu+vxj0d0ZXYToA/Q8JyxncS6K16YW9UZYoF9EdupaUiPsPOiWBSXORi8yYA5+pKrNyo9we0xUlUEEUCkH+N9Rq9uxPq1uvvnENyNmIuziUz8enrhB5eWQSAcnlIFz0nAELZP7vxzE3okMrBCcBt4IjSlUy2sYDwq7AtsFvph5KQl9N70b9CxBYnLjRWX7gEJuyQZFJ3pFoP9yBmxoZ8mRQqNpJPKjlUtdlRxhqCG5LqCANHUuF+KzUTNKDYGEbHqehvornSdQb7FbGG+4wkmPKOCEHc+8hBMvNpKroPTBic76CEuuCg+S5GbsZyHeWs7l9giCCfgCRU2iJu0IlAhb5EN+VQ/SaYf735e6fK2q20Uzn8N6cr0GQH8ldfyyzdphlTNVRMyIEfOmv1Kx0crmIuyNHmX0nzXiGyEM+NLyuERUaEr/kCebpFfdJKF3/KOVlFxeFbauJCHUrUWuSGLBN5vHuvuwy6Ykn92BTnEOsdPJHLbfeH7SNu4jrze2RGzi5kygP5z9fJUsAOQaOghhX/mBSmE+fEYOcfMPgr3ZPZ/Onh/VuXhGkyFByNbzhOBZqoKONOmm8TeoqecSpswegz9meZ9FrbZScoXMxCKD5Q359PoIrzNO+NS2FzYX3sClGtsSV10kzquY1KSwuQzzAur9NwPijfW+xdrvcbsVnFWDyqyoIxZxF0l9w802GOhOxJGwE6ef3+hS4nNbVM2BjlOIYAkgReua5VpWOSFWVP2Rb4JwRwl0SEFbNTYPPgi6oummd+i1eESAkTqwkSihxbZlfmXEk/Nkk7sjjlzm1kAHOA/ijO9xcwfNRjV5HpAjolR5q+mdiJ8y8rtN9Jo2WA8ig0u61rut3kaWWXW13buyC2ETu6sGcSlYD6ExR29b5pwc+DM4RqaqJSGQU4WLoQEvq84RvgMQb++VhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LsdDiqokuMDrFDs99SAcML",
      "input": {
        "note": "The wrist camera now clearly shows the lemon just right of the jaw column and a few cm beyond the fingertips; moving forward 3 cm, 2 cm right and down to lemon mid-height.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.12,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LsdDiqokuMDrFDs99SAcML",
      "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, -0.4961, -0.0189, -0.0387, 0.9992, 0.4553, 1.5902, 0.8429, -0.358, 0.2604, 0.1921, 0.9953]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1539 left_yaw=0.0025 left_pitch=-0.122 left_roll=-0.0018 left_gripper=0.9992 right_x=0.336 right_y=0.1179 right_z=0.0384 right_yaw=0.0826 right_pitch=-0.4624 right_roll=-0.1525 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.0735, 6.9402, 1.7411, -0.0659, -0.0464, -0.0122, -0.8137, -4.9299, 4.9299, 1.1795, 0.1783, 0.0171, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdb0cdcf77eb79aacadfbe6a07b8a8788c20af701b8d55bb1386fee10bf7b1dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a90caa7f225bef9c7abb0b8ef6f1f7ecd2e4895d865a40239c0c4acdad90008f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c4aec03b64ca2b8902c56eeab9cc7bc96b8794da15cf257eff1b616c219db2a",
        "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 · 11.99 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, 0.8078, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.3782, 1.6531, 0.7139, -0.0719, 0.247, 0.1463, 0.0088]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1589 left_yaw=0.0025 left_pitch=-0.0969 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3519 right_y=0.0972 right_z=0.0084 right_yaw=0.059 right_pitch=-0.3812 right_roll=-0.1322 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -1.4291, 7.0222, 1.7998, -0.0757, -0.0757, -0.0122, -0.4034, -8.1436, 6.2701, 1.4286, 0.1783, 0.0073, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4812, -0.0189, -0.0387, 0.9992, 0.569, 1.4342, 1.1, -0.7456, 0.3229, 0.2863, 0.9946]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1568 left_yaw=0.0025 left_pitch=-0.1072 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3207 right_y=0.1428 right_z=0.1405 right_yaw=0.0915 right_pitch=-0.4087 right_roll=-0.1426 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -1.4017, 6.9402, 1.6923, -0.0611, -0.0415, -0.0122, 0.1436, -7.2137, 8.4855, 1.1893, 0.2613, 0.1832, -0.1587]\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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 0.4553, 1.5902, 0.8429, -0.358, 0.2604, 0.1921, 0.9953]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1539 left_yaw=0.0025 left_pitch=-0.122 left_roll=-0.0018 left_gripper=0.9992 right_x=0.336 right_y=0.1179 right_z=0.0384 right_yaw=0.0826 right_pitch=-0.4624 right_roll=-0.1525 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.0735, 6.9402, 1.7411, -0.0659, -0.0464, -0.0122, -0.8137, -4.9299, 4.9299, 1.1795, 0.1783, 0.0171, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdb0cdcf77eb79aacadfbe6a07b8a8788c20af701b8d55bb1386fee10bf7b1dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a90caa7f225bef9c7abb0b8ef6f1f7ecd2e4895d865a40239c0c4acdad90008f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c4aec03b64ca2b8902c56eeab9cc7bc96b8794da15cf257eff1b616c219db2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpQYKjgEIEhgCKkDyiidxUjHzHbnd4NBQ7YZg0NV0nbX3rTrBL7LmxTk+r5bUE/sVHM6QxV19iY18qCwJ+bfQT6t1ObOjEKJ4WJ4vMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbidzNUGEgwjkNsj8fVtvp78J/0aDHCUpMm4iuQYmfA9mSIwQjnxMZpzy7YI10zWsmoBUkPGYfZ2s3AQyLSuhYHdQe2n6AD/AcJkRxk6EiC51NLiKsMEYWTR5fBlazarN6lUWzI1ACvFGhPvWs7ak10XbkfrW6IoPlL1hcEdN5w0q7fOS0aBQWa5oxLV6DeRXbfeo3OSEk4VT7YMECbExLjOJnUDMIY2Td4X62zR9WZphR0LbFtCpZlWj4PzhkfhhLUh/s9J2pxbiyZfniNCZVLp71OnU2nerLZTBvMx5qREkPV+l/Kv9cpqsZIoD+O4aogZ+CeEaV/w6x/3jNfaLYPgd4Wbu8Cag71VTcyHJb8R4654ELVDgFC0RlOXZdvhBOK1Qox3Q8m8qhzjknKeLem0EXqlgtyAJYlhyQrsfYyQCUamrv69XI43Hsv78FGzoMP4MKCvdpzNsRnEh3L27y0zAmp37o10mKRaU91ggwjYqbwzRmPiUJKigikvslJO+OFF3hAqmAqyaTXIcqXsQMGZYrJH3h+AafpeKt/5TFam5lkx3MwL23b2WRhGqxzgyENN92gvhBNTq59wVhPRXsa9v9+yrGfYMDRTEd19R5h7SvVhxazHW2lp2kih/Az1eqiJKozhbyuGnf48DU6apb3EERioyQG637e5VOyknNqXqjx8wz8uQAsJyKWib1b/YBzPIgPB6sEzYj3R6TIga1FqnSo5pA474PSMnw5PceBm2lwkTPQtoD4zCwyuJCytQRlTSrZFdrR/kNOayBcW1VsY6yCSNU1qTGZ0GRjgq+/bfTRw5Q9XSlw/nbSrZQpwRaFHBATN7VaiTSLrSRGTqFG8C3m04VBfB2NpTMfnsJjhaf4ORiyQlM0BGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QWNv7ip2e6RM6UzZQMV5Bg",
      "input": {
        "note": "Lemon is at the bottom edge of the wrist view but ~2 cm right of the jaw column; shifting right slightly and settling at grasp height.",
        "targets": {
          "right_y": 0.098,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QWNv7ip2e6RM6UzZQMV5Bg",
      "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, -0.5014, -0.0189, -0.0383, 0.9992, 0.4168, 1.597, 0.8078, -0.2817, 0.226, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1529 left_yaw=0.0023 left_pitch=-0.1274 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3421 right_y=0.1121 right_z=0.0318 right_yaw=0.1013 right_pitch=-0.443 right_roll=-0.1277 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.2239, 6.9128, 1.7753, -0.0855, -0.0122, -0.0122, -0.7453, -7.706, 4.9436, 0.9841, 0.3639, -0.149, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f31116851d8247ab3183121014bea0269b64bcf3f5c557763ae12e22f6d037dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:713cd27ff2e935b73ec1af34ad8ed4a4178a5419edd53f90d78a10d652345c2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8b9085b1d74b476007bae78bb402ed82e921427ab8f39fdd48bfb3a9761d360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 10.65 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4812, -0.0189, -0.0387, 0.9992, 0.569, 1.4342, 1.1, -0.7456, 0.3229, 0.2863, 0.9946]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1568 left_yaw=0.0025 left_pitch=-0.1072 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3207 right_y=0.1428 right_z=0.1405 right_yaw=0.0915 right_pitch=-0.4087 right_roll=-0.1426 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -1.4017, 6.9402, 1.6923, -0.0611, -0.0415, -0.0122, 0.1436, -7.2137, 8.4855, 1.1893, 0.2613, 0.1832, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 0.4553, 1.5902, 0.8429, -0.358, 0.2604, 0.1921, 0.9953]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1539 left_yaw=0.0025 left_pitch=-0.122 left_roll=-0.0018 left_gripper=0.9992 right_x=0.336 right_y=0.1179 right_z=0.0384 right_yaw=0.0826 right_pitch=-0.4624 right_roll=-0.1525 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.0735, 6.9402, 1.7411, -0.0659, -0.0464, -0.0122, -0.8137, -4.9299, 4.9299, 1.1795, 0.1783, 0.0171, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8097, 0.6067, -0.5014, -0.0189, -0.0383, 0.9992, 0.4168, 1.597, 0.8078, -0.2817, 0.226, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1529 left_yaw=0.0023 left_pitch=-0.1274 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3421 right_y=0.1121 right_z=0.0318 right_yaw=0.1013 right_pitch=-0.443 right_roll=-0.1277 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.2239, 6.9128, 1.7753, -0.0855, -0.0122, -0.0122, -0.7453, -7.706, 4.9436, 0.9841, 0.3639, -0.149, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f31116851d8247ab3183121014bea0269b64bcf3f5c557763ae12e22f6d037dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:713cd27ff2e935b73ec1af34ad8ed4a4178a5419edd53f90d78a10d652345c2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8b9085b1d74b476007bae78bb402ed82e921427ab8f39fdd48bfb3a9761d360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywMKjgEIEhgCKkDK5gof/hrv5UvnS54BAoQA30j2aef62XHzhUuSbwgHM+GDowywT4g0puG9YKw0nyO4jT1FV5QWaTdRu5zX0MpHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcWdzNUGEgzK4q79OA3b6EOaYRsaDBt2IYpz5hx/qNtm8SIwbJt9SnwYRJzHgm8Ltc4MXzN4hGjLOK1T8Kn5o4EnxeWDVY5h+oMCohpmTKs6L16DKukBB+QBPyyR9XwfoLTi/+S7SPtN1Vntp85nUaqAvuODwOL5f0Wi//UBOiehe8KQJtNvL5gK/IpUiIJUHVg/8Osli8YyEtnYnaDri2wMo9cWaYwK3QHlEzMt0BbnOD3DOTVyj5Ub6Z4QDmAgwB1NvFmcpJHx7YpwW5J4bL13KbxmR3KoFFl+wVVMkNIKigUMQYFVWLjX9yydSwXfRLzQ8g5bYkPPieLvu5PjXB2q7mk2N8IFuuHXimknT9VUar3BERjiPH2CxRHISvRAC+A7WvJpQqjIHVAX7BTcNKv1xkp0Eb8vdLDgJIid+egYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012o8Q9bGjVvfQV1G22sEg4C",
      "input": {
        "note": "Lemon has disappeared under the jaws in the wrist view; closing to grasp it (stopping just short of full close to avoid squeezing it out).",
        "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_012o8Q9bGjVvfQV1G22sEg4C",
      "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, -0.5152, -0.0189, -0.0387, 0.9992, 0.4179, 1.5879, 0.7963, -0.2893, 0.2111, 0.149, 0.058]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1504 left_yaw=0.0026 left_pitch=-0.1411 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3367 right_y=0.1129 right_z=0.0297 right_yaw=0.1188 right_pitch=-0.4569 right_roll=-0.1215 right_gripper=0.058\nstate[joint_eff]: [-0.1983, -1.0872, 7.1179, 1.7167, -0.0904, -0.0562, -0.0122, -0.3077, -5.9145, 6.7214, 1.1746, 0.2271, 0.0562, 0.5397]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a78ceb554ee98b8b89b98d1de5e74b37b9b46badd4e4d9c0d9e4ddb8d54ca020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5017891bbe529600710c6ae22f25ffff2458fad9f471eb79cf881f0babea24fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64ab16aa4a4867a02b945368d6b0cc8a5783d78e4d450fdf9e1f9487e5781098",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 10.31 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 0.4553, 1.5902, 0.8429, -0.358, 0.2604, 0.1921, 0.9953]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1539 left_yaw=0.0025 left_pitch=-0.122 left_roll=-0.0018 left_gripper=0.9992 right_x=0.336 right_y=0.1179 right_z=0.0384 right_yaw=0.0826 right_pitch=-0.4624 right_roll=-0.1525 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.0735, 6.9402, 1.7411, -0.0659, -0.0464, -0.0122, -0.8137, -4.9299, 4.9299, 1.1795, 0.1783, 0.0171, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5014, -0.0189, -0.0383, 0.9992, 0.4168, 1.597, 0.8078, -0.2817, 0.226, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1529 left_yaw=0.0023 left_pitch=-0.1274 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3421 right_y=0.1121 right_z=0.0318 right_yaw=0.1013 right_pitch=-0.443 right_roll=-0.1277 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.2239, 6.9128, 1.7753, -0.0855, -0.0122, -0.0122, -0.7453, -7.706, 4.9436, 0.9841, 0.3639, -0.149, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5152, -0.0189, -0.0387, 0.9992, 0.4179, 1.5879, 0.7963, -0.2893, 0.2111, 0.149, 0.058]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1504 left_yaw=0.0026 left_pitch=-0.1411 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3367 right_y=0.1129 right_z=0.0297 right_yaw=0.1188 right_pitch=-0.4569 right_roll=-0.1215 right_gripper=0.058\nstate[joint_eff]: [-0.1983, -1.0872, 7.1179, 1.7167, -0.0904, -0.0562, -0.0122, -0.3077, -5.9145, 6.7214, 1.1746, 0.2271, 0.0562, 0.5397]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a78ceb554ee98b8b89b98d1de5e74b37b9b46badd4e4d9c0d9e4ddb8d54ca020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5017891bbe529600710c6ae22f25ffff2458fad9f471eb79cf881f0babea24fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64ab16aa4a4867a02b945368d6b0cc8a5783d78e4d450fdf9e1f9487e5781098",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrAUKjgEIEhgCKkACJOfIXEgoKAiAaGBQZW8dF/cgTJQXH4WvWiVrKHM+h8uxBMXYgY0EhAkfzIVrglD5FAvuJX1lKkUO6b155kySMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdCdzNUGEgy0IkN3etxSRgCfchIaDBpjGk+1wrVVTliH2CIwl7iTy8qPVvXgqg+ucRHSNOTiXlwavBv8RWvyrAR5Zs6QMKwGQe98T45z4ka9JlE6KsoDYbfFWzXtAJfj6UEORnDtZ9rssthR/ZkTheDfA2/G5/GBZKj81MgNpJpR9L9LLf3zvf/nMU0eiFTgnosGl2xVqN4tx2pr+RzC3qR/Md47xp1FFAJd5HP2Iw2LI+bQ+CCrd08bpu7LdoRqFvkbQY/hTDdKXZccuiI0Wg9KutzFz2PZkN4k7wfAufggSnMLUEXchzGJ21ZNPBBd+w0cT4X0TJKsQapJ5rOV125MdJZ/RcaKCF0w8t4gdEVp+XTqaxH8nGLTUDemr936IC/isVSbtkFSjulH2OWonBeqLaFznxh0XEq/fdZlBOb2hTEuSSlPDPmneSxxmqBT7fet5eoSk7HtkCpLd5aXad7usypcSM2Myem/ocgnsyFzoF2w+S+SGagIABcvq6c/B/uc3GwZ9a694DDwAetfsvT5em+zsUsWCr3SI6trQAxDcKdelVU8TZE+ZGLMx9pDK11abP/g8tEcwSQYNbMzq7i+AhDh6AIreOQaeW645PNg3HF/b/a7keLDrE5mI/VcZW1vPu4Fe/mgDZnBK7oN+p6GoFDsSSDLUVKPL+dzqh/1yi8SojjxoSg4qXzLv6LwSmIVBLNFwZW2BzwYlVgl9x0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UXapEm6nFm6kMUpnMJ5CRZ",
      "input": {
        "note": "Gripper closed to the commanded 0.05; lifting 9 cm to see in the overhead view whether the lemon came with it.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UXapEm6nFm6kMUpnMJ5CRZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5186, -0.0189, -0.0383, 0.9992, 0.4179, 1.4837, 1.0134, -0.635, 0.1986, 0.1452, 0.0589]\nstate[eef_state]: left_x=0.2754 left_y=0.0017 left_z=0.1497 left_yaw=0.0024 left_pitch=-0.1445 left_roll=-0.001 left_gripper=0.9992 right_x=0.3342 right_y=0.1142 right_z=0.1002 right_yaw=0.1288 right_pitch=-0.4838 right_roll=-0.1195 right_gripper=0.0589\nstate[joint_eff]: [-0.0479, -1.2376, 6.9265, 1.6044, -0.0611, -0.0562, -0.0122, -0.3761, -7.4188, 8.6632, 1.2039, 0.2076, 0.0122, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf494f6e973de4d87ab2cf573c0646e1df3958963e1c54fef697a967867a3c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e749ea271ba82e543ed07c7b83afba73a9aba1365badc4e7bace658ff57e3cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c126f0f0a51f387399d3a26e165ff278881d08d7574db274936792884a1f76d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 12.07 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, 0.8097, 0.6067, -0.5014, -0.0189, -0.0383, 0.9992, 0.4168, 1.597, 0.8078, -0.2817, 0.226, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1529 left_yaw=0.0023 left_pitch=-0.1274 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3421 right_y=0.1121 right_z=0.0318 right_yaw=0.1013 right_pitch=-0.443 right_roll=-0.1277 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.2239, 6.9128, 1.7753, -0.0855, -0.0122, -0.0122, -0.7453, -7.706, 4.9436, 0.9841, 0.3639, -0.149, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5152, -0.0189, -0.0387, 0.9992, 0.4179, 1.5879, 0.7963, -0.2893, 0.2111, 0.149, 0.058]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1504 left_yaw=0.0026 left_pitch=-0.1411 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3367 right_y=0.1129 right_z=0.0297 right_yaw=0.1188 right_pitch=-0.4569 right_roll=-0.1215 right_gripper=0.058\nstate[joint_eff]: [-0.1983, -1.0872, 7.1179, 1.7167, -0.0904, -0.0562, -0.0122, -0.3077, -5.9145, 6.7214, 1.1746, 0.2271, 0.0562, 0.5397]",
      "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, -0.5186, -0.0189, -0.0383, 0.9992, 0.4179, 1.4837, 1.0134, -0.635, 0.1986, 0.1452, 0.0589]\nstate[eef_state]: left_x=0.2754 left_y=0.0017 left_z=0.1497 left_yaw=0.0024 left_pitch=-0.1445 left_roll=-0.001 left_gripper=0.9992 right_x=0.3342 right_y=0.1142 right_z=0.1002 right_yaw=0.1288 right_pitch=-0.4838 right_roll=-0.1195 right_gripper=0.0589\nstate[joint_eff]: [-0.0479, -1.2376, 6.9265, 1.6044, -0.0611, -0.0562, -0.0122, -0.3761, -7.4188, 8.6632, 1.2039, 0.2076, 0.0122, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf494f6e973de4d87ab2cf573c0646e1df3958963e1c54fef697a967867a3c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e749ea271ba82e543ed07c7b83afba73a9aba1365badc4e7bace658ff57e3cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c126f0f0a51f387399d3a26e165ff278881d08d7574db274936792884a1f76d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwoKjgEIEhgCKkCYW8isBMBLJcgfSzD6BgNTr14IyU1pd/x50tJMdhS7eMVxvRT+TlLW84zottyDpL4y7IeLJdZxJViyZSICzq38Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdudzNUGEgzLGunbxW0aaJLCEugaDLXiIwUIW1DK8z+6LyIwFrxDYCUmpl8fatKjkRm6UJoRQqFkHOUmwsT58s9ZNJE0MNjTdR4fkfINuX9vLz4DKskIokPxFIvp/NqFyki2h47dhOMufyv50PxRPZD8fISlJvzrsJG0tC794c2gxoTvfj4M00Uck6JrraIJHxPkx1XngWNjmtZUTQiP9Z4kzcN/26Y1nBQXvE+CUeYe5Ga3+M8fqKBzwKGwD9jjyYwL4uLPkfN7wX2cfpSPX1RjnA+Lc3eAS0SYFDdx0+lV1ZW5jzGU67N9Pf7h7n9ErrFMWTkDlsTwLfHMrOx3bP/EvyLfCtHmiO3dGCEFIeNAfDmfqG1hWHnecpTKpqWjeajAX2Ia7Hfz5dVEUQc8m6A2aRUXUVepoGgs5kVnxXa0bOWLEQ3wgOsGptjbgnk49rBD6kjuNf94eCradR998sfckfidEa0oOMFzwhYzt4802Jv5N/lKleLQOCIznfvQ45EiiwxcvqIQDdb55R9QTRvajHNhS8bsrFgrXvOWqlDb+tAudRjDnztPHLGee+OOyxYgg/2CVHM03xr8G6fq5nP93qnv9ghxe0zaJ2zCh4iA72q0Xn6ornLvcfjeRBSrYP+PjPgIRWlPeXh/1ElvCpbZAuYEUdZNENvjRdsjH2ihxPlUd8UbyD6MPEd+6bqoRAbkIWRLGWVqmLZ+nqPr5BlBy1x8+c2xkDH0bWqxNsORQX17f+Lw8HSwgKdCemJVstARkw+KI2+ycNmSYRrYyGq1LgZFcMd9NAMsEYNJ+Ba/e095VHVRCIKfmFCoGm8f7P2q7BUXHBH/l43OfpZGXAizX8Y2uqc5MwGG54XtLwHcbhXbwNA8UzZnAdudkVplvzBM90XVlJ+QwS+7j3vAXjr9NUw47B45J5guc8Xmz1l20l/1e1/Us+90sxg9PiZDbSbQ0z+YbWAivq4u/PwZDN/UKwel3aDCoRxPfZ6ltEsE98s8KQlbq6zNwQYEqPKun9wYElIGgkmMzVdqqZD0fIMe2zcebPhb3F5nLmA882AVYHNKt9/0T5+OEY3WcvGAMVvXPK8SqvIcjcEIZ7V3Y9B316jsRO0SZdYVpzJbRmAAWhGoNBZ87b0wcmUpowSn/t8/wrsbWzB7c5UK1YVbHH8r6kxDweP6/DPVZbfF8J8W/uMknVRZd5+uNoLGndhWquRG1A/l9p9mHoSk76hDZOgP082cCLICEh7fjGjnfbzdDv8hVZVJXNbmcuv2h3cpakr/wp2RPv+8xtNXeNKYFL4LasbEiK5hiOjOOxcM0lW2UWQz9xpnAZ5lh7wXAwwT94ri5Yp2WDeTkmy73dTm0eWnCwWyHjTA1I7UAaZ5XtSlJDeu2hfZ531CPNiVk4sOaR7shbVdwQg5+SKFU88oV9LniO2z+80fJ6Yn+lRgJEL4igUfy51fJ2noDuqUktLWf8AdcINec3TYPQLI9ZacJdPbPhPv1HFMqyJCFJcyMl8EXY+vsgPjJ318mmlAiBkAa7TlfSXIyzhKP9y3JVFfWfBTvt6crMDQVvyGfPbnExoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XjiT3jLuMbXdNV57yaJxcf",
      "input": {
        "note": "Overhead shows the lemon still on the table, and the wrist view has it at the bottom-right corner — it is about 4 cm to the arm's right of the jaws. Opening and sliding right to line up.",
        "targets": {
          "right_gripper": 1,
          "right_y": 0.072
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XjiT3jLuMbXdNV57yaJxcf",
      "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, 0.8124, 0.6067, -0.5331, -0.0189, -0.0387, 0.9992, 0.2745, 1.4464, 0.9588, -0.6563, 0.1371, 0.0257, 0.9947]\nstate[eef_state]: left_x=0.2731 left_y=0.0018 left_z=0.1464 left_yaw=0.0027 left_pitch=-0.1617 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3263 right_y=0.0705 right_z=0.0893 right_yaw=0.1132 right_pitch=-0.5417 right_roll=-0.1294 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.2923, 6.9675, 1.707, -0.0708, -0.0513, -0.0122, -0.1846, -7.5692, 6.065, 1.4286, 0.0171, -0.0415, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13bef1940d987637eb4ef475d62337b2d790c714df4e897c404eb3fb62908bd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40c34719ead2f80f96bef0f75f752121f57ae0d65f446a70cbe4a3f6f2ce97c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49f2cf1e7523e23c7a214022eceb8ed2a0eb17414b2b0670479dfeddc9dc3fde",
        "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 · 7.723 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, 0.8097, 0.6067, -0.5152, -0.0189, -0.0387, 0.9992, 0.4179, 1.5879, 0.7963, -0.2893, 0.2111, 0.149, 0.058]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1504 left_yaw=0.0026 left_pitch=-0.1411 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3367 right_y=0.1129 right_z=0.0297 right_yaw=0.1188 right_pitch=-0.4569 right_roll=-0.1215 right_gripper=0.058\nstate[joint_eff]: [-0.1983, -1.0872, 7.1179, 1.7167, -0.0904, -0.0562, -0.0122, -0.3077, -5.9145, 6.7214, 1.1746, 0.2271, 0.0562, 0.5397]",
      "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, -0.5186, -0.0189, -0.0383, 0.9992, 0.4179, 1.4837, 1.0134, -0.635, 0.1986, 0.1452, 0.0589]\nstate[eef_state]: left_x=0.2754 left_y=0.0017 left_z=0.1497 left_yaw=0.0024 left_pitch=-0.1445 left_roll=-0.001 left_gripper=0.9992 right_x=0.3342 right_y=0.1142 right_z=0.1002 right_yaw=0.1288 right_pitch=-0.4838 right_roll=-0.1195 right_gripper=0.0589\nstate[joint_eff]: [-0.0479, -1.2376, 6.9265, 1.6044, -0.0611, -0.0562, -0.0122, -0.3761, -7.4188, 8.6632, 1.2039, 0.2076, 0.0122, 0.0708]",
      "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, 0.8124, 0.6067, -0.5331, -0.0189, -0.0387, 0.9992, 0.2745, 1.4464, 0.9588, -0.6563, 0.1371, 0.0257, 0.9947]\nstate[eef_state]: left_x=0.2731 left_y=0.0018 left_z=0.1464 left_yaw=0.0027 left_pitch=-0.1617 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3263 right_y=0.0705 right_z=0.0893 right_yaw=0.1132 right_pitch=-0.5417 right_roll=-0.1294 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.2923, 6.9675, 1.707, -0.0708, -0.0513, -0.0122, -0.1846, -7.5692, 6.065, 1.4286, 0.0171, -0.0415, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13bef1940d987637eb4ef475d62337b2d790c714df4e897c404eb3fb62908bd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40c34719ead2f80f96bef0f75f752121f57ae0d65f446a70cbe4a3f6f2ce97c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49f2cf1e7523e23c7a214022eceb8ed2a0eb17414b2b0670479dfeddc9dc3fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0wwKjgEIEhgCKkBW5tNEGMUakjXMeg12SQoFCl+nc7wjgwh/kl2nYdeEq+sISQQxVtq5ITSLJpP2cj46nn+03c4GUQo+IMm2CzRZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeidzNUGEgyXK0iC7hb/CogyXhEaDHxvpViOFuhiDBfzrCIwjtOugXAWNzNg/JJvz62J4yDoj1uy5uabmu65RTmu60rXME1muTgE9Oqn96bp3k0KKvEKGWwa1FB4IXjdOt00e5G827ITHhv24I6SnQ7wkm/ktIgNx+YpMb3cwCQNwbOmDVqwT49XTxElyXtXqQK1cbCQR8x73938npynOO7yjZhQQOtdn1oIK1uWqYE9UUHxjhjTjDpzV+lFCdTeuHMHVHFbEL+nV5Wb6wRGKOECdUjX8mZD97hEK+8rqNmp2yksUFF7qUxlY4LNO6pVRXyzXGJLjboVhzyor9FdJuTI1lLCrCJE6mdkumqvVS4nSJ332t32hsd36nyE8SFALckrUMy/jW9CrE+1jqyXD8bqObyvbPonrWZMFNhicDeNn3hdK+mwar6osxw2uWEzQg7NAZstSJtptMp4pPt7H4RgfoSsuB+ZjRNvJswHpTi3kpA7Wqkkay8v8dgG6Dg0N+GsYLEo56yebj3j/dX1JTghiSAVytEd9hckvH6o0sSElJtWUEVAV5DPzYycM6RVLmyQQX0ZJymP9n3YwE+2iAIhLvzFWgwZgTX4FceYsofbQOvjvjXMOvjM0TF22ItVfPz8hHfhVDUOrjgTU6ZbJA0O7ujQrJYd0DknJ4O/L/BGT2J/+BEqhFegRdPRU2UiyfCBCuutGmvnSM/Lg+EUyBwKat2R3iGGbMa+V4EZp9fK8C/0WJkAJVX49B0W04t0a5SkZ7xb19hT8hv0oq23ud3TyKkOdkZhdI0ABuTUauwSWq8/QjUL0wwlhIINdKX2bMYFqx7EbPOJu6UUfHRVJkw2CIW0csovstyy4cVz8NhQ9uXJN3xYXUloVlT2LkIGBOVL6iyFAkAufNLE/bC0StHFFr/Z3yv6a3LBODxtJlhgE5pW4XUqi1QU45SoTNVQub8QI31HrY3hbojuxjyxNTYW92CLq+CrNW78fQYKlpHv1P9E+cF4K8/0qWvANjpJ3Sx8n2Z1H7HPZ3Tr1sLSillvh6rdOyxqfnfV0r02M2RJsy/eGVDIDVdCILnVrIYc/OYGsHFKCY3z32pAAH2BReg3r3KBJYp6TRgOvX7LKv5djeVIPzfQFQCSKNgIgYtWEGhlYRbdBRE5QAIJIhO+//TUoTLDgxEHIcKi6oP8qh91fBRm7KFFJjrMIm0o0OjBUeRSTvsjCjwqjkcc6YuQYGjQveG65mRsQucgMsIi6Wgueb0EMsDXBfVbU/RxzEYc5CWbigqCOuBR/ecxHZUIiwfiDDONMfwbFMyPlRnavOpGAQvaNK8JzFfjz5GFag6Hy/9dd9LQJgbKUdX9GnNacupryKMFXA6OGFLF/kr1+Gwy02gRHMf1wvHBf7f57ncajPEJCoIvf0kcfmn3qZ3j/7OAGt0AKoJXYt3ufAIv+8U2i6V+mBsWruKWX/Z6d7Q7IxkahCuZ52vJ3PaMzhRZJ/xblkFnKKtuNgWclLugvW+9JLqILEOXnI4SIQV/GwHeLQGI1/CGCFHPGVEp+K75b2OgzFGTE3M6/hDGtKXiyq8CTf0GrSqQ2TxGeRZexjJXVlz+LROBBeMvspwJYVeYMWv66lK6fkTn2VT9+l64ZA9CitYQpujhtur5D34qTfoAh5AraTPpM9w/jxkAljxg5MhuXtXFX9SDm/C+48j0hZGIwkgSO6T9ffhQrST03eluvlDFLAHnO5bFZCisAzkq/lGrZofGREDEQ+WoQ3X09d/nylFoIjVL+9Xy5TBU5PrZuUAfQMQri1D278PZx47daPjrp2Fv3wx6mV0wdTvS6l+NhTgpqNhSy1ENlliXSwb79RLhYfZt1mCi04Lo16s4kxKZ0HyjG6aQKpKZP2eS1BKm4sxbgWvjmrLP3ZBS9aYxCzADBXwIC+TVfRpbKKJZq8OZo072b6wjRBO6Npy5bDeJMDyVC2LEbRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011BQ7kGCNaTc7vJBAinf2XJ",
      "input": {
        "note": "The lemon fills the lower-left of the wrist view, ~2.5 cm to the arm's left of the jaw column (and the safe lid has fallen shut — I'll reopen it later). Lining up over the lemon at grasp height.",
        "targets": {
          "right_x": 0.345,
          "right_y": 0.095,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011BQ7kGCNaTc7vJBAinf2XJ",
      "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, -0.5407, -0.0189, -0.0387, 0.9992, 0.3294, 1.5551, 0.9375, -0.4404, 0.1486, 0.0658, 0.9952]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1445 left_yaw=0.0027 left_pitch=-0.1712 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3578 right_y=0.0985 right_z=0.0698 right_yaw=0.1404 right_pitch=-0.4529 right_roll=-0.1026 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -1.3744, 6.8855, 1.619, -0.0757, -0.0317, -0.0122, 0.4308, -1.7983, 2.3863, 0.2857, 0.2369, 0.022, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa4476198f2be740cae2a744dc6008fd6fb4eaa999e853271b534db5dcfbf3de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15c108adddf542608a7c9d98506f10a8ff3e25595bad6774b689863dcf1715b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8fc6c9a326f2f2440cab92fcb8a7dc924513db8b6aa074e10e6292bfb3f1a6f",
        "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 · 12.26 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, -0.5186, -0.0189, -0.0383, 0.9992, 0.4179, 1.4837, 1.0134, -0.635, 0.1986, 0.1452, 0.0589]\nstate[eef_state]: left_x=0.2754 left_y=0.0017 left_z=0.1497 left_yaw=0.0024 left_pitch=-0.1445 left_roll=-0.001 left_gripper=0.9992 right_x=0.3342 right_y=0.1142 right_z=0.1002 right_yaw=0.1288 right_pitch=-0.4838 right_roll=-0.1195 right_gripper=0.0589\nstate[joint_eff]: [-0.0479, -1.2376, 6.9265, 1.6044, -0.0611, -0.0562, -0.0122, -0.3761, -7.4188, 8.6632, 1.2039, 0.2076, 0.0122, 0.0708]",
      "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, 0.8124, 0.6067, -0.5331, -0.0189, -0.0387, 0.9992, 0.2745, 1.4464, 0.9588, -0.6563, 0.1371, 0.0257, 0.9947]\nstate[eef_state]: left_x=0.2731 left_y=0.0018 left_z=0.1464 left_yaw=0.0027 left_pitch=-0.1617 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3263 right_y=0.0705 right_z=0.0893 right_yaw=0.1132 right_pitch=-0.5417 right_roll=-0.1294 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.2923, 6.9675, 1.707, -0.0708, -0.0513, -0.0122, -0.1846, -7.5692, 6.065, 1.4286, 0.0171, -0.0415, -0.0611]",
      "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, 0.8143, 0.6067, -0.5407, -0.0189, -0.0387, 0.9992, 0.3294, 1.5551, 0.9375, -0.4404, 0.1486, 0.0658, 0.9952]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1445 left_yaw=0.0027 left_pitch=-0.1712 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3578 right_y=0.0985 right_z=0.0698 right_yaw=0.1404 right_pitch=-0.4529 right_roll=-0.1026 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -1.3744, 6.8855, 1.619, -0.0757, -0.0317, -0.0122, 0.4308, -1.7983, 2.3863, 0.2857, 0.2369, 0.022, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa4476198f2be740cae2a744dc6008fd6fb4eaa999e853271b534db5dcfbf3de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15c108adddf542608a7c9d98506f10a8ff3e25595bad6774b689863dcf1715b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8fc6c9a326f2f2440cab92fcb8a7dc924513db8b6aa074e10e6292bfb3f1a6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjwMKjgEIEhgCKkAm46AwhIRB7EnjMeS+mGTXgZlbroyqWFAVGtejI6xKPux6A1m2y0cz7pUb9qRUrTw8C2bqHWdaPVxH8OwnGZEnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+dzNUGEgxgJ4CcA/I8vKMmjVcaDH2/nnwbKHfNGfKxtCIweM51hQlgdI2o1nQtZcKH7mGcKgRyifRUELItlW4b2+9B7H7drVQWoaRyGRnQvvE8Kq0BbPLEDXhIntXgXEAWImLQbBLI+zuKQLm36e5O8yZJx5X5f/1dHuyLt8gKy0uG63LMrJvbjKPtKn6yLKAJReyZvPicawKW5g7yAQX8Ym+S0bTV5knobrXuqVPerKSVBuhFH7TIAHTolSg0TWSbb6nuzxrYaoSt/8kGkZ8AbTeGn3W1lqMgqRvo1PdJIed4lZ4CrHjlNmsMcVQofaJsmSkuoNJtZYrXUDXaQwVh/SEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y8bj9XoYfgJkbphRFmyVbK",
      "input": {
        "note": "Lemon is now centred on the jaw column at the bottom of the wrist view; completing the descent to grasp height (the last move stopped short at z=0.07).",
        "targets": {
          "right_x": 0.36,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Y8bj9XoYfgJkbphRFmyVbK",
      "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, -0.5507, -0.0189, -0.0387, 0.9992, 0.3267, 1.6196, 0.9085, -0.4458, 0.141, 0.0628, 0.9953]\nstate[eef_state]: left_x=0.2702 left_y=0.0018 left_z=0.1427 left_yaw=0.0027 left_pitch=-0.1812 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3441 right_y=0.0942 right_z=0.0371 right_yaw=0.1365 right_pitch=-0.5514 right_roll=-0.1178 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.1829, 6.8855, 1.7118, -0.0562, -0.0562, -0.0122, -0.2803, -8.2256, 7.9385, 1.1941, 0.0904, -0.0269, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daa954b4e08513927ac6846d590a8fb7936ffc530691153e05dce598210228bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bb97ca912f71b1ecb9da430b349615fce69651b9fa994c41fc07f523c9840b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:797ad1b382b7e24a6367236ce615295547b5bd3683f0ef82be5b667a644d64cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 20.33 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, 0.8124, 0.6067, -0.5331, -0.0189, -0.0387, 0.9992, 0.2745, 1.4464, 0.9588, -0.6563, 0.1371, 0.0257, 0.9947]\nstate[eef_state]: left_x=0.2731 left_y=0.0018 left_z=0.1464 left_yaw=0.0027 left_pitch=-0.1617 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3263 right_y=0.0705 right_z=0.0893 right_yaw=0.1132 right_pitch=-0.5417 right_roll=-0.1294 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.2923, 6.9675, 1.707, -0.0708, -0.0513, -0.0122, -0.1846, -7.5692, 6.065, 1.4286, 0.0171, -0.0415, -0.0611]",
      "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, 0.8143, 0.6067, -0.5407, -0.0189, -0.0387, 0.9992, 0.3294, 1.5551, 0.9375, -0.4404, 0.1486, 0.0658, 0.9952]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1445 left_yaw=0.0027 left_pitch=-0.1712 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3578 right_y=0.0985 right_z=0.0698 right_yaw=0.1404 right_pitch=-0.4529 right_roll=-0.1026 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -1.3744, 6.8855, 1.619, -0.0757, -0.0317, -0.0122, 0.4308, -1.7983, 2.3863, 0.2857, 0.2369, 0.022, 0.0415]",
      "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, -0.5507, -0.0189, -0.0387, 0.9992, 0.3267, 1.6196, 0.9085, -0.4458, 0.141, 0.0628, 0.9953]\nstate[eef_state]: left_x=0.2702 left_y=0.0018 left_z=0.1427 left_yaw=0.0027 left_pitch=-0.1812 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3441 right_y=0.0942 right_z=0.0371 right_yaw=0.1365 right_pitch=-0.5514 right_roll=-0.1178 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.1829, 6.8855, 1.7118, -0.0562, -0.0562, -0.0122, -0.2803, -8.2256, 7.9385, 1.1941, 0.0904, -0.0269, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daa954b4e08513927ac6846d590a8fb7936ffc530691153e05dce598210228bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bb97ca912f71b1ecb9da430b349615fce69651b9fa994c41fc07f523c9840b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:797ad1b382b7e24a6367236ce615295547b5bd3683f0ef82be5b667a644d64cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjwMKjgEIEhgCKkAgf9zBd6V0FwiKV+gfeHrh7fSTGmU/8EpwELmBMlwvwvf22y4HbcrLt+ub6wMRX3Lz1KWI8zQnlZaPgSv4lfJSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf2dzNUGEgwIf00tUSyr0bfMxHsaDE2zhkYlMVbGCnxxQCIwwZQFiKDEGn45OTosp+3A3LFA4JnjbvSVEhJnEWacrtoVLoluptbPEp4Ei8xY5v2GKq0BZzd78Y0JM2gVjgfoxWJ1lL4Jk8cBozHDKOOmSlb+znRAsLQFKH65g5aF7tHOw8o+rr+YD3FFBP7t/HOfbR3GR5Px+NJy8Ezeuu4fQxhihEegga1k5OZ8C5fP/viamsat+wEoSdqOdkNTw/46ItuBTWwDRQDOjpUJSymBqzLIi5yUM25zmqbEMxtWEjIr2bGEINKKox4a1aO3QZ3d3eReW1NacTZPLjbV4iAeBoIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R6QM5EZ4U9EhaW4p1LSDK5",
      "input": {
        "note": "Lemon sits centred between the two jaws at the bottom of the wrist view; closing fully.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01R6QM5EZ4U9EhaW4p1LSDK5",
      "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, -0.5629, -0.0189, -0.0387, 0.9992, 0.326, 1.6131, 0.9146, -0.4473, 0.1375, 0.0559, 0.0087]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1406 left_yaw=0.0028 left_pitch=-0.1934 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3461 right_y=0.0952 right_z=0.041 right_yaw=0.1447 right_pitch=-0.5415 right_roll=-0.1152 right_gripper=0.0087\nstate[joint_eff]: [-0.0068, -1.2376, 6.8718, 1.6923, -0.0464, -0.0415, -0.0122, -0.2667, -5.9145, 5.6274, 1.0427, 0.1148, 0.0366, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e270baf6d38627fac88b0045adb7dea0d4f8320a7d29d5e9c420fe05c0821e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f18ce3c668d9925cc54a5740da6e393fd7f9c640610f0bd9e1dbf335d2e9b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01a5d13f43942a380568a1a158941d0e7f47a22cac941be7c58b40d55896f6ca",
        "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 · 17.04 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, 0.8143, 0.6067, -0.5407, -0.0189, -0.0387, 0.9992, 0.3294, 1.5551, 0.9375, -0.4404, 0.1486, 0.0658, 0.9952]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1445 left_yaw=0.0027 left_pitch=-0.1712 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3578 right_y=0.0985 right_z=0.0698 right_yaw=0.1404 right_pitch=-0.4529 right_roll=-0.1026 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -1.3744, 6.8855, 1.619, -0.0757, -0.0317, -0.0122, 0.4308, -1.7983, 2.3863, 0.2857, 0.2369, 0.022, 0.0415]",
      "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, -0.5507, -0.0189, -0.0387, 0.9992, 0.3267, 1.6196, 0.9085, -0.4458, 0.141, 0.0628, 0.9953]\nstate[eef_state]: left_x=0.2702 left_y=0.0018 left_z=0.1427 left_yaw=0.0027 left_pitch=-0.1812 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3441 right_y=0.0942 right_z=0.0371 right_yaw=0.1365 right_pitch=-0.5514 right_roll=-0.1178 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.1829, 6.8855, 1.7118, -0.0562, -0.0562, -0.0122, -0.2803, -8.2256, 7.9385, 1.1941, 0.0904, -0.0269, -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 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, 0.8143, 0.6067, -0.5629, -0.0189, -0.0387, 0.9992, 0.326, 1.6131, 0.9146, -0.4473, 0.1375, 0.0559, 0.0087]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1406 left_yaw=0.0028 left_pitch=-0.1934 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3461 right_y=0.0952 right_z=0.041 right_yaw=0.1447 right_pitch=-0.5415 right_roll=-0.1152 right_gripper=0.0087\nstate[joint_eff]: [-0.0068, -1.2376, 6.8718, 1.6923, -0.0464, -0.0415, -0.0122, -0.2667, -5.9145, 5.6274, 1.0427, 0.1148, 0.0366, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e270baf6d38627fac88b0045adb7dea0d4f8320a7d29d5e9c420fe05c0821e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f18ce3c668d9925cc54a5740da6e393fd7f9c640610f0bd9e1dbf335d2e9b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01a5d13f43942a380568a1a158941d0e7f47a22cac941be7c58b40d55896f6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1BUKjgEIEhgCKkBVQRIvwWKjmsHTlkMOfYhKrqHmcMQgfGK8D2Fmd9+jc50gm5C67AjrmO3FG/pB5HIoPH27vMwK5UldxpTQA9ORMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGezNUGEgz7J8au7PZQo/UzIZ4aDIhqKXi4M7m2WXXjWyIw1VRXNws2iAqle0r8uvQowW4Du+m1KmSmKASaKr2ZN0wMWB9Lr0geqNhggbh9sD2+KvITCmUsdUeq6l9zFyWKJh21TpkQnLVvmMtZ6KlL1HumDhzqurnU8cOId0PU3jJnpFET5j786oZHHjbohwR+ipgRPnxHRGSTi/vPyV1RmkNBT2+iZVhvvVZaRFvQxsfN0COFcDjB5lmZwzq59vtcrrGvF+TO0VUYiffPzjyJcO0pkzX3/XSbkjcyY55cN+OwWVP8KoYPltoXtGuAHEjBlBxRPH15IIj1IHK2IuqwRNuYAxmI1T0vy4FYU4w345Odb2aKtxz5H7lFEglcrUzvFv3Yr9BhjlbKfMtScereFaNqQbXK9q/E9Xt7rL4rISdlB0omlCFIeBSETScX26tFK2QarYQqHF9zQ2HuG0t4x0AP0T8QFKaVsiXqdnbX40HT7bu0dc5/fs2JZwSqTf1AUrYFllWy+nUXXj0XUAjtcdOZ0GQJmiMhI/bunejMVJPyWjH7unINzIBKB3cf+8/wJWSbQLJ8Y2sdn07DZYgnIeShw7fdunZwqVDyuRM5QFS1VLkrpAjqVMo1TS6JYdOGAWgLd18hZNiNLK6eqjVh4fSZKK2WhTR7p+3fWFRrpbtZjVLvnEG7WXgyrxfRDnUM918C74NxCmMeoNq9NVILEAEV6GV6RJS4JSVoWYdMGB+yXLeITvWtGJ+6Xdpu0dlXMkBd1WDrOHFtO49XNkNpUiN/1FqUMZz4HelbPEiWla4nzN/Bmt2k5I0sPoB05BHu67xIBsrasZikQrE1a74zqqdHSj3dJcbXzxqlnSTgKw/LSy444e/NKDAECaS6UGSrTnKNh9GpKdoo4LdTHUqog/Qx6Bv2Hqj2vc0RB1cc0NYuJTex91UShVPvyUA6MstKH+heZ6WPPqOEqPMg4LQdUXC8aclK8i+xyy5w8YdwK3RUlA86T1Bv1hW6KTbLMLriypYQx22Sf3McarU6jJ6crg72EiBzJD45UP3Mtbj/zISdIIknKzCCLWa9MrXrVycyyVAXZIERKrTQxfcxKcHDVLu5X/2udA53VAnqDY6PC0rATZRsOwYlazF5T+C7sDt0dxAYNqCxOSr/yx0SSYghoHn611DJekzda6x2edDxJuaWipa9fxpObg5MA+DwowkLzBC5PeAbkxN7zQIoYd5yhQDSX0GHMciPc8w6ZYIA0oVXD23Md650a6qDFQ26CX8OcO7l2zHrljzQSPuq48GDczp1qFylZXSttLINMwhtT/BnOpWirj81Pph+twANaf1rfuKASpY9j6A+T0tkKtM+0Mw4S9wOW0etbm7ST2KzfS6beoeZFOuzXFEPZpdf+iu0r/NM8hs43eztdJCwQSKBbTdaDNW/tJaeaxzwDO0khcK4xw8rBcuhA8y47Hl4i5osI7tb8qKA8WzJCg7JfV4VxwV+BaBh3l4kJrcEjLcw3ejo2AA1Izwkcc1EQQQ5IkXWrIrLYaZSIfqB7wF5nRRB4VRymEdBUdZmOKEbzXVPOrDEQSnZSdPm3CUxsGW63JHRT3qwJegrEFS2OC5ADxe/N8e4TpHqgZM5ZAvKytQlvnzQFExgkRGxgrRBl6FIFuh7ijXvr1yrj79VeQe1jtnSQD3BKJe6bMse3EJrN9ZdZJNV+mKR+Pu7XSWCziM4VnBsKBzLPro9lNKcb4x5hCLZe2W4qWqkfQHxR8Wlv+OfDgHivlsJSduI0UX7EbBn/J1GB5AhlSi9daq5YfGkVSY8l8Fv1WsEfqXtKpL3Csa/0RuK+Xcy925P1HPXrY9Nc1gH1Nz0WEJDxXUbqPkexnvWUlmQFPPz6oIrS0ZBEqlnApHeUWo915901kjaEio03Kd+PqCel660OELpcelXUfk282J8pK20OIDpiNoi/rGQL2/EYPzzTwL90Guln/yzKEFhjtMhD7NxLewtm0Iw1jcvjD/drARib9EwpCll93+bfsg0+Vuxz7VRM9dfTBowP7kv3smCqvPtnA+psvpepecq+jyaB8vo2T6zkWS5cSRizsJYteBMNBgVH+gS85HoydtgfnQB9gsr5tVcz14arXRSCC7okgHSwOCfhmzryC4Ma4G5Kf8gOi9ltUZMvN5ItQc5uSBpfRqieYXPE9u5bG9lg06rCiW8Rn0jL9JNBTB9z1ZzqQfhBbblA7Ka1R1Pyc9Xga4iL1qnmQjyXY99tYSCV4yHjRq1Y6oDHztR/c8MI1ogWVRNhR/1QRXGUkYtD3SlrW4Ax9HVE3ZeytB0HVhhiP3cNElbH9dx/q/OhdpOCKqY9790eckRyAbGMWN0NWw+nxzr7mwv9tNM9jRCLde4VD3niRs+h6RiAQj52G74+FsElZGdyXpWokEBEMvN5onpNV1QIXqxFilMRbB1q92mAdusoZkhOoQpwKhw6GIICBK+Tnj+bAzvG1GJhyoy02r2bvWObR0mX9PZf7RS5CWDVnsL+4y67aSxN9ryiZSmKfxEYnl3yQBnnJjHC3EM05gVpqIe0qXLp++w8m+Jj34ZrAEh5jXSklYz/B7mLuUGEzihAaITWqzVMrAjT9Gq3opnPDnR26Z9nhEAFWll1w5KGmn6WaEJofRSHj/q5gtouU5wYcodyZQnZM2AWp2QzGTLkQpZJKo8Ic+4oR3yK3W6xzyNlPpvTsjrxQTX+SR2bHnZTJCVZZWLqQRP1NUGHaWnY/kuoi0HTYSkMmX2QHF2czaKRgY6Yl6ybBRiJdCAi2pSURKUcMb81q2E938PYtEI/UdajRCLTIyQVfxax9E0P4K1GKJFqHL3seTGzRwiHs5PJosXckzpxNQyKOzUMi4qUTwRvDWtXT5hgfxiBt1/MhhmQzsmUp4ls+3bfrLB/j0OnIujOh0n5SrdY9v0CzC7ijSCqd+QCV+mbxJpciNKEdh5KroBjYbtFWC2u87t0W9Iujn+1TPok/ez7mVogSNawc+KhSn6UrYk4S1FdH/p/pIys8orHzhKh0sAUraRi+jaBLqJ9WVc0XIy/kBSsamtSDUj/kxyotHTNlZn1i/IZ6wPcQucnB6LWo43F3OYezMCC4jHXo72xRTMFZ/HqvjailP2TC/Ugarn28B/0i9fUUJtg1ghgHiZP0v6VUYSd/UnYRX3jQuCQG0hWc1ir5jd3rl6AKuq6hybiCry9FwRPsF0dX6Pic3jlgcaOBwMvWtcujNaLcyZ7XsJ5oDQnSV5XRbGZ0+CupQMVt/r3Bbm+FedPzl1Gztfqy0uqHAN0itGAQy9/NEt7JIwUEZm2zMjF+LjVmrfIAnoDcBKmSbfRgPyypd9YIMIXsqhv8Sq6OtMD+ZjpNanNnhpRi4oWz/YhF47o/0l7MC6qK/9zbcqasT/CNYmmbgKc+IupEIfJgOVNe7Md6UrDNTPZDbUgkawf90OsF2RkfxQZHf716XOg/aH/jUked8N4+gfRg0Hsb5i9Sg9dNkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C8sVrHdJdC7L3YM59Rrskt",
      "input": {
        "note": "Third empty close on the lemon — it keeps rolling out. Pulling the right arm back and up to get an unobstructed overhead view so I can localise the lemon and the other objects properly.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.25,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01C8sVrHdJdC7L3YM59Rrskt",
      "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, 0.8185, 0.6067, -0.5747, -0.0189, -0.0387, 0.9992, -0.0071, 1.1286, 1.129, -1.1236, 0.0166, -0.2169, 0.995]\nstate[eef_state]: left_x=0.2662 left_y=0.0019 left_z=0.1374 left_yaw=0.0029 left_pitch=-0.2094 left_roll=0.0002 left_gripper=0.9992 right_x=0.2587 right_y=-0.0012 right_z=0.1884 right_yaw=0.1055 right_pitch=-0.54 right_roll=-0.1222 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.2513, 6.8718, 1.663, -0.0366, -0.0562, -0.0122, -0.1299, -3.5897, 7.9932, 1.2088, -0.2466, -0.1099, -0.2564]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54f5cd4e1a1e3f31a83b68e3ea7bbdedd2276d0349758ad7505c9681eedf1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abc0cdd5d1e10caa90c4fdad9ed98d7b29258dfcfd9ece3d020980a6192e9486",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:732b67b45b9f3d8c86442800af5e4515769a9ca5cb4314e3b77d328eda2496a2",
        "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 · 8.603 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, -0.5507, -0.0189, -0.0387, 0.9992, 0.3267, 1.6196, 0.9085, -0.4458, 0.141, 0.0628, 0.9953]\nstate[eef_state]: left_x=0.2702 left_y=0.0018 left_z=0.1427 left_yaw=0.0027 left_pitch=-0.1812 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3441 right_y=0.0942 right_z=0.0371 right_yaw=0.1365 right_pitch=-0.5514 right_roll=-0.1178 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.1829, 6.8855, 1.7118, -0.0562, -0.0562, -0.0122, -0.2803, -8.2256, 7.9385, 1.1941, 0.0904, -0.0269, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8143, 0.6067, -0.5629, -0.0189, -0.0387, 0.9992, 0.326, 1.6131, 0.9146, -0.4473, 0.1375, 0.0559, 0.0087]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1406 left_yaw=0.0028 left_pitch=-0.1934 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3461 right_y=0.0952 right_z=0.041 right_yaw=0.1447 right_pitch=-0.5415 right_roll=-0.1152 right_gripper=0.0087\nstate[joint_eff]: [-0.0068, -1.2376, 6.8718, 1.6923, -0.0464, -0.0415, -0.0122, -0.2667, -5.9145, 5.6274, 1.0427, 0.1148, 0.0366, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8185, 0.6067, -0.5747, -0.0189, -0.0387, 0.9992, -0.0071, 1.1286, 1.129, -1.1236, 0.0166, -0.2169, 0.995]\nstate[eef_state]: left_x=0.2662 left_y=0.0019 left_z=0.1374 left_yaw=0.0029 left_pitch=-0.2094 left_roll=0.0002 left_gripper=0.9992 right_x=0.2587 right_y=-0.0012 right_z=0.1884 right_yaw=0.1055 right_pitch=-0.54 right_roll=-0.1222 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.2513, 6.8718, 1.663, -0.0366, -0.0562, -0.0122, -0.1299, -3.5897, 7.9932, 1.2088, -0.2466, -0.1099, -0.2564]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54f5cd4e1a1e3f31a83b68e3ea7bbdedd2276d0349758ad7505c9681eedf1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abc0cdd5d1e10caa90c4fdad9ed98d7b29258dfcfd9ece3d020980a6192e9486",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:732b67b45b9f3d8c86442800af5e4515769a9ca5cb4314e3b77d328eda2496a2",
        "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_01Fpsbi8442NpKn6weAioFx8",
      "input": {
        "note": "Clear overhead view: safe (lid shut) centre, lemon to its right, teddy bear in front, white toy left. Repositioning the right arm above the lemon with the wrist pitch commanded back to 0 for a clean vertical grasp.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.38,
          "right_y": 0.1,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01Fpsbi8442NpKn6weAioFx8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5854, -0.0189, -0.0387, 0.9992, 0.4274, 1.4403, 0.6525, 0.0154, 0.3763, 0.1177, 0.9967]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1355 left_yaw=0.0029 left_pitch=-0.2204 left_roll=0.0004 left_gripper=0.9992 right_x=0.3612 right_y=0.0971 right_z=0.079 right_yaw=0.0397 right_pitch=-0.1248 right_roll=-0.1643 right_gripper=0.9967\nstate[joint_eff]: [-0.294, -1.2513, 6.9128, 1.619, -0.0171, -0.0562, -0.0122, 0.1846, -5.6684, 6.4479, 2.0781, 0.3101, 0.2369, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c9ce5da5d5b0c35540285059061f18e009169e5934c7f6e1eb7f75f36beb986",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe7d3846cb4092249e0a78944f95ff7b2c39d03973f98a6cb428a20be12c3798",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1140bd1cd1fb7f9b329ad6e1956dc9b7c270f10c84a3843a56d1955f030430ab",
        "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 · 3.824 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, 0.8143, 0.6067, -0.5629, -0.0189, -0.0387, 0.9992, 0.326, 1.6131, 0.9146, -0.4473, 0.1375, 0.0559, 0.0087]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1406 left_yaw=0.0028 left_pitch=-0.1934 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3461 right_y=0.0952 right_z=0.041 right_yaw=0.1447 right_pitch=-0.5415 right_roll=-0.1152 right_gripper=0.0087\nstate[joint_eff]: [-0.0068, -1.2376, 6.8718, 1.6923, -0.0464, -0.0415, -0.0122, -0.2667, -5.9145, 5.6274, 1.0427, 0.1148, 0.0366, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8185, 0.6067, -0.5747, -0.0189, -0.0387, 0.9992, -0.0071, 1.1286, 1.129, -1.1236, 0.0166, -0.2169, 0.995]\nstate[eef_state]: left_x=0.2662 left_y=0.0019 left_z=0.1374 left_yaw=0.0029 left_pitch=-0.2094 left_roll=0.0002 left_gripper=0.9992 right_x=0.2587 right_y=-0.0012 right_z=0.1884 right_yaw=0.1055 right_pitch=-0.54 right_roll=-0.1222 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.2513, 6.8718, 1.663, -0.0366, -0.0562, -0.0122, -0.1299, -3.5897, 7.9932, 1.2088, -0.2466, -0.1099, -0.2564]",
      "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, -0.5854, -0.0189, -0.0387, 0.9992, 0.4274, 1.4403, 0.6525, 0.0154, 0.3763, 0.1177, 0.9967]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1355 left_yaw=0.0029 left_pitch=-0.2204 left_roll=0.0004 left_gripper=0.9992 right_x=0.3612 right_y=0.0971 right_z=0.079 right_yaw=0.0397 right_pitch=-0.1248 right_roll=-0.1643 right_gripper=0.9967\nstate[joint_eff]: [-0.294, -1.2513, 6.9128, 1.619, -0.0171, -0.0562, -0.0122, 0.1846, -5.6684, 6.4479, 2.0781, 0.3101, 0.2369, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c9ce5da5d5b0c35540285059061f18e009169e5934c7f6e1eb7f75f36beb986",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe7d3846cb4092249e0a78944f95ff7b2c39d03973f98a6cb428a20be12c3798",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1140bd1cd1fb7f9b329ad6e1956dc9b7c270f10c84a3843a56d1955f030430ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3gcKjgEIEhgCKkDhe9ueyP94rFUvZKCzD8IXxuABwIWiLeTo9QmFOHSPspJtd5m/MHmndw3EVm0MqOkY2Hxo0G7A34cT3oW9mdWlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa6ezNUGEgwZEY/G0AJPxapPYNkaDCgFaOOkFj5wOZ2WQSIw9YbUD/q/2Ue0MwJEgUFMNLzoMpx5fHz9QXc9hmupOkSoLmnJm67SjWEHd+AhYzL1KvwFdfUcJ7Hvc7yPwX7Beory4GlZsTqIrfxjB24RMcnkHMNIQK2t5+FB2O9zWpZD0DZ8OC74SBBfQbgDb0peZ3wEpVZVUQrvMJJ05HTadFiI8i1M1o4HDHfdUMAXDQ7XudSxah3Vl33RNAa6OOW7ROFTwDtLWvhyUkswEnmXrvvqRZFvyZ4vrax5gVKJF/cIgWF/+v3v35t1L+yiAz7vt9R1Zjsbwwt9/f6wuYLNOhbpL6BoAUc/a5SZEujIULD3hXI7gfiUe+61bqY+WQQPVxY9XK0X/9+iD1FQMSih4XoF97dzX1Zm8F52L5kCdO404rpKSNiL8N9QslEWrsfPpeIeHFhFqlXejrLJO7hZ/uL6lEFogm8t9zoShXotMmQbTc2Izh9WAo8Yo4tjHd2s7t2LJuqVW3OLuu55O9FvfuAOi0E1WV+uSuxCi7rexGxBMGIH6Qbp59yDlPsfhEEBoDR4MZBcPoxgv5jQJg1xAR6sQX2uGKJxiIxS52dgPNVTOTV5Bw/UBMmVhWYJ7QVRwqeSFato7Ec/PFNydVfsxeikwuGo9ls92+nlm7ThiKLfcRb8+lyn/RzkBUfjhkuHoutMt0XwdCk/ES+1cSAlxOU1jfB19NK+NC8BXQtcBfXFHFEhY2ojBnBd6fPTb1jnLpnxNA1tPesXO+tkALuZghJkNvFKo2CBdOc5QmWy3/UwRg3FHRaI1CksahbQTY+4RZAKK/IxIv9Nvn0qLknf3lnJ/Ae9KdPSAF0i+qLu2/x01PJcH9bkPEcv1umfd2NonRoDQLnAQC0I0acI29Qm9K4JOwx0WqVs7C3Oz9iX/QOqx+vctpvU23LK4B99+n10KX6p1Epyegp1V4SqTAcjHuDfGgkYEPphzeBGJxTUy3IcxIaNUl/kSdj11IMLJXQlyXLmKeRNupxYm3gCx/ykzci/6q2NDc8bIq3rqcykvOjxvHBb2MhV2I9PiYga1fdInHrB0g9XSzEfjHeUwB58F7ylkHprAWEcBu8Trk59rBsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018cQUCgE9fdkhVLoq2RUrN6",
      "input": {
        "note": "Overhead shows the lemon sitting just base-ward of the gripper in the same column, so my previous grasps were ~4 cm too far out; pulling back to x=0.315 and dropping to lemon height.",
        "targets": {
          "right_x": 0.315,
          "right_y": 0.097,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018cQUCgE9fdkhVLoq2RUrN6",
      "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, -0.5884, -0.0189, -0.0387, 0.9992, 0.5102, 1.4326, 0.4141, 0.1535, 0.4145, 0.1589, 0.9968]\nstate[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.135 left_yaw=0.0029 left_pitch=-0.2235 left_roll=0.0005 left_gripper=0.9992 right_x=0.3067 right_y=0.0942 right_z=0.0201 right_yaw=0.0633 right_pitch=-0.1943 right_roll=-0.1976 right_gripper=0.9968\nstate[joint_eff]: [-0.0342, -1.2376, 6.8444, 1.5214, -0.0659, -0.0415, -0.0122, 0.1573, -4.6564, 6.5573, 2.1074, 0.315, 0.0904, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb1b562257a2d3568492ec31784019bee7956e4f32301764a124bd20500c2b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15a4ff6e648f151e237e24b805d980f1e2f89c9a39fc075088714240468860a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9826fd178bb29bfbabbd34fc60e4ba5d747f5aa43a0c9cc223e3c48d7b87aca1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 18.51 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, 0.8185, 0.6067, -0.5747, -0.0189, -0.0387, 0.9992, -0.0071, 1.1286, 1.129, -1.1236, 0.0166, -0.2169, 0.995]\nstate[eef_state]: left_x=0.2662 left_y=0.0019 left_z=0.1374 left_yaw=0.0029 left_pitch=-0.2094 left_roll=0.0002 left_gripper=0.9992 right_x=0.2587 right_y=-0.0012 right_z=0.1884 right_yaw=0.1055 right_pitch=-0.54 right_roll=-0.1222 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.2513, 6.8718, 1.663, -0.0366, -0.0562, -0.0122, -0.1299, -3.5897, 7.9932, 1.2088, -0.2466, -0.1099, -0.2564]",
      "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, -0.5854, -0.0189, -0.0387, 0.9992, 0.4274, 1.4403, 0.6525, 0.0154, 0.3763, 0.1177, 0.9967]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1355 left_yaw=0.0029 left_pitch=-0.2204 left_roll=0.0004 left_gripper=0.9992 right_x=0.3612 right_y=0.0971 right_z=0.079 right_yaw=0.0397 right_pitch=-0.1248 right_roll=-0.1643 right_gripper=0.9967\nstate[joint_eff]: [-0.294, -1.2513, 6.9128, 1.619, -0.0171, -0.0562, -0.0122, 0.1846, -5.6684, 6.4479, 2.0781, 0.3101, 0.2369, 0.1636]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5884, -0.0189, -0.0387, 0.9992, 0.5102, 1.4326, 0.4141, 0.1535, 0.4145, 0.1589, 0.9968]\nstate[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.135 left_yaw=0.0029 left_pitch=-0.2235 left_roll=0.0005 left_gripper=0.9992 right_x=0.3067 right_y=0.0942 right_z=0.0201 right_yaw=0.0633 right_pitch=-0.1943 right_roll=-0.1976 right_gripper=0.9968\nstate[joint_eff]: [-0.0342, -1.2376, 6.8444, 1.5214, -0.0659, -0.0415, -0.0122, 0.1573, -4.6564, 6.5573, 2.1074, 0.315, 0.0904, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb1b562257a2d3568492ec31784019bee7956e4f32301764a124bd20500c2b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15a4ff6e648f151e237e24b805d980f1e2f89c9a39fc075088714240468860a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9826fd178bb29bfbabbd34fc60e4ba5d747f5aa43a0c9cc223e3c48d7b87aca1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAIKjgEIEhgCKkDWfmAOBYUXnF2hSu6aT9pvrD83+FLJFQB+EKMugwkAFg2OZXycPjatI0cM224d8Igk8O5WICEifJVluScI0qdnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbOezNUGEgzScC+Lcmss2m7uWOAaDFmROeZflrXTrZxucSIwG+u6v7bCzoK8Dr86Yb5o7sLeZQL+Fl3U50TEiAcY7pAGziwXIa4SsjeM4yW4Wr8qKlfz2m0ApVGPFIMf4O6XBgmYgVjq7bqyYJb3iGjhS3p0d8Grk00FUT5asHA6yHqAux41DNseFbQrBMpSM70rYZy9kC6eN0TxAp6flIQ3VQPPGVzl9afZuaAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E86etGAgbXjB16tdsHzs1a",
      "input": {
        "note": "The lemon now fills the bottom centre between the jaws — right in the grasp. Closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01E86etGAgbXjB16tdsHzs1a",
      "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, -0.59, -0.0189, -0.0383, 0.9992, 0.5171, 1.4326, 0.3939, 0.1986, 0.4294, 0.1768, 0.5962]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1347 left_yaw=0.0027 left_pitch=-0.225 left_roll=0.0008 left_gripper=0.9992 right_x=0.3072 right_y=0.0942 right_z=0.0211 right_yaw=0.0505 right_pitch=-0.1653 right_roll=-0.1836 right_gripper=0.5962\nstate[joint_eff]: [-0.0342, -1.2376, 6.8444, 1.4969, -0.0464, -0.0366, -0.0122, 0.0615, -4.6427, 6.1744, 1.7607, 0.2125, 0.0708, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1154c4fd3740d0b5927e76a23b7668c59cc8df69ffa4bc5308b2bc818403c86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b8b8f2177a29e566ae06b0e03f8c879d2d9fee3c64e22c7333901dbc67d7ad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c76a93b7b34d2fb25b0adcd91f18518c88f2fb25643b097f001376c8e1b1825",
        "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 · 18.76 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, -0.5854, -0.0189, -0.0387, 0.9992, 0.4274, 1.4403, 0.6525, 0.0154, 0.3763, 0.1177, 0.9967]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1355 left_yaw=0.0029 left_pitch=-0.2204 left_roll=0.0004 left_gripper=0.9992 right_x=0.3612 right_y=0.0971 right_z=0.079 right_yaw=0.0397 right_pitch=-0.1248 right_roll=-0.1643 right_gripper=0.9967\nstate[joint_eff]: [-0.294, -1.2513, 6.9128, 1.619, -0.0171, -0.0562, -0.0122, 0.1846, -5.6684, 6.4479, 2.0781, 0.3101, 0.2369, 0.1636]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5884, -0.0189, -0.0387, 0.9992, 0.5102, 1.4326, 0.4141, 0.1535, 0.4145, 0.1589, 0.9968]\nstate[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.135 left_yaw=0.0029 left_pitch=-0.2235 left_roll=0.0005 left_gripper=0.9992 right_x=0.3067 right_y=0.0942 right_z=0.0201 right_yaw=0.0633 right_pitch=-0.1943 right_roll=-0.1976 right_gripper=0.9968\nstate[joint_eff]: [-0.0342, -1.2376, 6.8444, 1.5214, -0.0659, -0.0415, -0.0122, 0.1573, -4.6564, 6.5573, 2.1074, 0.315, 0.0904, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.59, -0.0189, -0.0383, 0.9992, 0.5171, 1.4326, 0.3939, 0.1986, 0.4294, 0.1768, 0.5962]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1347 left_yaw=0.0027 left_pitch=-0.225 left_roll=0.0008 left_gripper=0.9992 right_x=0.3072 right_y=0.0942 right_z=0.0211 right_yaw=0.0505 right_pitch=-0.1653 right_roll=-0.1836 right_gripper=0.5962\nstate[joint_eff]: [-0.0342, -1.2376, 6.8444, 1.4969, -0.0464, -0.0366, -0.0122, 0.0615, -4.6427, 6.1744, 1.7607, 0.2125, 0.0708, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1154c4fd3740d0b5927e76a23b7668c59cc8df69ffa4bc5308b2bc818403c86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b8b8f2177a29e566ae06b0e03f8c879d2d9fee3c64e22c7333901dbc67d7ad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c76a93b7b34d2fb25b0adcd91f18518c88f2fb25643b097f001376c8e1b1825",
        "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_01EwgaWAKPZzAUmp7t7uU94D",
      "input": {
        "note": "Lemon is firmly grasped (gripper settled at 0.60 ≈ 5.7 cm). Lifting it clear, and bringing the left arm over toward the safe, whose lid got knocked shut and must be reopened first.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.26,
          "left_z": 0.2,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01EwgaWAKPZzAUmp7t7uU94D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.902, 1.6527, 1.4261, -0.8463, -0.5552, -0.7719, 0.9992, 0.5171, 1.1477, 0.8547, -0.6128, 0.4255, 0.1726, 0.5986]\nstate[eef_state]: left_x=0.3232 left_y=-0.253 left_z=0.1852 left_yaw=-0.0025 left_pitch=-0.2662 left_roll=0.0122 left_gripper=0.9992 right_x=0.3003 right_y=0.091 right_z=0.1578 right_yaw=0.05 right_pitch=-0.2256 right_roll=-0.214 right_gripper=0.5986\nstate[joint_eff]: [-0.3624, -7.5282, 8.9778, 1.0427, -0.5348, 0.1001, -0.0122, -0.1709, -4.9573, 9.3333, 1.7314, 0.1636, 0.0024, 0.2418]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79f6e614b43ccf9705dc14dba7c0a9444c71617b21d0c279ba9ac9110627f72b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60753146d7bb8c9168eee6602d1a6dc22e150e01e87532cecae1d42137cc734e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a4664897ab984728a0853d253d310c23c6a723e1b8113cedf0e5df613561e96",
        "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 · 15.58 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5884, -0.0189, -0.0387, 0.9992, 0.5102, 1.4326, 0.4141, 0.1535, 0.4145, 0.1589, 0.9968]\nstate[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.135 left_yaw=0.0029 left_pitch=-0.2235 left_roll=0.0005 left_gripper=0.9992 right_x=0.3067 right_y=0.0942 right_z=0.0201 right_yaw=0.0633 right_pitch=-0.1943 right_roll=-0.1976 right_gripper=0.9968\nstate[joint_eff]: [-0.0342, -1.2376, 6.8444, 1.5214, -0.0659, -0.0415, -0.0122, 0.1573, -4.6564, 6.5573, 2.1074, 0.315, 0.0904, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.59, -0.0189, -0.0383, 0.9992, 0.5171, 1.4326, 0.3939, 0.1986, 0.4294, 0.1768, 0.5962]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1347 left_yaw=0.0027 left_pitch=-0.225 left_roll=0.0008 left_gripper=0.9992 right_x=0.3072 right_y=0.0942 right_z=0.0211 right_yaw=0.0505 right_pitch=-0.1653 right_roll=-0.1836 right_gripper=0.5962\nstate[joint_eff]: [-0.0342, -1.2376, 6.8444, 1.4969, -0.0464, -0.0366, -0.0122, 0.0615, -4.6427, 6.1744, 1.7607, 0.2125, 0.0708, 1.0134]\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]: [-0.902, 1.6527, 1.4261, -0.8463, -0.5552, -0.7719, 0.9992, 0.5171, 1.1477, 0.8547, -0.6128, 0.4255, 0.1726, 0.5986]\nstate[eef_state]: left_x=0.3232 left_y=-0.253 left_z=0.1852 left_yaw=-0.0025 left_pitch=-0.2662 left_roll=0.0122 left_gripper=0.9992 right_x=0.3003 right_y=0.091 right_z=0.1578 right_yaw=0.05 right_pitch=-0.2256 right_roll=-0.214 right_gripper=0.5986\nstate[joint_eff]: [-0.3624, -7.5282, 8.9778, 1.0427, -0.5348, 0.1001, -0.0122, -0.1709, -4.9573, 9.3333, 1.7314, 0.1636, 0.0024, 0.2418]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79f6e614b43ccf9705dc14dba7c0a9444c71617b21d0c279ba9ac9110627f72b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60753146d7bb8c9168eee6602d1a6dc22e150e01e87532cecae1d42137cc734e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a4664897ab984728a0853d253d310c23c6a723e1b8113cedf0e5df613561e96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzBIKjgEIEhgCKkCev/QeEaxYssbSRd1PZY0vdKfu2HDhq0wy/48iVM343jobtGB+wFe5yfqAyqFucTdo/g81Wiuk1Sjs4UR7nrvHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAduezNUGEgzgdm6A341y2MSWKEIaDAyFZvvWAaxSoYkkNSIw3vDYXD+OvHjRLtS56Lz2+7yiNMFLOpzkuOuA3OmMXXEa1hSi2u1mZNNmO/u+QxDZKuoQPcgMsYtLjjarZItD9orDI4kJ2llQ/qOo+UOwsyl5nvOeqCuaFnTBTsUy3/mrjdvbwUARS9NSoTIof3CPjrkdhoXJvZ/2PEXAbMoakebFHVUantjgrX0sKkJBhkWW7iSWqPdvVsw3t2Typ27Rh1t7mX+bvU5OEzjyUTAac6If4iJWMgVE7IJ1StBntAjL0cIndMuTN5rDa3kK9Vv3fUxIcwAu6oBnIH64NekD32FrnbcKoQ6Th6/zLSiqJvHY+PrTDwhNgxOhs9P+rVX4NwkL3ewDvo+3h56pnr+3jCix7tMGsfQAt6kqNz/Zfud+ax1XtsQgndWtZy2CJiRWglj+XHNDGewcytYKSCqlNRO42KFidL6LLJMXt/gj7i1YIYjKBKlVUAH2STDaxNOh+kN9yxt5NcndbrfllxTQaHUiB81JYYtP2gM+KtGht+3vTz/f4oe5Fn12cTeAFHgiSz7GG6p87dVFt+v8pL7ShuRpYsOXhj6dXus6d+AKuWoSt+BYmIA8CIn0mjE8Be5x4zjggNeF9+vRbJ4mbsMu9Iv5Pzu0uvRMuqo/qrJjs4oeyjCQ8brKNI/AvoT22EkPxNsokdiFL7IengUYKRq6WtXKSr0v5xh7ZO5XG4fXrsgyDKQsv8yQy1E7DZI08xNf3dM0Fo4BTbkPMwlXGDvHhI4v8zLAyDTGi35dKy1BAeuFWj2igxfdIW8XmF9fmUiJ/6NXvJlScgwS+GzdgOLMkMM8OhEiOjCxeGnMgvvKF7tYXMurY0OTF7a125UpcNmHs7tULq6pSsOjCfDrJbDgboIL3QdlreZEz/4y8Mxp0iIDRNnvkE7PG3Rimp6aAd5nxJ4QYWa0xNA7v3+67YqOWTrWyllS1c/T/ZfJhamsD6eBOrrD9UF3/+mpBt1g4KOqi1Zix6SGbYwHpxwI4krUZtC2DrQM6A6QedD+Ic8M7N2Qlok7dG6oRFZKuiBZhWqdr9+3LxIKYJRYxCYnpWVisVMQiBeY38Y96W/L4KaoVH8/3jWK8hjOeaH23/EdEAIjVX1XnXquLjd7P6l9mzgUVOqsu8AFWhG4g4+AeqOQDEr9+0qpkLgsYOQkPZhWGgSEX/WHuoD8CgYALUq/7ZgZZU5BlFTg6s0NmaldzsgLoMBOyUBdNHVbyeYUumi83htpsHJNFCLb37uIAFPrn3q3g7Cnbsl6jQRC8XxzSmeVoSXrQ6m63GQXFHZg1+I4wuawQvGl9hshOuyQfMm7bU77n/T+RUY4FJJnP+a9KCsyXJZswTmhh4BEdhSSWorHHYAoQsJIb7mckUp+vvgBf+ab7Is3E8V74NcHGJr8cqa5IP2+6YCPeTSW++22WuS3BwNYwqUuwmzdVyqc6JnlutRAg4UvrjHwSf08dAooKb6ilJV13wyloEHfYIEMAEj/bZgZ2mmU0jQwqIdfyLiGdwXlGEAHhYOCXwtzswb97Ygky6D5Vnj+SIgoVSOkXdnxHCd8vRl+t4uXnt4IOIz7rYLShi5v28EmQbDba4Yxgu5y1FchEptdfsGHKJ7mlSxkl9E+7RG/zTayc0r5czCQ0ZAgmiGl2eQB64uyJmb7x5n/PvhB5c7nQs1F6tXKi0JcPy5zd2R7EaW371/dR74Ad/49R4sVXcga5H0yvwPHlTKFZizhmeqe3TXtGXMOhS4r0OYr7Vgb78D1IDAeeOAzOiobEynMZnbSndtAS5lwwnzVqyDUxjNifo68TiWLXgz588zoe21kSdTvqwV6deCyOpxVHBBokvbBgU8j/+LZT60lg3VTxFMmR4bDgDGoF2JogcyI4AcWiMQXhAsKOUSFa3muXEgzStSszDB6+/vBnAJXGAyC50aP0KoPTOpJpfv8gx0w+++aLqVyaIgAms2kzRhyq0WNwXYmX78urSkjIr69fHjg1pSVdxSp1RhhfXxMQkNGQNC2PxVaudsaqFu2frei6OwhB+9U+PSw5C+5lVrRT1OkYUa7BHU5HOEy92k5/gbtq3XBfLJGpnJO0Ill6nSbfX7xuKtGZS53qll3Jh/mOciasi0dCVOAm4k3auBp+K3viD25vD5TFbIRNal/MSt5DRn6Ty+TEMnRU9NyQFKHoGjB/TjJVjdp6nnjHDlFKBlWmussu6jih/S/gRzJX/NKRRMPhEmr2+1JjdYkkpWFGiYYXxvI7I7lsWE3UHbYhB1rUyZCT985QgYzWQLkgeBOEa1UZZbZfFl6sR+FdEW8UxLPTcC03BT5h5pMRMpNcuH+rwRQRpbnV8JqNXqJ0ULM+LjmYpwFWsySA80Y0mYpvU18wSDECFCuLAgL8WOJrTntbHJOEympWlLkv2+tAaVHvDrQ/2Bl42Y53l5+U3S9VSY9XncX97YN+bxnOFf/mRH/3RKj3SDS3CQzH9EmOU6noPJCwRTe7NHW3pbBsiT83rBUlQfTq97OMabzGENcdEneqW8QmWIaXwt/qbTHjeF67lroTyXMRp0oHKpQ3wZMoDIkc+UHSdGwG6d1oGOy/Ib9+gCNP8UlxYfUbIkYECxr/SjRBCnJB+tDUH5RdaPaFU+IMdxvW9nTlSewc+VDcYJV1kASk/ZtITkq7hFYCv92lOPuAHJslY+B0ozbZl4D5vL5eB9Jc/RA9iODvJWxbCiy2neuiTSbxiG9Nr7jouqFeHvJK1tYsDVA4fZuPIiaE7ur/8W8eXKe3TFSs2aPJdwtGxaFiCUjUrFLiolpBV5VJOduYq7hjSWD1eqXomX8DrOVmUtW0P/H1/l1Dny0jvbcmFXuixFCpjKdJ/oy1X7yxu3N1mzpEETnLk//XCpRswkVGZihnhwXztd9L31tGVl3QgdDjbpIiQrczU6XfG8M1+8DvLJP7osc9ZLoCkMYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GB2zsvFE96kKFbSXCJLRSB",
      "input": {
        "note": "Left wrist view shows the closed aluminium case just beyond the fingertips; lowering to the height of the lid seam near the case's front edge so I can pinch the lid and flip it open.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.26,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01GB2zsvFE96kKFbSXCJLRSB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8581, 1.7977, 1.1702, -0.4465, -0.5442, -0.7437, 0.9991, 0.5171, 1.1446, 0.8581, -0.6353, 0.4255, 0.1726, 0.6002]\nstate[eef_state]: left_x=0.3454 left_y=-0.2544 left_z=0.0796 left_yaw=0.0187 left_pitch=-0.2749 left_roll=0.0262 left_gripper=0.9991 right_x=0.2972 right_y=0.0892 right_z=0.1568 right_yaw=0.0483 right_pitch=-0.2399 right_roll=-0.2215 right_gripper=0.6002\nstate[joint_eff]: [0.2803, -6.9265, 4.7521, 0.8962, -0.0513, 0.188, -0.0171, -0.0615, -3.2068, 6.3932, 1.5653, 0.1587, -0.0073, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddbc2334f4a4c9e7bf3d382ebb9e675a243c0d4598b09c9f004a62788a51572c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd36d2cf1e8e56342c438b408a10a18ae3d9e5ef758e55ed2414ad49976b506f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5aa5d81dc1726cdf03ac7d7159b662075b2ba1cd643dbf1683a9775e7577c679",
        "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 · 23.01 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.59, -0.0189, -0.0383, 0.9992, 0.5171, 1.4326, 0.3939, 0.1986, 0.4294, 0.1768, 0.5962]\nstate[eef_state]: left_x=0.2635 left_y=0.0019 left_z=0.1347 left_yaw=0.0027 left_pitch=-0.225 left_roll=0.0008 left_gripper=0.9992 right_x=0.3072 right_y=0.0942 right_z=0.0211 right_yaw=0.0505 right_pitch=-0.1653 right_roll=-0.1836 right_gripper=0.5962\nstate[joint_eff]: [-0.0342, -1.2376, 6.8444, 1.4969, -0.0464, -0.0366, -0.0122, 0.0615, -4.6427, 6.1744, 1.7607, 0.2125, 0.0708, 1.0134]\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]: [-0.902, 1.6527, 1.4261, -0.8463, -0.5552, -0.7719, 0.9992, 0.5171, 1.1477, 0.8547, -0.6128, 0.4255, 0.1726, 0.5986]\nstate[eef_state]: left_x=0.3232 left_y=-0.253 left_z=0.1852 left_yaw=-0.0025 left_pitch=-0.2662 left_roll=0.0122 left_gripper=0.9992 right_x=0.3003 right_y=0.091 right_z=0.1578 right_yaw=0.05 right_pitch=-0.2256 right_roll=-0.214 right_gripper=0.5986\nstate[joint_eff]: [-0.3624, -7.5282, 8.9778, 1.0427, -0.5348, 0.1001, -0.0122, -0.1709, -4.9573, 9.3333, 1.7314, 0.1636, 0.0024, 0.2418]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8581, 1.7977, 1.1702, -0.4465, -0.5442, -0.7437, 0.9991, 0.5171, 1.1446, 0.8581, -0.6353, 0.4255, 0.1726, 0.6002]\nstate[eef_state]: left_x=0.3454 left_y=-0.2544 left_z=0.0796 left_yaw=0.0187 left_pitch=-0.2749 left_roll=0.0262 left_gripper=0.9991 right_x=0.2972 right_y=0.0892 right_z=0.1568 right_yaw=0.0483 right_pitch=-0.2399 right_roll=-0.2215 right_gripper=0.6002\nstate[joint_eff]: [0.2803, -6.9265, 4.7521, 0.8962, -0.0513, 0.188, -0.0171, -0.0615, -3.2068, 6.3932, 1.5653, 0.1587, -0.0073, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddbc2334f4a4c9e7bf3d382ebb9e675a243c0d4598b09c9f004a62788a51572c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd36d2cf1e8e56342c438b408a10a18ae3d9e5ef758e55ed2414ad49976b506f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aa5d81dc1726cdf03ac7d7159b662075b2ba1cd643dbf1683a9775e7577c679",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FQsP7Nh7vdwM8us5LJ7osX",
      "input": {
        "note": "I'm hovering over the middle of the lid; pulling back toward the case's near (free) edge and dropping to about lid-seam height to find the lip I can pinch.",
        "targets": {
          "left_x": 0.3,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FQsP7Nh7vdwM8us5LJ7osX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9451, 1.7584, 1.0363, -0.2905, -0.6201, -0.8448, 0.9991, 0.5167, 1.1446, 0.8581, -0.6571, 0.4221, 0.1726, 0.6017]\nstate[eef_state]: left_x=0.3239 left_y=-0.2669 left_z=0.0732 left_yaw=0.0244 left_pitch=-0.1859 left_roll=-0.0553 left_gripper=0.9991 right_x=0.2936 right_y=0.0877 right_z=0.1536 right_yaw=0.0481 right_pitch=-0.2606 right_roll=-0.2291 right_gripper=0.6017\nstate[joint_eff]: [-0.7863, -7.159, 3.7812, 0.2027, 0.3101, 0.3346, -0.0122, -0.1983, -3.2479, 6.7077, 1.5507, 0.1538, -0.022, 0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa54a9a5994c90581dfa4cac6c5b6c03fbddb0c73ae4dff0fa97d9ceee26c1ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:389f81d2fff7673789dbcc3810d051dcd230c3886702d57ec1cf683c40436ecb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e512120b6a5998827735ebc21b2716b569abfd0060d52f896bf806443266318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.571 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 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]: [-0.9451, 1.7584, 1.0363, -0.2905, -0.6201, -0.8448, 0.9991, 0.5167, 1.1446, 0.8581, -0.6571, 0.4221, 0.1726, 0.6017]\nstate[eef_state]: left_x=0.3239 left_y=-0.2669 left_z=0.0732 left_yaw=0.0244 left_pitch=-0.1859 left_roll=-0.0553 left_gripper=0.9991 right_x=0.2936 right_y=0.0877 right_z=0.1536 right_yaw=0.0481 right_pitch=-0.2606 right_roll=-0.2291 right_gripper=0.6017\nstate[joint_eff]: [-0.7863, -7.159, 3.7812, 0.2027, 0.3101, 0.3346, -0.0122, -0.1983, -3.2479, 6.7077, 1.5507, 0.1538, -0.022, 0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa54a9a5994c90581dfa4cac6c5b6c03fbddb0c73ae4dff0fa97d9ceee26c1ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:389f81d2fff7673789dbcc3810d051dcd230c3886702d57ec1cf683c40436ecb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e512120b6a5998827735ebc21b2716b569abfd0060d52f896bf806443266318",
        "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_01NRpuG1HkWiLAfwEk8L5u9J",
      "input": {
        "note": "The descent stopped at z=0.073 on the lid, so the case top is ~7 cm high. Lifting clear, backing off toward the case's near edge and rolling the wrist 90° so the jaws close vertically — then I can pinch the lid's front lip (one jaw above, one below) and flip it open.",
        "targets": {
          "left_roll": 1.571,
          "left_x": 0.24,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "content": "target for left_roll is outside [-1.5707963267948966, 1.5707963267948966]",
      "tool_use_id": "toolu_01NRpuG1HkWiLAfwEk8L5u9J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
call 27 attempt 0 · /messages · status 200 · 16.34 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 78 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]: [-0.902, 1.6527, 1.4261, -0.8463, -0.5552, -0.7719, 0.9992, 0.5171, 1.1477, 0.8547, -0.6128, 0.4255, 0.1726, 0.5986]\nstate[eef_state]: left_x=0.3232 left_y=-0.253 left_z=0.1852 left_yaw=-0.0025 left_pitch=-0.2662 left_roll=0.0122 left_gripper=0.9992 right_x=0.3003 right_y=0.091 right_z=0.1578 right_yaw=0.05 right_pitch=-0.2256 right_roll=-0.214 right_gripper=0.5986\nstate[joint_eff]: [-0.3624, -7.5282, 8.9778, 1.0427, -0.5348, 0.1001, -0.0122, -0.1709, -4.9573, 9.3333, 1.7314, 0.1636, 0.0024, 0.2418]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.8581, 1.7977, 1.1702, -0.4465, -0.5442, -0.7437, 0.9991, 0.5171, 1.1446, 0.8581, -0.6353, 0.4255, 0.1726, 0.6002]\nstate[eef_state]: left_x=0.3454 left_y=-0.2544 left_z=0.0796 left_yaw=0.0187 left_pitch=-0.2749 left_roll=0.0262 left_gripper=0.9991 right_x=0.2972 right_y=0.0892 right_z=0.1568 right_yaw=0.0483 right_pitch=-0.2399 right_roll=-0.2215 right_gripper=0.6002\nstate[joint_eff]: [0.2803, -6.9265, 4.7521, 0.8962, -0.0513, 0.188, -0.0171, -0.0615, -3.2068, 6.3932, 1.5653, 0.1587, -0.0073, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "content": "target for left_roll is outside [-1.5707963267948966, 1.5707963267948966]",
      "tool_use_id": "toolu_01NRpuG1HkWiLAfwEk8L5u9J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YW48o9zf3tf6WDa6EU1aYw",
      "input": {
        "note": "Case top measured at z≈0.073. Lifting clear, backing toward the case's near edge and rolling the wrist ~90° so the jaws close vertically, ready to pinch the lid's front lip.",
        "targets": {
          "left_roll": 1.56,
          "left_x": 0.24,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01YW48o9zf3tf6WDa6EU1aYw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1553, 2.1731, 1.4986, -1.5234, -1.2568, -0.7078, 0.9991, 0.5171, 1.15, 0.8562, -0.6857, 0.4072, 0.1612, 0.6036]\nstate[eef_state]: left_x=0.2881 left_y=-0.228 left_z=0.1229 left_yaw=0.0144 left_pitch=-0.1961 left_roll=1.4015 left_gripper=0.9991 right_x=0.288 right_y=0.0874 right_z=0.1468 right_yaw=0.062 right_pitch=-0.2996 right_roll=-0.2421 right_gripper=0.6036\nstate[joint_eff]: [1.0188, -10.2496, 3.9043, -0.8767, -0.9695, 0.2222, -0.0171, -0.0342, -3.9726, 6.7487, 1.5702, 0.2808, 0.0904, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68c2842f088f9ea15f70ac90fd473b0f87f8cd0b0364b839fece600c39d160c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37c35aec95986a330d8d34195aaddd2120a46bb2e3e3d4311e198ab33519cfd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a377e0fbd76da090159530767c62e722ec74273c0f77f8e485da4b648a4381e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 13.69 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 81 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]: [-0.8581, 1.7977, 1.1702, -0.4465, -0.5442, -0.7437, 0.9991, 0.5171, 1.1446, 0.8581, -0.6353, 0.4255, 0.1726, 0.6002]\nstate[eef_state]: left_x=0.3454 left_y=-0.2544 left_z=0.0796 left_yaw=0.0187 left_pitch=-0.2749 left_roll=0.0262 left_gripper=0.9991 right_x=0.2972 right_y=0.0892 right_z=0.1568 right_yaw=0.0483 right_pitch=-0.2399 right_roll=-0.2215 right_gripper=0.6002\nstate[joint_eff]: [0.2803, -6.9265, 4.7521, 0.8962, -0.0513, 0.188, -0.0171, -0.0615, -3.2068, 6.3932, 1.5653, 0.1587, -0.0073, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9451, 1.7584, 1.0363, -0.2905, -0.6201, -0.8448, 0.9991, 0.5167, 1.1446, 0.8581, -0.6571, 0.4221, 0.1726, 0.6017]\nstate[eef_state]: left_x=0.3239 left_y=-0.2669 left_z=0.0732 left_yaw=0.0244 left_pitch=-0.1859 left_roll=-0.0553 left_gripper=0.9991 right_x=0.2936 right_y=0.0877 right_z=0.1536 right_yaw=0.0481 right_pitch=-0.2606 right_roll=-0.2291 right_gripper=0.6017\nstate[joint_eff]: [-0.7863, -7.159, 3.7812, 0.2027, 0.3101, 0.3346, -0.0122, -0.1983, -3.2479, 6.7077, 1.5507, 0.1538, -0.022, 0.1441]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1553, 2.1731, 1.4986, -1.5234, -1.2568, -0.7078, 0.9991, 0.5171, 1.15, 0.8562, -0.6857, 0.4072, 0.1612, 0.6036]\nstate[eef_state]: left_x=0.2881 left_y=-0.228 left_z=0.1229 left_yaw=0.0144 left_pitch=-0.1961 left_roll=1.4015 left_gripper=0.9991 right_x=0.288 right_y=0.0874 right_z=0.1468 right_yaw=0.062 right_pitch=-0.2996 right_roll=-0.2421 right_gripper=0.6036\nstate[joint_eff]: [1.0188, -10.2496, 3.9043, -0.8767, -0.9695, 0.2222, -0.0171, -0.0342, -3.9726, 6.7487, 1.5702, 0.2808, 0.0904, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68c2842f088f9ea15f70ac90fd473b0f87f8cd0b0364b839fece600c39d160c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37c35aec95986a330d8d34195aaddd2120a46bb2e3e3d4311e198ab33519cfd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a377e0fbd76da090159530767c62e722ec74273c0f77f8e485da4b648a4381e3",
        "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_01BPiFVXdDkbt3wpfvwQFFXz",
      "input": {
        "note": "Wrist is rolled so the jaws now close vertically (upper jaw ~5 cm above, lower ~5 cm below the grasp point). Positioning just in front of the case's near edge at seam height so the open jaws straddle the lid lip.",
        "targets": {
          "left_x": 0.26,
          "left_y": -0.3,
          "left_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01BPiFVXdDkbt3wpfvwQFFXz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2224, 2.4016, 1.7206, -1.6989, -1.3109, -0.8536, 0.9977, 0.5171, 1.15, 0.8562, -0.7166, 0.4042, 0.1577, 0.6051]\nstate[eef_state]: left_x=0.2864 left_y=-0.2781 left_z=0.1031 left_yaw=-0.0459 left_pitch=-0.1499 left_roll=1.4676 left_gripper=0.9977 right_x=0.2826 right_y=0.0849 right_z=0.1427 right_yaw=0.0619 right_pitch=-0.3289 right_roll=-0.2562 right_gripper=0.6051\nstate[joint_eff]: [-1.6752, -4.2735, 3.4256, 0.4127, 0.9304, -0.1001, -0.1538, -0.0752, -3.5214, 6.7487, 1.5409, 0.1929, -0.0366, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51172c2167240a4f7dda27af54cf5dff6608cc25c0f99f53286f18c012109bee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca4bb7265795a4374f3a492308ebf3232595f9c65542892e76b0d0df225110df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ee7279bb234e1a7f5dfdc2f12a835426950e07271272f9c934d7bb23b82811f",
        "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 · 18.05 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 81 changed as sent

message 84 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]: [-0.9451, 1.7584, 1.0363, -0.2905, -0.6201, -0.8448, 0.9991, 0.5167, 1.1446, 0.8581, -0.6571, 0.4221, 0.1726, 0.6017]\nstate[eef_state]: left_x=0.3239 left_y=-0.2669 left_z=0.0732 left_yaw=0.0244 left_pitch=-0.1859 left_roll=-0.0553 left_gripper=0.9991 right_x=0.2936 right_y=0.0877 right_z=0.1536 right_yaw=0.0481 right_pitch=-0.2606 right_roll=-0.2291 right_gripper=0.6017\nstate[joint_eff]: [-0.7863, -7.159, 3.7812, 0.2027, 0.3101, 0.3346, -0.0122, -0.1983, -3.2479, 6.7077, 1.5507, 0.1538, -0.022, 0.1441]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1553, 2.1731, 1.4986, -1.5234, -1.2568, -0.7078, 0.9991, 0.5171, 1.15, 0.8562, -0.6857, 0.4072, 0.1612, 0.6036]\nstate[eef_state]: left_x=0.2881 left_y=-0.228 left_z=0.1229 left_yaw=0.0144 left_pitch=-0.1961 left_roll=1.4015 left_gripper=0.9991 right_x=0.288 right_y=0.0874 right_z=0.1468 right_yaw=0.062 right_pitch=-0.2996 right_roll=-0.2421 right_gripper=0.6036\nstate[joint_eff]: [1.0188, -10.2496, 3.9043, -0.8767, -0.9695, 0.2222, -0.0171, -0.0342, -3.9726, 6.7487, 1.5702, 0.2808, 0.0904, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2224, 2.4016, 1.7206, -1.6989, -1.3109, -0.8536, 0.9977, 0.5171, 1.15, 0.8562, -0.7166, 0.4042, 0.1577, 0.6051]\nstate[eef_state]: left_x=0.2864 left_y=-0.2781 left_z=0.1031 left_yaw=-0.0459 left_pitch=-0.1499 left_roll=1.4676 left_gripper=0.9977 right_x=0.2826 right_y=0.0849 right_z=0.1427 right_yaw=0.0619 right_pitch=-0.3289 right_roll=-0.2562 right_gripper=0.6051\nstate[joint_eff]: [-1.6752, -4.2735, 3.4256, 0.4127, 0.9304, -0.1001, -0.1538, -0.0752, -3.5214, 6.7487, 1.5409, 0.1929, -0.0366, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51172c2167240a4f7dda27af54cf5dff6608cc25c0f99f53286f18c012109bee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca4bb7265795a4374f3a492308ebf3232595f9c65542892e76b0d0df225110df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ee7279bb234e1a7f5dfdc2f12a835426950e07271272f9c934d7bb23b82811f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017e3QwUu4nVAJGR1EXMyjBp",
      "input": {
        "note": "The arm is tracking the rolled pose poorly (z stalled at 0.10); re-commanding lower and slightly forward so the vertically-opened jaws end up straddling the lid's front lip.",
        "targets": {
          "left_x": 0.27,
          "left_y": -0.29,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017e3QwUu4nVAJGR1EXMyjBp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2369, 2.4367, 1.7126, -1.6981, -1.412, -0.886, 0.9969, 0.5159, 1.1522, 0.8528, -0.7547, 0.4034, 0.1493, 0.6059]\nstate[eef_state]: left_x=0.2895 left_y=-0.2915 left_z=0.1016 left_yaw=-0.1257 left_pitch=-0.0877 left_roll=1.5078 left_gripper=0.9969 right_x=0.2754 right_y=0.0806 right_z=0.1362 right_yaw=0.0591 right_pitch=-0.3698 right_roll=-0.2814 right_gripper=0.6059\nstate[joint_eff]: [-1.306, -3.0154, 2.9744, 0.3834, 0.9939, -0.0171, -0.0952, -0.0205, -3.6444, 7.0359, 1.5702, 0.1441, 0.022, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0e59b64e91ac22b2ccdbf9b9d798bfcc9ea01e63bbce4e7ece17ba121216708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac5a283e002f53f9223516aaebbb69d3c0149504ea3d21d4709f8b3d9e3d6758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8d6112f52a9bf39852017f5c3cba2aaa0dd62a99c0d05ec714f82b661934e08",
        "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 · 17.64 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 84 changed as sent

message 87 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1553, 2.1731, 1.4986, -1.5234, -1.2568, -0.7078, 0.9991, 0.5171, 1.15, 0.8562, -0.6857, 0.4072, 0.1612, 0.6036]\nstate[eef_state]: left_x=0.2881 left_y=-0.228 left_z=0.1229 left_yaw=0.0144 left_pitch=-0.1961 left_roll=1.4015 left_gripper=0.9991 right_x=0.288 right_y=0.0874 right_z=0.1468 right_yaw=0.062 right_pitch=-0.2996 right_roll=-0.2421 right_gripper=0.6036\nstate[joint_eff]: [1.0188, -10.2496, 3.9043, -0.8767, -0.9695, 0.2222, -0.0171, -0.0342, -3.9726, 6.7487, 1.5702, 0.2808, 0.0904, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2224, 2.4016, 1.7206, -1.6989, -1.3109, -0.8536, 0.9977, 0.5171, 1.15, 0.8562, -0.7166, 0.4042, 0.1577, 0.6051]\nstate[eef_state]: left_x=0.2864 left_y=-0.2781 left_z=0.1031 left_yaw=-0.0459 left_pitch=-0.1499 left_roll=1.4676 left_gripper=0.9977 right_x=0.2826 right_y=0.0849 right_z=0.1427 right_yaw=0.0619 right_pitch=-0.3289 right_roll=-0.2562 right_gripper=0.6051\nstate[joint_eff]: [-1.6752, -4.2735, 3.4256, 0.4127, 0.9304, -0.1001, -0.1538, -0.0752, -3.5214, 6.7487, 1.5409, 0.1929, -0.0366, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2369, 2.4367, 1.7126, -1.6981, -1.412, -0.886, 0.9969, 0.5159, 1.1522, 0.8528, -0.7547, 0.4034, 0.1493, 0.6059]\nstate[eef_state]: left_x=0.2895 left_y=-0.2915 left_z=0.1016 left_yaw=-0.1257 left_pitch=-0.0877 left_roll=1.5078 left_gripper=0.9969 right_x=0.2754 right_y=0.0806 right_z=0.1362 right_yaw=0.0591 right_pitch=-0.3698 right_roll=-0.2814 right_gripper=0.6059\nstate[joint_eff]: [-1.306, -3.0154, 2.9744, 0.3834, 0.9939, -0.0171, -0.0952, -0.0205, -3.6444, 7.0359, 1.5702, 0.1441, 0.022, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0e59b64e91ac22b2ccdbf9b9d798bfcc9ea01e63bbce4e7ece17ba121216708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac5a283e002f53f9223516aaebbb69d3c0149504ea3d21d4709f8b3d9e3d6758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8d6112f52a9bf39852017f5c3cba2aaa0dd62a99c0d05ec714f82b661934e08",
        "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_01RwAgihBTPtw1bEuCqqfmCv",
      "input": {
        "note": "The left arm won't descend further in the rolled pose and I'm low on budget, so I'm retracting it out of the way; next I'll bring the lemon over the case with the right arm and release it onto/into the open top.",
        "targets": {
          "left_roll": 0.0,
          "left_x": 0.25,
          "left_y": -0.05,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01RwAgihBTPtw1bEuCqqfmCv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3702, 0.7826, 0.9436, -0.8509, -0.3099, -0.186, 0.997, 0.5159, 1.1576, 0.8501, -0.7849, 0.3882, 0.1394, 0.6068]\nstate[eef_state]: left_x=0.2529 left_y=-0.0365 left_z=0.2451 left_yaw=-0.0255 left_pitch=-0.076 left_roll=0.0649 left_gripper=0.997 right_x=0.2688 right_y=0.0797 right_z=0.1296 right_yaw=0.0703 right_pitch=-0.4115 right_roll=-0.2924 right_gripper=0.6068\nstate[joint_eff]: [-0.0889, -0.5675, 8.8957, 1.6484, -0.1343, 0.1587, -0.0024, -0.0889, -3.8632, 6.6803, 1.4481, 0.3004, 0.0513, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6511099df05671781cb929e36328dc1b22591d5bb47dbf52b433cb028514c439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:974a07043f7001b4c83f855eeacc821f822bcad06a7037c79b262a2da2d2dfca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4acfa1db682a077133c59f4c2f49b17e35028313f1adc23f919fec74dee0ed5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 8.949 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 87 changed as sent

message 90 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2224, 2.4016, 1.7206, -1.6989, -1.3109, -0.8536, 0.9977, 0.5171, 1.15, 0.8562, -0.7166, 0.4042, 0.1577, 0.6051]\nstate[eef_state]: left_x=0.2864 left_y=-0.2781 left_z=0.1031 left_yaw=-0.0459 left_pitch=-0.1499 left_roll=1.4676 left_gripper=0.9977 right_x=0.2826 right_y=0.0849 right_z=0.1427 right_yaw=0.0619 right_pitch=-0.3289 right_roll=-0.2562 right_gripper=0.6051\nstate[joint_eff]: [-1.6752, -4.2735, 3.4256, 0.4127, 0.9304, -0.1001, -0.1538, -0.0752, -3.5214, 6.7487, 1.5409, 0.1929, -0.0366, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2369, 2.4367, 1.7126, -1.6981, -1.412, -0.886, 0.9969, 0.5159, 1.1522, 0.8528, -0.7547, 0.4034, 0.1493, 0.6059]\nstate[eef_state]: left_x=0.2895 left_y=-0.2915 left_z=0.1016 left_yaw=-0.1257 left_pitch=-0.0877 left_roll=1.5078 left_gripper=0.9969 right_x=0.2754 right_y=0.0806 right_z=0.1362 right_yaw=0.0591 right_pitch=-0.3698 right_roll=-0.2814 right_gripper=0.6059\nstate[joint_eff]: [-1.306, -3.0154, 2.9744, 0.3834, 0.9939, -0.0171, -0.0952, -0.0205, -3.6444, 7.0359, 1.5702, 0.1441, 0.022, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3702, 0.7826, 0.9436, -0.8509, -0.3099, -0.186, 0.997, 0.5159, 1.1576, 0.8501, -0.7849, 0.3882, 0.1394, 0.6068]\nstate[eef_state]: left_x=0.2529 left_y=-0.0365 left_z=0.2451 left_yaw=-0.0255 left_pitch=-0.076 left_roll=0.0649 left_gripper=0.997 right_x=0.2688 right_y=0.0797 right_z=0.1296 right_yaw=0.0703 right_pitch=-0.4115 right_roll=-0.2924 right_gripper=0.6068\nstate[joint_eff]: [-0.0889, -0.5675, 8.8957, 1.6484, -0.1343, 0.1587, -0.0024, -0.0889, -3.8632, 6.6803, 1.4481, 0.3004, 0.0513, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6511099df05671781cb929e36328dc1b22591d5bb47dbf52b433cb028514c439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:974a07043f7001b4c83f855eeacc821f822bcad06a7037c79b262a2da2d2dfca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4acfa1db682a077133c59f4c2f49b17e35028313f1adc23f919fec74dee0ed5a",
        "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_012pLvbWzqTT4WMefAxtSyNw",
      "input": {
        "note": "Overhead confirms the case lid is shut. Bringing the left arm in with the gripper closed to a thin blade, at just under the lid seam height in front of the case, to try to hook under the lid's front lip.",
        "targets": {
          "left_gripper": 0,
          "left_x": 0.27,
          "left_y": -0.3,
          "left_z": 0.062
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_012pLvbWzqTT4WMefAxtSyNw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1706, 1.8057, 0.9844, -0.3534, -0.8097, -0.9325, 0.0094, 0.5159, 1.1595, 0.8486, -0.7925, 0.3843, 0.1387, 0.6073]\nstate[eef_state]: left_x=0.2638 left_y=-0.2861 left_z=0.0534 left_yaw=-0.0304 left_pitch=-0.1172 left_roll=0.1049 left_gripper=0.0094 right_x=0.267 right_y=0.0794 right_z=0.1275 right_yaw=0.0717 right_pitch=-0.4231 right_roll=-0.2947 right_gripper=0.6073\nstate[joint_eff]: [-0.4581, -8.294, 7.665, 1.072, -0.7302, 0.0464, 0.9109, -0.0752, -3.6171, 6.5573, 1.1453, 0.1929, -0.0366, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45a3d2c1527464f3d8d1634919b77727e0e973cdb83a76bee35423cec6c810e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd1681159534fd3d170befc1c7d9be2cf857e00a25ec783017f1acfa6522cc03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63a28c0492547f51bc7f258bb266f1757cf3d4d75a9c6e26b791078a660c434d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 9.823 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 87 changed as sent

message 90 changed as sent

message 93 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2369, 2.4367, 1.7126, -1.6981, -1.412, -0.886, 0.9969, 0.5159, 1.1522, 0.8528, -0.7547, 0.4034, 0.1493, 0.6059]\nstate[eef_state]: left_x=0.2895 left_y=-0.2915 left_z=0.1016 left_yaw=-0.1257 left_pitch=-0.0877 left_roll=1.5078 left_gripper=0.9969 right_x=0.2754 right_y=0.0806 right_z=0.1362 right_yaw=0.0591 right_pitch=-0.3698 right_roll=-0.2814 right_gripper=0.6059\nstate[joint_eff]: [-1.306, -3.0154, 2.9744, 0.3834, 0.9939, -0.0171, -0.0952, -0.0205, -3.6444, 7.0359, 1.5702, 0.1441, 0.022, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3702, 0.7826, 0.9436, -0.8509, -0.3099, -0.186, 0.997, 0.5159, 1.1576, 0.8501, -0.7849, 0.3882, 0.1394, 0.6068]\nstate[eef_state]: left_x=0.2529 left_y=-0.0365 left_z=0.2451 left_yaw=-0.0255 left_pitch=-0.076 left_roll=0.0649 left_gripper=0.997 right_x=0.2688 right_y=0.0797 right_z=0.1296 right_yaw=0.0703 right_pitch=-0.4115 right_roll=-0.2924 right_gripper=0.6068\nstate[joint_eff]: [-0.0889, -0.5675, 8.8957, 1.6484, -0.1343, 0.1587, -0.0024, -0.0889, -3.8632, 6.6803, 1.4481, 0.3004, 0.0513, 0.0806]\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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1706, 1.8057, 0.9844, -0.3534, -0.8097, -0.9325, 0.0094, 0.5159, 1.1595, 0.8486, -0.7925, 0.3843, 0.1387, 0.6073]\nstate[eef_state]: left_x=0.2638 left_y=-0.2861 left_z=0.0534 left_yaw=-0.0304 left_pitch=-0.1172 left_roll=0.1049 left_gripper=0.0094 right_x=0.267 right_y=0.0794 right_z=0.1275 right_yaw=0.0717 right_pitch=-0.4231 right_roll=-0.2947 right_gripper=0.6073\nstate[joint_eff]: [-0.4581, -8.294, 7.665, 1.072, -0.7302, 0.0464, 0.9109, -0.0752, -3.6171, 6.5573, 1.1453, 0.1929, -0.0366, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45a3d2c1527464f3d8d1634919b77727e0e973cdb83a76bee35423cec6c810e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd1681159534fd3d170befc1c7d9be2cf857e00a25ec783017f1acfa6522cc03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63a28c0492547f51bc7f258bb266f1757cf3d4d75a9c6e26b791078a660c434d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6ggKjgEIEhgCKkCEpCcJnl1YKMrgJ3qW31ShhYw3r5bvk1gPNSEicziyRQSFvn0hfBhKkXdjbMN+WaVA+qQqWG/7NjsTWud0wn+BMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmfzNUGEgzZtxuhzTQwHJZbxYwaDKT/sZQe1HsOHJ+gsiIwzm8TriWTLcW9+zFOvUMpOGMltWgDkFfFUBan34Sz+hCfcyHlU99WPBL8hpkkO2PyKogHYSxvSdg1gWKC6OwexvGoARtlB+Uil0lK2hnkB6Im0ZJG7x46qctCffFuIoDHb1GsSIJ0p/AGVmmtKdZbtlk03SV2Ynvut9IuYhJ+X96tN8pp5XHwJKaN18rP6yphD7bWY/Sr5UC6ujWeNxCnDiGTZtVQ4j7tM8a4EoBweZt0lHD01BO3hcMn0Q9oCEt9IKAv9l1hFZAx9gekgTN2Wj0rkJ5cAT0A3WovP/6yiDwPSLINymk6mwtFnpZYjmohccY2vVBpV+5CF3ytj8OHFC/fyqwS6l1EWx7ieDt94BZJuupJ6iE7Ji0rF7i3YoPMc2qb2d4RhboZEmeyRcx51K4oNFLABaw4YxJ/tUmHh1rWtq+g61RfWeSG1xaNtMKOBwPz8w1RUfIhOorJ+FE5VYIBPfIIqig/m3Ovjxad72okXzeUGrFjwvMPTSfaDFDNQmK6stdfFp3LZdUkRsFaE40Y5ZizWgXw2YzohtHNirz5lne0oEU6EJ2wlTqqLi6bGL4AwRcMgZr1nRk94HiHI9DIs5py2Pp+fC6VWYt2h34O43E/8IateUNcjG6/ax/g2lXkW7mI/V1Gx8JsTEp0OeHzosjsoq2IFTt0Yxq/QJGAZXaP4h1DjSA3NQYoIdURXp0zWBbsnVfljfObtyDmRDRwSDYnt6nQfqXNuAGA8h0gUuCG0L5eqtbeAQBtqavskFQG4WH0rS0qOaqwLe01LcHG2U1aI8Fq5jgNPX9a2IqmKGoIJe7P28LRWwwDW+dx1uDPLJNXd5GXdy9HP8nWUEzV9ocqdCFML4ws4ENxcu+YLhuN+e5vkmt2jIRdWCE6GwRJyG+dj9xwkmsCZbYfgsGbNR/yuN0KDwU2msUg7sig0fykaBDAmm3libCvskQ+iV9DVWi1d2P+3KHPsFPYbdGANkFOy7mrlg4wOqiPW47M4ydvZe4M1Iplmuo3TParhkKUswiGwUlur3t/Amc67hUUgBJUEaXSGdDz3seHeoNuwh0KC/V3eRFhudYcOMrG9yLs1nu6lD03gloMJj5qt6NM3rhaUV56nZeI/RdvGYEFDdfIuZOIcFggrRbUmjThSwZZKLzAmFpryElkFbz/PB27uzbVjne8EJAFQ4tKrzNgVHi0kMX73YWd8CU6HIux/t12sQilJ09Y/icJEoyDBkFmXKhZ4VZi2CpjReVyeyVl4v+zHSR17NiYJRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mk7eUjJjXH5kAEyvuzVxCV",
      "input": {
        "note": "The left wrist view shows the case's front face with the lid/base seam just above my closed fingertip; easing forward so the fingertip slips under the lid's overhanging lip.",
        "targets": {
          "left_x": 0.3,
          "left_z": 0.058
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Mk7eUjJjXH5kAEyvuzVxCV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0851, 1.8294, 1.0016, -0.3206, -0.7811, -0.8707, 0.0096, 0.5159, 1.1595, 0.8482, -0.7956, 0.3809, 0.1387, 0.6073]\nstate[eef_state]: left_x=0.2894 left_y=-0.2741 left_z=0.0492 left_yaw=0.0055 left_pitch=-0.1332 left_roll=0.117 left_gripper=0.0096 right_x=0.2661 right_y=0.0796 right_z=0.1269 right_yaw=0.0738 right_pitch=-0.4275 right_roll=-0.2933 right_gripper=0.6073\nstate[joint_eff]: [-0.8274, -7.4462, 8.4034, 1.1844, -0.315, 0.2173, 0.7643, -0.0752, -3.412, 6.4752, 1.1453, 0.149, -0.0659, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fa63b1a3c0147b9b232a7eac881bb05529f95258b9e13b9060f4f64035b2beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27f08ab79598691ca8760185ab8dba01fa19d850413380755ce010071095bff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f94c56e34cd97e295dd027fdf056a893251cffc97fa9585570e4232cd8ef3f54",
        "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 · 9.617 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 90 changed as sent

message 93 changed as sent

message 96 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3702, 0.7826, 0.9436, -0.8509, -0.3099, -0.186, 0.997, 0.5159, 1.1576, 0.8501, -0.7849, 0.3882, 0.1394, 0.6068]\nstate[eef_state]: left_x=0.2529 left_y=-0.0365 left_z=0.2451 left_yaw=-0.0255 left_pitch=-0.076 left_roll=0.0649 left_gripper=0.997 right_x=0.2688 right_y=0.0797 right_z=0.1296 right_yaw=0.0703 right_pitch=-0.4115 right_roll=-0.2924 right_gripper=0.6068\nstate[joint_eff]: [-0.0889, -0.5675, 8.8957, 1.6484, -0.1343, 0.1587, -0.0024, -0.0889, -3.8632, 6.6803, 1.4481, 0.3004, 0.0513, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1706, 1.8057, 0.9844, -0.3534, -0.8097, -0.9325, 0.0094, 0.5159, 1.1595, 0.8486, -0.7925, 0.3843, 0.1387, 0.6073]\nstate[eef_state]: left_x=0.2638 left_y=-0.2861 left_z=0.0534 left_yaw=-0.0304 left_pitch=-0.1172 left_roll=0.1049 left_gripper=0.0094 right_x=0.267 right_y=0.0794 right_z=0.1275 right_yaw=0.0717 right_pitch=-0.4231 right_roll=-0.2947 right_gripper=0.6073\nstate[joint_eff]: [-0.4581, -8.294, 7.665, 1.072, -0.7302, 0.0464, 0.9109, -0.0752, -3.6171, 6.5573, 1.1453, 0.1929, -0.0366, 0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0851, 1.8294, 1.0016, -0.3206, -0.7811, -0.8707, 0.0096, 0.5159, 1.1595, 0.8482, -0.7956, 0.3809, 0.1387, 0.6073]\nstate[eef_state]: left_x=0.2894 left_y=-0.2741 left_z=0.0492 left_yaw=0.0055 left_pitch=-0.1332 left_roll=0.117 left_gripper=0.0096 right_x=0.2661 right_y=0.0796 right_z=0.1269 right_yaw=0.0738 right_pitch=-0.4275 right_roll=-0.2933 right_gripper=0.6073\nstate[joint_eff]: [-0.8274, -7.4462, 8.4034, 1.1844, -0.315, 0.2173, 0.7643, -0.0752, -3.412, 6.4752, 1.1453, 0.149, -0.0659, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fa63b1a3c0147b9b232a7eac881bb05529f95258b9e13b9060f4f64035b2beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27f08ab79598691ca8760185ab8dba01fa19d850413380755ce010071095bff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f94c56e34cd97e295dd027fdf056a893251cffc97fa9585570e4232cd8ef3f54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjwQKjgEIEhgCKkA8+J0Zg7+mio25Oly8t5zwqQ02ZE3HPIPbQcb+SpVdpUVl/TevJ2vNbJuu/zcpZDXIx5TWB7a1BrM0qDv7cJ3eMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeOfzNUGEgwd+Mrip+bs78+6o5kaDAzLdNdXtOjfu8bwwiIwAp6Iyl/AKlCHtkR7vtxB3JTAvd/WC391NeZ6csW3EOkdJ14ox9GNrmBUKjfUdtY7Kq0CXYzcINow3GNqP7lGJ7hoMBNBJ4ehZ+do/JkXgqyGLyPXI05DYkWFFYhCwJY0s18kLojBUzMVbjxwPiQMQ8jhZH0QHWZVybelRsrcup2xJ6nHeF5NITRtvFhDwGoa2HOWuIPxOQyOEpTcO9+lLuQN76BCpxOEEWv94bOSD3mcSGcgXdu3hyWlNvyqiomS68ShEHx6rBUjHIm8DWcoBhBqC3J3fpo7nW4HwKAJU0tJATleFGdX2mR/NbD7uyrGUt9qDgYf1QdyWIMB9CVVpdi6baPITOphjOwJ27R4EoSC9/QU4Ky1Cmdkg+Bq8UY0d2iitEj3iWIwj4TjDAmrgcOPZl5GM+U8PMTz2LLzmeandQeBBkoYWvLlnjWekk+YqKRTG+otsY1qTmuAP4XdMxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M5pRpj1eeniEgE1RKWQ753",
      "input": {
        "note": "The fingertip is pressed against the case front just under the lid lip; lifting straight up to try to flip the lid open.",
        "targets": {
          "left_x": 0.3,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01M5pRpj1eeniEgE1RKWQ753",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.071, 1.8294, 1.0088, -0.3096, -0.7673, -0.823, 0.012, 0.5159, 1.1595, 0.8478, -0.7959, 0.3775, 0.1387, 0.6073]\nstate[eef_state]: left_x=0.2941 left_y=-0.2752 left_z=0.0507 left_yaw=-0.0152 left_pitch=-0.1388 left_roll=0.1312 left_gripper=0.012 right_x=0.2658 right_y=0.08 right_z=0.1265 right_yaw=0.0765 right_pitch=-0.4295 right_roll=-0.2906 right_gripper=0.6073\nstate[joint_eff]: [-0.0889, -8.0342, 7.4872, 1.2527, -0.4469, 0.1685, 0.6422, -0.0479, -3.2752, 6.4889, 1.0672, 0.1587, 0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68586fd370cef34819449f3be85176edd4e6c65f1fb2dd557eaa20adc406b2bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eb7b260c93678646c8b9fcb69bba724407998d5734cd3a54c75c5731c82ad42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d21a50e99d664617aa15b14244ba49b79c88063797c92448a431671d079a786c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 20.8 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 93 changed as sent

message 96 changed as sent

message 99 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1706, 1.8057, 0.9844, -0.3534, -0.8097, -0.9325, 0.0094, 0.5159, 1.1595, 0.8486, -0.7925, 0.3843, 0.1387, 0.6073]\nstate[eef_state]: left_x=0.2638 left_y=-0.2861 left_z=0.0534 left_yaw=-0.0304 left_pitch=-0.1172 left_roll=0.1049 left_gripper=0.0094 right_x=0.267 right_y=0.0794 right_z=0.1275 right_yaw=0.0717 right_pitch=-0.4231 right_roll=-0.2947 right_gripper=0.6073\nstate[joint_eff]: [-0.4581, -8.294, 7.665, 1.072, -0.7302, 0.0464, 0.9109, -0.0752, -3.6171, 6.5573, 1.1453, 0.1929, -0.0366, 0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0851, 1.8294, 1.0016, -0.3206, -0.7811, -0.8707, 0.0096, 0.5159, 1.1595, 0.8482, -0.7956, 0.3809, 0.1387, 0.6073]\nstate[eef_state]: left_x=0.2894 left_y=-0.2741 left_z=0.0492 left_yaw=0.0055 left_pitch=-0.1332 left_roll=0.117 left_gripper=0.0096 right_x=0.2661 right_y=0.0796 right_z=0.1269 right_yaw=0.0738 right_pitch=-0.4275 right_roll=-0.2933 right_gripper=0.6073\nstate[joint_eff]: [-0.8274, -7.4462, 8.4034, 1.1844, -0.315, 0.2173, 0.7643, -0.0752, -3.412, 6.4752, 1.1453, 0.149, -0.0659, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.071, 1.8294, 1.0088, -0.3096, -0.7673, -0.823, 0.012, 0.5159, 1.1595, 0.8478, -0.7959, 0.3775, 0.1387, 0.6073]\nstate[eef_state]: left_x=0.2941 left_y=-0.2752 left_z=0.0507 left_yaw=-0.0152 left_pitch=-0.1388 left_roll=0.1312 left_gripper=0.012 right_x=0.2658 right_y=0.08 right_z=0.1265 right_yaw=0.0765 right_pitch=-0.4295 right_roll=-0.2906 right_gripper=0.6073\nstate[joint_eff]: [-0.0889, -8.0342, 7.4872, 1.2527, -0.4469, 0.1685, 0.6422, -0.0479, -3.2752, 6.4889, 1.0672, 0.1587, 0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68586fd370cef34819449f3be85176edd4e6c65f1fb2dd557eaa20adc406b2bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eb7b260c93678646c8b9fcb69bba724407998d5734cd3a54c75c5731c82ad42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d21a50e99d664617aa15b14244ba49b79c88063797c92448a431671d079a786c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAgKjgEIEhgCKkArb4k2sQCzZVsiGYXZekpr6QoIUhKfa0bmBIIkrRT6NVl92do2UAlKbDXwsQF9Znf5pVSjqalBTkmEuyOMj2FKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2fzNUGEgxyqVniOZMBdLwEbOEaDJ/UKI5V9SE/hWl4diIwmDxouvAvP2Z7FpeH6VXb6pwknSlFgLPRHa/aek59zwTOUAZLelrwwzPExGwFNgPtKuYGVeWbNlU6yTahbLSONUPld3CaQR9W1mlHo1x1Q7mdMhHlE2ugfYeK6Fm6Q0HxPUCuAl2t8trDDqqSKj28LqGiw6Ra1+I5yL6B6f+ygqf+NPt3RUBmyLAy5hHF3jixVUju0z77CDY9FFNR0yywRPXUQM8qEuQcdQQwFiL9DfybOxdfZZQd+5F+ZEws+oWrdIdOGm4Eaqhrs6EhBEcL6R81ZkjDGbS2DmtFQmgSO6n9frkdrv9XGZuVmaUmI3wwehT2nB8hO8oAcUdGPPJybauA5cuzghsGSICLeNoRt+AM6Nkbk3wTIC4NgmDvJl0sr7CKRX612Jczn0JCrQmb97gMDHjObjkDiOmIoAQ/k4QR3H9Sd8JAN0qnCLkV4bgEoCM+DmMkWVgy5/7Ne06NZlnF+VKEnnU8FAkH82qc8ILCgNBLH28pTym8U5YT1zgeb10Woubzb+gLqOPZGIaNT3nGif45D89/8JG0bVyfPyfW+UN0aavDhZW68b95ZuZ2Rb7Syr62AjUONgLN+YTMGARRKGsLDP9GxzVdgrfvpEMQOL2WwcWFxlvPn1vZStsISN3o/p0vQ15zop8keKBvZkBlB4Xng5kz7eshEWHvYFZhONk68a6ZhdMKFfVP7TZFM8RdcPRml+0L+zECmzgqp8mboFyW9NQS9XreWng534Ql7pYZrg/yCUatKZYJ+NhIsvaI+gz5LT0P9ogzcFtpR9cbktCI4DBaEW/0RfIBJwtkhvtgTpZkSGUiIfOHZDAuRa2A0LLfqTEDca/dez/NaSf8O3FBFi5n+l3Y6IBl5dtpwYdbgjmhW/0zstFm4qh2YMXwJFsaAWj96ojqPGeTj82sELP2GThihrudoEXmZhcR7qZgnNjh4rc/y3K3n+qKzewJB/MHMK9NN5Sp/HQBxmepHJzi3MVTraZZFjDZLym8N5nMRRqUh7Ei+tPDY+qlpBIA/hRQAi38Tz8aCYZvCwJjDLurPMUenLj4Yd3xkE8TfMpFHMNbXjAzR+a4l6h0FufS1MCA6AAN1FlAN2oYuCZ5raWPPov+XpFBq7NpLcXX1MDGjaSHJKE91185N8afOHhMQeG31wOdkSzAc5jQDLqrc6BApdpU3BnZny8m3KetFlygBhoB5QSWzoaIlt8EsdXPSWOfKNaTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016ZCTyd357m4SMwTf3qJYwF",
      "input": {
        "note": "The lid will not lift — the fingertip is wedged under the lip and the shoulder is straining without moving, so the case appears latched. Backing both arms off to a safe park pose.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.1,
          "left_z": 0.2,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_016ZCTyd357m4SMwTf3qJYwF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.799, 0.9897, 0.8562, -0.8104, -0.6361, -0.5503, 0.0139, 0.3206, 1.2121, 0.9295, -0.8307, 0.2867, -0.0391, 0.6073]\nstate[eef_state]: left_x=0.2524 left_y=-0.1037 left_z=0.1878 left_yaw=0.0098 left_pitch=-0.1384 left_roll=0.1202 left_gripper=0.0139 right_x=0.2852 right_y=0.0458 right_z=0.1337 right_yaw=0.0643 right_pitch=-0.4915 right_roll=-0.308 right_gripper=0.6073\nstate[joint_eff]: [0.1983, -2.2085, 9.4701, 1.3065, -0.2418, 0.1685, 0.4957, -0.212, -3.0291, 9.935, 1.3993, 0.0513, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0c09318d31c2398b66465316a4319ba8cbc43ccdad2a2492c0a1266c22ac607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8df8b81362a79ff9f5b7c531f325360faa27260bec563e9f0a7b9c62c71e12a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fda9339ad07cac8deff75f7f28cfef0188c104164f511b44fcc1e6f042cc817f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]