adhoc

completed
2026-09-22T23:44:02.318776+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
382.8 s
total steps
416
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 safe/chest with red interior in the middle, a yellow lemon-shaped toy to its right, a small bear left of the safe and a big teddy bear in front. I'm moving the right arm above the yellow toy first.
move_to
right_x0.3600right_y0.0700right_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, 0.7921, 0.6041, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.6064, -0.4034, -0.02, -0.0124, 0.9996] state[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1787 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5128, -1.4154, 10.2769, 1.9756, -0.0415, 0.2173, -0.0904, -0.2256, -1.4701, 9.7026, 2.044, -0.0513, -0.0366, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.07, "right_z": 0.15, "right_gripper": 1}, "note": "Scene: an open safe/chest with red interior in the middle, a yellow lemon-shaped toy to its right, a small bear left of the safe and a big teddy bear in front. I'm moving the right arm above the yellow toy first."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe yellow toy is centred on the jaw column in the right wrist view but still well ahead of the fingertips; advancing ~7 cm radially before descending.
move_to
right_x0.4100right_y0.0700right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0353, 0.9992, 0.2886, 1.1824, 0.638, -0.1905, 0.1947, 0.1261, 0.9996] state[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3359 right_y=0.0678 right_z=0.1177 right_yaw=0.0528 right_pitch=-0.1281 right_roll=-0.0369 right_gripper=0.9996 state[joint_eff]: [-0.2803, -1.5521, 6.8444, 1.8535, -0.0513, -0.0122, -0.0171, 0.0752, -4.9299, 9.9077, 1.9414, 0.188, 0.2418, -0.0513] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.07, "right_z": 0.12, "right_gripper": 1}, "note": "The yellow toy is centred on the jaw column in the right wrist view but still well ahead of the fingertips; advancing ~7 cm radially before descending."})
tool
executing move_to over 6 steps (0.6s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteYellow toy still sits above the jaw column with empty table below it; advancing another ~5 cm and dropping toward table height for the grasp.
move_to
right_x0.4500right_y0.0750right_z0.0600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4164, -0.0193, -0.038, 0.9992, 0.2276, 1.4696, 0.8333, -0.1547, 0.149, 0.0822, 0.9996] state[eef_state]: left_x=0.2906 left_y=0.0015 left_z=0.1718 left_yaw=0.0023 left_pitch=-0.0351 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3931 right_y=0.0678 right_z=0.1034 right_yaw=0.0527 right_pitch=-0.1904 right_roll=-0.0496 right_gripper=0.9996 state[joint_eff]: [-0.0615, -1.5932, 7.0085, 1.8242, -0.0269, -0.0171, -0.0122, -0.4308, -6.188, 8.4171, 1.8095, 0.0708, 0.0464, -0.0562] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.075, "right_z": 0.06, "right_gripper": 1}, "note": "Yellow toy still sits above the jaw column with empty table below it; advancing another ~5 cm and dropping toward table height for the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe yellow banana-shaped toy fills the wrist view slightly right of the jaw column; nudging 2 cm to the arm's right and forward, down to table level for the grasp.
move_to
right_x0.4600right_y0.0550right_z0.0050right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4282, -0.0193, -0.0383, 0.9992, 0.2134, 1.7504, 0.9062, -0.0597, 0.1371, 0.0704, 0.9996] state[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1687 left_yaw=0.0025 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4211 right_y=0.0702 right_z=0.0361 right_yaw=0.0506 right_pitch=-0.3036 right_roll=-0.0683 right_gripper=0.9996 state[joint_eff]: [0.0068, -1.4154, 6.9812, 1.8095, -0.0269, -0.022, -0.0122, -0.4991, -8.3624, 8.7179, 1.9219, 0.0513, -0.0562, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.055, "right_z": 0.005, "right_gripper": 1}, "note": "The yellow banana-shaped toy fills the wrist view slightly right of the jaw column; nudging 2 cm to the arm's right and forward, down to table level for the grasp."})
tool
executing move_to over 3 steps (0.3s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe arm stalled a few cm short of the last target; re-commanding the descent to table level just over the yellow toy.
move_to
right_x0.4700right_y0.0600right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4294, -0.0193, -0.0383, 0.9992, 0.2134, 1.7695, 0.923, -0.0196, 0.1345, 0.0601, 0.9996] state[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.0507 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4325 right_y=0.0732 right_z=0.0405 right_yaw=0.0606 right_pitch=-0.267 right_roll=-0.0669 right_gripper=0.9996 state[joint_eff]: [-0.1573, -1.2513, 7.0632, 1.7216, -0.0464, -0.0611, -0.0122, -0.3761, -8.6496, 8.3077, 1.9121, 0.022, 0.0464, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.06, "right_z": 0.0}, "note": "The arm stalled a few cm short of the last target; re-commanding the descent to table level just over the yellow toy."})
tool
executing move_to over 3 steps (0.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe right arm has stopped tracking (identical joint readings twice), so I'm backing off upward and shifting 3 cm toward the arm's right to line up with the lemon, tilting the tool forward to help reach.
move_to
right_x0.4300right_y0.0450right_z0.0800right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.2134, 1.7695, 0.923, -0.0196, 0.1345, 0.0601, 0.9996] state[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1672 left_yaw=0.0027 left_pitch=-0.0568 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4325 right_y=0.0732 right_z=0.0405 right_yaw=0.0606 right_pitch=-0.267 right_roll=-0.0669 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.0598, 7.0632, 1.7265, -0.0611, -0.0415, -0.0073, -0.4034, -8.5128, 8.3761, 1.8828, 0.0317, 0.0317, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.045, "right_z": 0.08, "right_pitch": 0.2}, "note": "The right arm has stopped tracking (identical joint readings twice), so I'm backing off upward and shifting 3 cm toward the arm's right to line up with the lemon, tilting the tool forward to help reach."})
tool
executing move_to over 16 steps (1.6s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe lemon is now centred on the jaw column in the wrist view; descending to table level over it.
move_to
right_x0.4400right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.4526, -0.0193, -0.0387, 0.9992, 0.1432, 1.6958, 0.5377, 0.6678, 0.1139, -0.0193, 0.9996] state[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1625 left_yaw=0.0028 left_pitch=-0.0789 left_roll=-0.0025 left_gripper=0.9992 right_x=0.421 right_y=0.0441 right_z=0.0581 right_yaw=0.0566 right_pitch=0.1019 right_roll=-0.0715 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.347, 7.1179, 1.8877, -0.0659, -0.0708, -0.0073, -0.4171, -7.2547, 5.2855, 2.1368, -0.0855, -0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_z": 0.0}, "note": "The lemon is now centred on the jaw column in the wrist view; descending to table level over it."})
tool
executing move_to over 4 steps (0.4s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteLemon is between the open jaws in the wrist view; closing to grasp it.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8131, 0.6067, -0.4606, -0.0193, -0.0387, 0.9992, 0.131, 1.948, 0.5785, 0.9703, 0.0952, 0.0002, 0.9996] state[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1598 left_yaw=0.0028 left_pitch=-0.0911 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4497 right_y=0.0459 right_z=0.034 right_yaw=0.048 right_pitch=0.1926 right_roll=-0.0379 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.5385, 6.9675, 1.7265, -0.0855, -0.0415, -0.0122, 0.0205, -4.8205, 3.5897, 0.4127, 0.2076, -0.3736, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Lemon is between the open jaws in the wrist view; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteGripper closed to the commanded 0.05 which suggests it may have missed; lifting to check 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, 0.8143, 0.6067, -0.4728, -0.0193, -0.0387, 0.9992, 0.1314, 1.9656, 0.5816, 0.9554, 0.0929, 0.0002, 0.0548] state[eef_state]: left_x=0.2829 left_y=0.0017 left_z=0.1572 left_yaw=0.0028 left_pitch=-0.1045 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4477 right_y=0.0463 right_z=0.0241 right_yaw=0.0507 right_pitch=0.1632 right_roll=-0.0394 right_gripper=0.0548 state[joint_eff]: [-0.0615, -1.265, 6.9812, 1.7558, -0.0562, -0.0317, -0.0122, -0.1983, -9.6479, 3.7265, 2.0195, -0.0024, -0.0024, 0.0611] 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_z": 0.12}, "note": "Gripper closed to the commanded 0.05 which suggests it may have missed; lifting to check whether the lemon came with it."})
tool
executing move_to over 7 steps (0.7s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe lemon is held in the jaws and lifted. Carrying it left and up toward the open safe, which sits near the middle of the table.
move_to
right_x0.4200right_y0.2500right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8169, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.1314, 1.6314, 0.6563, 0.5133, 0.0887, -0.0006, 0.0541] state[eef_state]: left_x=0.2818 left_y=0.0017 left_z=0.1551 left_yaw=0.0028 left_pitch=-0.1144 left_roll=-0.0017 left_gripper=0.9992 right_x=0.4413 right_y=0.0462 right_z=0.097 right_yaw=0.0551 right_pitch=0.13 right_roll=-0.0409 right_gripper=0.0541 state[joint_eff]: [-0.0479, -1.4564, 7.0085, 1.7851, -0.0855, -0.0513, -0.0122, -0.1026, -8.4718, 8.6769, 2.1807, 0.0562, -0.022, -0.0806] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.25, "right_z": 0.22}, "note": "The lemon is held in the jaws and lifted. Carrying it left and up toward the open safe, which sits near the middle of the table."})
tool
executing move_to over 17 steps (1.7s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe lemon slipped out of the jaws and is back on the table at its original spot; the wrist view confirmed the safe opening is at about right (0.42, 0.25). Returning above the lemon to retry the grasp.
move_to
right_x0.4400right_y0.0500right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.4965, -0.0193, -0.0383, 0.9992, 0.7353, 1.676, 1.2499, -0.1738, 0.58, 0.2821, 0.054] state[eef_state]: left_x=0.2793 left_y=0.0017 left_z=0.1515 left_yaw=0.0027 left_pitch=-0.1327 left_roll=-0.001 left_gripper=0.9992 right_x=0.4152 right_y=0.2499 right_z=0.2051 right_yaw=0.1047 right_pitch=0.0971 right_roll=-0.0684 right_gripper=0.054 state[joint_eff]: [-0.294, -1.4564, 6.9265, 1.7558, -0.0562, -0.0024, -0.0122, -0.0479, -7.8017, 9.3197, 1.7851, 0.3541, 0.2369, -0.022] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.05, "right_z": 0.12, "right_gripper": 1}, "note": "The lemon slipped out of the jaws and is back on the table at its original spot; the wrist view confirmed the safe opening is at about right (0.42, 0.25). Returning above the lemon to retry the grasp."})
tool
executing move_to over 17 steps (1.7s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteLemon is centred on the jaw column and close in the wrist view; descending to just above table level around it.
move_to
right_x0.4450right_y0.0500right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.514, -0.0193, -0.0387, 0.9992, 0.1406, 1.5486, 0.7284, 0.2668, 0.0952, -0.0265, 0.9969] state[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1481 left_yaw=0.0029 left_pitch=-0.1506 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4321 right_y=0.0478 right_z=0.1086 right_yaw=0.0738 right_pitch=0.0381 right_roll=-0.0734 right_gripper=0.9969 state[joint_eff]: [-0.0068, -1.0598, 7.2, 1.7998, -0.0513, -0.022, -0.0122, -0.212, -6.0376, 6.4479, 2.3663, -0.0464, -0.0806, -0.1245] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.445, "right_y": 0.05, "right_z": 0.015}, "note": "Lemon is centred on the jaw column and close in the wrist view; descending to just above table level around it."})
tool
executing move_to over 7 steps (0.7s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteLemon sits squarely between the jaws; closing to about 2 cm jaw gap to grip it.
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.136, 1.8732, 0.6476, 0.6674, 0.091, -0.0219, 0.998] state[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1456 left_yaw=0.0025 left_pitch=-0.164 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4443 right_y=0.0482 right_z=0.0236 right_yaw=0.0702 right_pitch=0.0332 right_roll=-0.0676 right_gripper=0.998 state[joint_eff]: [-0.0889, -1.3744, 7.0359, 1.6972, -0.0366, -0.0513, -0.0122, 0.1983, -6.0376, 4.3145, 1.1697, 0.0806, -0.1587, 0.1001] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.2}, "note": "Lemon sits squarely between the jaws; closing to about 2 cm jaw gap to grip it."})
tool
executing move_to over 8 steps (0.8s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteSecond empty close: the jaws are passing beyond the lemon, so the lemon is actually nearer the base than the fingertips. Opening and pulling back 3 cm.
move_to
right_gripper1.0000right_x0.4100right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5404, -0.0193, -0.0387, 0.9992, 0.1364, 1.8923, 0.6476, 0.6487, 0.0895, -0.0261, 0.2047] state[eef_state]: left_x=0.2721 left_y=0.0019 left_z=0.143 left_yaw=0.003 left_pitch=-0.1785 left_roll=-0.0003 left_gripper=0.9992 right_x=0.44 right_y=0.0481 right_z=0.0116 right_yaw=0.0742 right_pitch=-0.0047 right_roll=-0.0727 right_gripper=0.2047 state[joint_eff]: [-0.1846, -1.2786, 6.8855, 1.6679, -0.0562, -0.0415, -0.0122, -0.1162, -9.7162, 4.6564, 1.9414, 0.0464, -0.0024, 0.2271] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.41, "right_z": 0.02}, "note": "Second empty close: the jaws are passing beyond the lemon, so the lemon is actually nearer the base than the fingertips. Opening and pulling back 3 cm."})
tool
executing move_to over 8 steps (0.8s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteBacking off made the lemon look smaller and further, so it is beyond the fingertips; pushing out to x=0.49 with the tool pitched forward to gain reach.
move_to
right_x0.4900right_y0.0500right_z0.0200right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5552, -0.0193, -0.0387, 0.9992, 0.1471, 1.8015, 0.5354, 0.6212, 0.0933, -0.0242, 0.9949] state[eef_state]: left_x=0.2697 left_y=0.0019 left_z=0.1393 left_yaw=0.0031 left_pitch=-0.1972 left_roll=0.0002 left_gripper=0.9992 right_x=0.4053 right_y=0.047 right_z=0.0056 right_yaw=0.0806 right_pitch=-0.0532 right_roll=-0.0765 right_gripper=0.9949 state[joint_eff]: [-0.0068, -1.6205, 6.9812, 1.7021, -0.0806, -0.0415, -0.0073, 0.2393, -8.6769, 4.6701, 1.9267, 0.0708, 0.0024, -0.2222] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.05, "right_z": 0.02, "right_pitch": 0.4}, "note": "Backing off made the lemon look smaller and further, so it is beyond the fingertips; pushing out to x=0.49 with the tool pitched forward to gain reach."})
tool
executing move_to over 16 steps (1.6s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteAt x=0.483 the lemon now sits low between the jaws, right at the fingertips; closing on it.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8253, 0.6067, -0.5663, -0.0193, -0.0387, 0.9992, 0.1291, 2.2581, 0.6842, 1.3258, 0.0784, -0.0521, 0.9966] state[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1372 left_yaw=0.0032 left_pitch=-0.209 left_roll=0.0004 left_gripper=0.9992 right_x=0.4829 right_y=0.0524 right_z=0.0106 right_yaw=0.0882 right_pitch=0.3415 right_roll=-0.074 right_gripper=0.9966 state[joint_eff]: [-0.0752, -1.3607, 7.0632, 1.6337, -0.0708, -0.0317, -0.0122, -0.5402, -8.0479, 3.9863, 2.1026, 0.0513, -0.0464, 0.1636] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.25}, "note": "At x=0.483 the lemon now sits low between the jaws, right at the fingertips; closing on it."})
tool
executing move_to over 8 steps (0.8s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteGripper settled at 0.46 (≈4.3 cm object) so the lemon is grasped; lifting it clear of the table.
move_to
right_z0.2200right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.5816, -0.0189, -0.0387, 0.9992, 0.1295, 2.2688, 0.6872, 1.338, 0.07, -0.0528, 0.4582] state[eef_state]: left_x=0.2651 left_y=0.0019 left_z=0.1345 left_yaw=0.0029 left_pitch=-0.2246 left_roll=0.0005 left_gripper=0.9992 right_x=0.4834 right_y=0.0541 right_z=0.0095 right_yaw=0.0964 right_pitch=0.346 right_roll=-0.0724 right_gripper=0.4582 state[joint_eff]: [-0.0752, -1.2923, 6.8444, 1.6386, -0.0171, -0.0415, -0.0122, -0.1299, -10.4547, 2.7282, 1.8388, 0.0611, -0.0269, 1.0281] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_pitch": 0.1}, "note": "Gripper settled at 0.46 (\u22484.3 cm object) so the lemon is grasped; lifting it clear of the table."})
tool
executing move_to over 14 steps (1.4s)
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 noteLemon is held aloft; carrying it over to above the open safe at right (0.42, 0.25).
move_to
right_x0.4200right_y0.2500right_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.5884, -0.0193, -0.0383, 0.9992, 0.1295, 1.6024, 1.1183, -0.0212, 0.0624, -0.0528, 0.4594] state[eef_state]: left_x=0.264 left_y=0.002 left_z=0.1324 left_yaw=0.0031 left_pitch=-0.2353 left_roll=0.0013 left_gripper=0.9992 right_x=0.4857 right_y=0.0558 right_z=0.1959 right_yaw=0.1046 right_pitch=0.0843 right_roll=-0.0773 right_gripper=0.4594 state[joint_eff]: [0.0068, -1.5932, 6.8444, 1.5897, -0.0611, -0.0464, -0.0122, -0.4855, -10.4684, 8.9504, 2.0977, 0.0317, 0.0562, 0.8132] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.42, "right_y": 0.25, "right_z": 0.24}, "note": "Lemon is held aloft; carrying it over to above the open safe at right (0.42, 0.25)."})
tool
executing move_to over 17 steps (1.7s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteWrist view shows the red interior just to the arm's left of the held lemon; shifting 4 cm further left to centre over the opening.
move_to
right_y0.2900right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.5922, -0.0193, -0.0387, 0.9992, 0.7162, 1.6726, 1.3621, -0.3473, 0.5285, 0.2375, 0.4625] state[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1315 left_yaw=0.0033 left_pitch=-0.2399 left_roll=0.0011 left_gripper=0.9992 right_x=0.4142 right_y=0.2472 right_z=0.2209 right_yaw=0.1526 right_pitch=0.03 right_roll=-0.1146 right_gripper=0.4625 state[joint_eff]: [0.0068, -1.1419, 6.9402, 1.5214, -0.0806, -0.0415, -0.0122, 0.1983, -8.0615, 9.6342, 1.7998, 0.3346, 0.0952, 0.7009] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.29, "right_z": 0.2}, "note": "Wrist view shows the red interior just to the arm's left of the held lemon; shifting 4 cm further left to centre over the opening."})
tool
executing move_to over 4 steps (0.4s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe lemon is centred over the red interior of the open safe; opening the gripper to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 0.7929, 1.7897, 1.3861, -0.3649, 0.5686, 0.2749, 0.4652] state[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1315 left_yaw=0.0033 left_pitch=-0.2403 left_roll=0.0011 left_gripper=0.9992 right_x=0.4047 right_y=0.2803 right_z=0.1766 right_yaw=0.1777 right_pitch=-0.0446 right_roll=-0.1669 right_gripper=0.4652 state[joint_eff]: [-0.0479, -1.2923, 6.8444, 1.5556, -0.0513, -0.0464, -0.0122, 0.1573, -9.9214, 10.8786, 1.9512, 0.4567, 0.2222, 0.7009] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The lemon is centred over the red interior of the open safe; opening the gripper to drop it in."})
tool
executing move_to over 6 steps (0.6s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe lemon is in the safe. Retracting the right arm out of the view and bringing the left arm above the small bear that sits to the left of the safe.
move_to
right_x0.3000right_y0.0500right_z0.2000left_x0.3800left_y-0.1000left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6075, -0.0189, -0.0383, 0.9992, 0.8032, 1.8088, 1.3972, -0.3649, 0.5724, 0.289, 0.9949] state[eef_state]: left_x=0.2605 left_y=0.002 left_z=0.129 left_yaw=0.0029 left_pitch=-0.2551 left_roll=0.0014 left_gripper=0.9992 right_x=0.4043 right_y=0.2863 right_z=0.1725 right_yaw=0.1772 right_pitch=-0.0483 right_roll=-0.1624 right_gripper=0.9949 state[joint_eff]: [-0.0615, -1.1282, 6.8034, 1.6484, -0.0806, -0.0366, -0.0122, -0.4855, -10.5368, 9.5932, 1.8632, 0.398, 0.0855, -0.2418] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.2, "left_x": 0.38, "left_y": -0.1, "left_z": 0.15, "left_gripper": 1}, "note": "The lemon is in the safe. Retracting the right arm out of the view and bringing the left arm above the small bear that sits to the left of the safe."})
tool
executing move_to over 20 steps (2.0s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteLeft wrist view shows the small bear down and to the arm's right of the jaw column; shifting right and slightly forward, descending to 10 cm.
move_to
left_x0.4000left_y-0.1500left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3775, 1.4296, 0.9997, -0.5011, -0.2443, -0.3134, 0.9993, 0.247, 0.9184, 0.7666, -0.5072, 0.1806, -0.0662, 0.9966] state[eef_state]: left_x=0.3654 left_y=-0.0951 left_z=0.1322 left_yaw=0.0011 left_pitch=-0.3165 left_roll=0.0133 left_gripper=0.9993 right_x=0.3016 right_y=0.047 right_z=0.1949 right_yaw=0.1311 right_pitch=-0.0651 right_roll=-0.1641 right_gripper=0.9966 state[joint_eff]: [-0.3077, -6.0786, 9.0735, 1.6679, -0.2808, 0.0171, -0.0904, -0.1299, -2.0308, 7.2957, 1.9121, -0.0464, -0.1001, 0.1636] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.15, "left_z": 0.1}, "note": "Left wrist view shows the small bear down and to the arm's right of the jaw column; shifting right and slightly forward, descending to 10 cm."})
tool
executing move_to over 5 steps (0.5s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteBear is still slightly right of the jaw column and ahead of the fingertips; nudging right and forward while descending toward table level.
move_to
left_x0.4200left_y-0.1750left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.487, 1.6623, 1.0622, -0.4515, -0.2878, -0.3992, 0.9992, 0.2428, 0.9226, 0.7643, -0.5453, 0.1677, -0.0788, 0.9968] state[eef_state]: left_x=0.3778 left_y=-0.1392 left_z=0.0783 left_yaw=-0.0027 left_pitch=-0.4092 left_roll=0.0483 left_gripper=0.9992 right_x=0.2958 right_y=0.0466 right_z=0.1852 right_yaw=0.1442 right_pitch=-0.1115 right_roll=-0.1706 right_gripper=0.9968 state[joint_eff]: [-0.4034, -8.3624, 9.388, 1.4335, -0.4274, -0.0024, -0.0171, 0.2667, -2.3179, 7.0632, 2.0244, 0.1636, 0.0611, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.175, "left_z": 0.03}, "note": "Bear is still slightly right of the jaw column and ahead of the fingertips; nudging right and forward while descending toward table level."})
tool
executing move_to over 4 steps (0.4s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteThe left arm stalled short again with the tool tilted back; pitching the tool forward and pushing out to x=0.44 to get the jaws around the small bear (as worked for the lemon).
move_to
left_x0.4400left_y-0.1750left_z0.0600left_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4961, 1.6794, 1.0821, -0.4255, -0.305, -0.4175, 0.9992, 0.2428, 0.923, 0.7643, -0.569, 0.1669, -0.0792, 0.9968] state[eef_state]: left_x=0.3868 left_y=-0.145 left_z=0.0827 left_yaw=0.0074 left_pitch=-0.3765 left_roll=0.0365 left_gripper=0.9992 right_x=0.2921 right_y=0.0458 right_z=0.1807 right_yaw=0.1448 right_pitch=-0.1355 right_roll=-0.1728 right_gripper=0.9968 state[joint_eff]: [-0.2803, -8.3897, 8.6222, 1.4676, -0.2955, 0.0024, -0.0122, -0.0615, -2.0034, 6.9128, 1.7851, 0.0073, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.175, "left_z": 0.06, "left_pitch": 0.35}, "note": "The left arm stalled short again with the tool tilted back; pitching the tool forward and pushing out to x=0.44 to get the jaws around the small bear (as worked for the lemon)."})
tool
executing move_to over 25 steps (2.5s)
step 236
assistant
agent noteThe small bear is now right at the fingertips (visible at the bottom edge of the left wrist view); closing the jaws on it.
move_to
left_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5976, 2.0426, 0.7063, 0.9691, -0.6033, -0.1791, 0.9992, 0.2428, 0.923, 0.7643, -0.6117, 0.1673, -0.0792, 0.9968] state[eef_state]: left_x=0.4359 left_y=-0.1711 left_z=0.0456 left_yaw=0.0019 left_pitch=0.2745 left_roll=0.0577 left_gripper=0.9992 right_x=0.2852 right_y=0.044 right_z=0.1731 right_yaw=0.1438 right_pitch=-0.178 right_roll=-0.1773 right_gripper=0.9968 state[joint_eff]: [-0.8, -8.5949, 4.1094, 2.0391, -0.2662, 0.0855, -0.0122, -0.212, -1.9624, 6.9675, 1.9219, 0.0171, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.15}, "note": "The small bear is now right at the fingertips (visible at the bottom edge of the left wrist view); closing the jaws on it."})
tool
executing move_to over 9 steps (0.9s)
step 245
assistant
agent noteJaws closed on something soft; lifting to see whether the small bear came up with them.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.601, 2.0571, 0.7055, 0.9646, -0.6109, -0.1841, 0.1548, 0.2428, 0.923, 0.7643, -0.6353, 0.1673, -0.0792, 0.9968] state[eef_state]: left_x=0.434 left_y=-0.1704 left_z=0.0384 left_yaw=0.0046 left_pitch=0.2599 left_roll=0.0669 left_gripper=0.1548 right_x=0.2813 right_y=0.0431 right_z=0.169 right_yaw=0.1434 right_pitch=-0.2016 right_roll=-0.1797 right_gripper=0.9968 state[joint_eff]: [0.0615, -10.2496, 4.2462, 1.7558, -0.0415, 0.022, 0.0464, -0.1709, -1.9624, 6.8444, 1.7118, 0.0415, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Jaws closed on something soft; lifting to see whether the small bear came up with them."})
tool
executing move_to over 11 steps (1.1s)
step 256
assistant
agent noteThe left grasp was empty and there is in fact no small bear — the only remaining object is the brown teddy in front of the safe. Parking the left arm home and moving the right arm above the teddy.
move_to
left_x0.2900left_y0.0000left_z0.1800left_pitch0.0000left_gripper1.0000right_x0.3000right_y0.1800right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.601, 1.6146, 0.9035, 0.2996, -0.6151, -0.1955, 0.1545, 0.2428, 0.923, 0.7643, -0.6575, 0.1669, -0.0792, 0.9968] state[eef_state]: left_x=0.4333 left_y=-0.1691 left_z=0.1758 left_yaw=0.011 left_pitch=0.2413 left_roll=0.0715 left_gripper=0.1545 right_x=0.2775 right_y=0.0422 right_z=0.1652 right_yaw=0.1432 right_pitch=-0.2236 right_roll=-0.1816 right_gripper=0.9968 state[joint_eff]: [-0.1436, -9.5521, 9.4427, 1.7998, -0.1783, 0.0659, -0.0415, -0.1983, -1.935, 6.7761, 1.7509, 0.0415, -0.0562, -0.0073] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.18, "left_pitch": 0, "left_gripper": 1, "right_x": 0.3, "right_y": 0.18, "right_z": 0.2}, "note": "The left grasp was empty and there is in fact no small bear \u2014 the only remaining object is the brown teddy in front of the safe. Parking the left arm home and moving the right arm above the teddy."})
tool
executing move_to over 16 steps (1.6s)
step 272
assistant
agent noteThere is also a cream-coloured bear left of the safe. First: the brown teddy appears low-left in the right wrist view; shifting 5 cm to the arm's left and descending over it.
move_to
right_y0.2300right_x0.3000right_z0.1000right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1146, 0.7982, 0.606, -0.3576, -0.1925, -0.0628, 0.9973, 0.7712, 1.335, 1.1244, -0.8009, 0.4805, 0.3202, 0.9969] state[eef_state]: left_x=0.2978 left_y=0.0033 left_z=0.1861 left_yaw=0.065 left_pitch=0.0355 left_roll=0.0647 left_gripper=0.9973 right_x=0.2916 right_y=0.1745 right_z=0.1841 right_yaw=0.173 right_pitch=-0.2787 right_roll=-0.2162 right_gripper=0.9969 state[joint_eff]: [0.0752, -1.1966, 6.9128, 2.0147, 0.0757, 0.149, -0.0171, 0.1573, -4.9436, 9.0051, 1.3065, 0.4274, 0.188, -0.0073] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.23, "right_x": 0.3, "right_z": 0.1, "right_pitch": 0.2}, "note": "There is also a cream-coloured bear left of the safe. First: the brown teddy appears low-left in the right wrist view; shifting 5 cm to the arm's left and descending over it."})
tool
executing move_to over 16 steps (1.6s)
step 288
assistant
agent noteThe brown teddy fills the bottom of the right wrist view between the jaws; descending onto it.
move_to
right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.112, 0.8028, 0.6044, -0.3969, -0.1806, -0.0643, 0.9977, 1.0023, 1.544, 0.5827, 0.2432, 0.8238, 0.2749, 0.9969] state[eef_state]: left_x=0.2928 left_y=0.0026 left_z=0.1759 left_yaw=0.0586 left_pitch=-0.0102 left_roll=0.065 left_gripper=0.9977 right_x=0.2923 right_y=0.2234 right_z=0.0844 right_yaw=0.2017 right_pitch=0.1057 right_roll=-0.2654 right_gripper=0.9969 state[joint_eff]: [-0.4581, -1.6615, 7.1316, 2.1563, -0.2222, 0.0366, 0.0317, 0.294, -5.6547, 5.6274, 1.7363, 0.5397, -0.0366, -0.0122] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02}, "note": "The brown teddy fills the bottom of the right wrist view between the jaws; descending onto it."})
tool
executing move_to over 5 steps (0.5s)
step 293
assistant
agent noteJaws are down on the brown teddy's body; closing to grip its fur.
move_to
right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.112, 0.804, 0.6044, -0.4053, -0.1799, -0.0643, 0.9977, 1.0019, 1.7744, 0.5095, 0.5541, 0.8345, 0.2783, 0.9969] state[eef_state]: left_x=0.2917 left_y=0.0026 left_z=0.1738 left_yaw=0.058 left_pitch=-0.0197 left_roll=0.0662 left_gripper=0.9977 right_x=0.2944 right_y=0.2242 right_z=0.032 right_yaw=0.1914 right_pitch=0.1162 right_roll=-0.262 right_gripper=0.9969 state[joint_eff]: [-0.1709, -1.3333, 7.2137, 1.8144, -0.105, -0.0562, -0.0073, 0.0479, -4.7385, 2.947, 0.9158, 0.1636, -0.188, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "Jaws are down on the brown teddy's body; closing to grip its fur."})
tool
executing move_to over 9 steps (0.9s)
step 302
assistant
agent noteClosed on the teddy's fur; lifting to see if it comes up.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1116, 0.804, 0.6044, -0.4061, -0.1799, -0.0643, 0.9977, 1.0023, 1.7996, 0.5026, 0.6197, 0.8196, 0.271, 0.1054] state[eef_state]: left_x=0.2916 left_y=0.0027 left_z=0.1737 left_yaw=0.0584 left_pitch=-0.0205 left_roll=0.0664 left_gripper=0.9977 right_x=0.2956 right_y=0.2295 right_z=0.0301 right_yaw=0.2033 right_pitch=0.1317 right_roll=-0.2374 right_gripper=0.1054 state[joint_eff]: [-0.1846, -1.2923, 7.0085, 1.6777, -0.1294, -0.0611, -0.0073, -0.0889, -5.4222, 3.412, 1.3211, 0.2857, 0.0366, 0.188] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Closed on the teddy's fur; lifting to see if it comes up."})
tool
executing move_to over 13 steps (1.3s)
step 315
assistant
agent noteThe teddy appears to be hanging from the jaws; carrying it forward over the open safe opening.
move_to
right_x0.4000right_y0.2900right_z0.2600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1116, 0.8059, 0.6044, -0.4091, -0.1799, -0.0643, 0.9978, 1.0019, 1.3388, 0.9188, -0.2844, 0.8116, 0.2653, 0.1059] state[eef_state]: left_x=0.2913 left_y=0.0028 left_z=0.1726 left_yaw=0.0584 left_pitch=-0.0254 left_roll=0.0672 left_gripper=0.9978 right_x=0.2954 right_y=0.2308 right_z=0.1998 right_yaw=0.2141 right_pitch=0.1083 right_roll=-0.2584 right_gripper=0.1059 state[joint_eff]: [-0.2256, -1.388, 6.9949, 1.7558, -0.105, -0.0415, -0.0073, -0.1846, -7.0085, 8.8957, 1.5507, 0.2857, 0.0317, 0.0317] camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.29, "right_z": 0.26}, "note": "The teddy appears to be hanging from the jaws; carrying it forward over the open safe opening."})
tool
executing move_to over 9 steps (0.9s)
step 324
assistant
agent noteThe teddy did not come with the jaws — it is still on the table. Returning to it, aiming a bit further left and nearer this time, down at table level.
move_to
right_x0.2800right_y0.2600right_z0.0200right_gripper1.0000right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 0.8097, 0.6044, -0.4278, -0.1799, -0.0643, 0.9977, 0.8577, 1.7123, 1.4616, -0.4171, 0.6941, 0.1406, 0.1059] state[eef_state]: left_x=0.2889 left_y=0.0033 left_z=0.1678 left_yaw=0.0593 left_pitch=-0.0475 left_roll=0.071 left_gripper=0.9977 right_x=0.391 right_y=0.2848 right_z=0.2434 right_yaw=0.221 right_pitch=0.0688 right_roll=-0.2875 right_gripper=0.1059 state[joint_eff]: [-0.0889, -1.5385, 6.9812, 1.8681, -0.0806, -0.0659, -0.0122, -0.4308, -8.9231, 8.7863, 1.7021, 0.2027, 0.0708, -0.0122] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.26, "right_z": 0.02, "right_gripper": 1, "right_pitch": 0.2}, "note": "The teddy did not come with the jaws \u2014 it is still on the table. Returning to it, aiming a bit further left and nearer this time, down at table level."})
tool
executing move_to over 15 steps (1.5s)
step 339
assistant
agent noteThe teddy's head/back is right under the jaws; closing fully to pinch its fur.
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]: [-0.1108, 0.8139, 0.6044, -0.4355, -0.1799, -0.0643, 0.9978, 1.116, 1.9202, 0.5789, 0.6064, 0.9245, 0.2565, 0.996] state[eef_state]: left_x=0.288 left_y=0.0034 left_z=0.1652 left_yaw=0.0594 left_pitch=-0.0592 left_roll=0.073 left_gripper=0.9978 right_x=0.2796 right_y=0.259 right_z=0.017 right_yaw=0.257 right_pitch=0.1407 right_roll=-0.3398 right_gripper=0.996 state[joint_eff]: [-0.0615, -1.6615, 6.9812, 1.7265, -0.1197, -0.0659, -0.0073, 0.3487, -7.4462, 4.0274, 1.7656, 0.5592, 0.2076, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The teddy's head/back is right under the jaws; closing fully to pinch its fur."})
tool
executing move_to over 10 steps (1.0s)
step 349
assistant
agent noteGripper settled at 0.21 on the teddy's fur, so it has a grip; lifting and carrying it over the safe opening.
move_to
right_z0.3000right_x0.3900right_y0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 0.8154, 0.6044, -0.4511, -0.1799, -0.0647, 0.9978, 1.1172, 1.9316, 0.572, 0.6189, 0.9276, 0.2512, 0.2118] state[eef_state]: left_x=0.2858 left_y=0.0036 left_z=0.1618 left_yaw=0.0598 left_pitch=-0.0761 left_roll=0.0756 left_gripper=0.9978 right_x=0.2786 right_y=0.2571 right_z=0.0134 right_yaw=0.2595 right_pitch=0.1375 right_roll=-0.3503 right_gripper=0.2118 state[joint_eff]: [-0.0205, -1.4427, 6.9675, 1.8486, -0.1099, -0.0708, -0.0122, -0.3077, -8.5675, 4.2051, 1.2674, 0.2759, 0.0073, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 349): [image omitted: streamed camera frame] camera 'left_cam' (step 349): [image omitted: streamed camera frame] camera 'right_cam' (step 349): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.3, "right_x": 0.39, "right_y": 0.3}, "note": "Gripper settled at 0.21 on the teddy's fur, so it has a grip; lifting and carrying it over the safe opening."})
tool
executing move_to over 19 steps (1.9s)
step 368
assistant
agent noteTeddy is held just to the arm's right of the safe opening; shifting 5 cm left to centre it over the red interior.
move_to
right_y0.3500right_x0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 0.8181, 0.6044, -0.4576, -0.1799, -0.0643, 0.9978, 0.9031, 1.7214, 1.5848, -0.4725, 0.7486, 0.0509, 0.213] state[eef_state]: left_x=0.2849 left_y=0.0037 left_z=0.1598 left_yaw=0.0597 left_pitch=-0.0851 left_roll=0.0775 left_gripper=0.9978 right_x=0.3852 right_y=0.3002 right_z=0.2851 right_yaw=0.2693 right_pitch=0.1198 right_roll=-0.3577 right_gripper=0.213 state[joint_eff]: [-0.2393, -1.4427, 7.0632, 1.7753, -0.0952, -0.0708, -0.0122, -0.7179, -8.4991, 8.5949, 1.7167, 0.359, -0.105, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.35, "right_x": 0.4}, "note": "Teddy is held just to the arm's right of the safe opening; shifting 5 cm left to centre it over the red interior."})
tool
executing move_to over 5 steps (0.5s)
step 373
assistant
agent noteThe safe interior still sits ahead of the hanging teddy in the wrist view; advancing 5 cm so the bear is over the opening.
move_to
right_x0.4400right_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 0.8188, 0.6044, -0.4618, -0.1799, -0.0643, 0.9978, 0.9504, 1.9179, 1.7901, -0.598, 0.7528, 0.0635, 0.213] state[eef_state]: left_x=0.2843 left_y=0.0038 left_z=0.1588 left_yaw=0.0598 left_pitch=-0.09 left_roll=0.0783 left_gripper=0.9978 right_x=0.3915 right_y=0.3463 right_z=0.2566 right_yaw=0.3122 right_pitch=0.03 right_roll=-0.4184 right_gripper=0.213 state[joint_eff]: [-0.0752, -1.4017, 6.9538, 1.6777, -0.1099, -0.022, -0.0171, -0.212, -11.0017, 9.9487, 1.8926, 0.5201, 0.1978, 1.0281] camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_z": 0.24}, "note": "The safe interior still sits ahead of the hanging teddy in the wrist view; advancing 5 cm so the bear is over the opening."})
tool
executing move_to over 4 steps (0.4s)
step 377
assistant
agent noteThe arm stalled short with the teddy over the safe's front edge; pitching the tool forward to gain reach and get the bear over the middle of the opening.
move_to
right_x0.4600right_pitch0.4500right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 0.8188, 0.6044, -0.4728, -0.1799, -0.0643, 0.9978, 0.952, 1.9305, 1.8088, -0.6121, 0.7662, 0.0711, 0.2131] state[eef_state]: left_x=0.2826 left_y=0.004 left_z=0.1568 left_yaw=0.06 left_pitch=-0.1009 left_roll=0.0802 left_gripper=0.9978 right_x=0.3927 right_y=0.3465 right_z=0.2569 right_yaw=0.3002 right_pitch=0.0307 right_roll=-0.4239 right_gripper=0.2131 state[joint_eff]: [-0.0615, -1.347, 6.9402, 1.7167, -0.105, -0.0513, -0.0122, -0.2256, -10.865, 10.0581, 2.0, 0.4029, 0.0952, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_pitch": 0.45, "right_z": 0.22}, "note": "The arm stalled short with the teddy over the safe's front edge; pitching the tool forward to gain reach and get the bear over the middle of the opening."})
tool
executing move_to over 14 steps (1.4s)
step 391
assistant
agent noteTeddy is now over the red interior of the safe; opening the jaws to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 0.8207, 0.6044, -0.4801, -0.1795, -0.0647, 0.9977, 0.8684, 2.014, 1.3861, 0.3519, 0.7696, -0.2581, 0.213] state[eef_state]: left_x=0.2816 left_y=0.004 left_z=0.1549 left_yaw=0.06 left_pitch=-0.11 left_roll=0.0812 left_gripper=0.9977 right_x=0.4506 right_y=0.3477 right_z=0.2017 right_yaw=0.3379 right_pitch=0.3355 right_roll=-0.4714 right_gripper=0.213 state[joint_eff]: [-0.0615, -1.4838, 7.2, 1.7021, -0.0904, -0.0562, -0.0122, -0.841, -9.7436, 6.4342, 2.1026, 0.188, -0.0708, 1.0134] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Teddy is now over the red interior of the safe; opening the jaws to drop it in."})
tool
executing move_to over 8 steps (0.8s)
step 399
assistant
agent noteObjects are at/in the safe; moving up and behind the raised lid so I can sweep it shut.
move_to
right_x0.5000right_z0.4200right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 0.8207, 0.6044, -0.4808, -0.1799, -0.0643, 0.9978, 0.8646, 2.0308, 1.372, 0.3222, 0.7658, -0.2657, 0.9947] state[eef_state]: left_x=0.2815 left_y=0.0041 left_z=0.1548 left_yaw=0.0601 left_pitch=-0.1107 left_roll=0.0819 left_gripper=0.9978 right_x=0.4501 right_y=0.3445 right_z=0.181 right_yaw=0.351 right_pitch=0.2803 right_roll=-0.5096 right_gripper=0.9947 state[joint_eff]: [-0.0068, -1.3333, 6.9402, 1.6142, -0.1392, 0.0171, -0.0073, 0.212, -12.8205, 7.9521, 1.9805, 0.105, 0.0464, -0.2369] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 399): [image omitted: streamed camera frame] camera 'left_cam' (step 399): [image omitted: streamed camera frame] camera 'right_cam' (step 399): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_z": 0.42, "right_gripper": 0.2}, "note": "Objects are at/in the safe; moving up and behind the raised lid so I can sweep it shut."})
tool
executing move_to over 16 steps (1.6s)
step 415
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 0.8246, 0.6044, -0.5022, -0.1799, -0.0647, 0.9978, 0.7876, 2.4321, 2.8639, -0.8001, 0.6868, -0.3077, 0.2029] state[eef_state]: left_x=0.2782 left_y=0.0044 left_z=0.1498 left_yaw=0.0609 left_pitch=-0.1355 left_roll=0.0859 left_gripper=0.9978 right_x=0.5077 right_y=0.3563 right_z=0.3668 right_yaw=0.3664 right_pitch=0.2282 right_roll=-0.5394 right_gripper=0.2029 state[joint_eff]: [-0.1026, -1.6479, 7.4325, 1.7656, -0.1441, -0.0317, -0.0171, -0.5812, -14.7761, 8.294, 1.746, 0.2808, 0.0171, -0.0024] camera 'top_cam' (step 415): [image omitted: streamed camera frame] camera 'left_cam' (step 415): [image omitted: streamed camera frame] camera 'right_cam' (step 415): [image omitted: streamed camera frame]
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 · 17.99 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, 0.7921, 0.6041, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.6064, -0.4034, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1787 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.4154, 10.2769, 1.9756, -0.0415, 0.2173, -0.0904, -0.2256, -1.4701, 9.7026, 2.044, -0.0513, -0.0366, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff320dca4116df44b66fc913511b866fc171631507a750946ba2c533eb38a192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55e7c81d9f9526d1813669f4412e8f4cd30cedcff2816b8c72bc224ab3f80d4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd5aa0cfa13b0b2bd3751f377ae61be46d35eeb78b839c26702989afed3c20c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 5.436 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, 0.7921, 0.6041, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.6064, -0.4034, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1787 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.4154, 10.2769, 1.9756, -0.0415, 0.2173, -0.0904, -0.2256, -1.4701, 9.7026, 2.044, -0.0513, -0.0366, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff320dca4116df44b66fc913511b866fc171631507a750946ba2c533eb38a192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55e7c81d9f9526d1813669f4412e8f4cd30cedcff2816b8c72bc224ab3f80d4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd5aa0cfa13b0b2bd3751f377ae61be46d35eeb78b839c26702989afed3c20c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TaKssgwjiWYgnevoawDhqx",
      "input": {
        "note": "Scene: an open safe/chest with red interior in the middle, a yellow lemon-shaped toy to its right, a small bear left of the safe and a big teddy bear in front. I'm moving the right arm above the yellow toy first.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.07,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TaKssgwjiWYgnevoawDhqx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0353, 0.9992, 0.2886, 1.1824, 0.638, -0.1905, 0.1947, 0.1261, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3359 right_y=0.0678 right_z=0.1177 right_yaw=0.0528 right_pitch=-0.1281 right_roll=-0.0369 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.5521, 6.8444, 1.8535, -0.0513, -0.0122, -0.0171, 0.0752, -4.9299, 9.9077, 1.9414, 0.188, 0.2418, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76cc1742de0a2468bb349537b55fc82102de06992757787f3eb65dba2bd8a5d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67045bef2b0d305f8cde3a52be947045d3afb08aa923d84b427d2900f65f3ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96e621b222ef4e0cfeae00620d59b49236d9a80c86eddeea91312a7d798fac36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 5.141 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, 0.7921, 0.6041, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.6064, -0.4034, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1787 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.4154, 10.2769, 1.9756, -0.0415, 0.2173, -0.0904, -0.2256, -1.4701, 9.7026, 2.044, -0.0513, -0.0366, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0353, 0.9992, 0.2886, 1.1824, 0.638, -0.1905, 0.1947, 0.1261, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3359 right_y=0.0678 right_z=0.1177 right_yaw=0.0528 right_pitch=-0.1281 right_roll=-0.0369 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.5521, 6.8444, 1.8535, -0.0513, -0.0122, -0.0171, 0.0752, -4.9299, 9.9077, 1.9414, 0.188, 0.2418, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76cc1742de0a2468bb349537b55fc82102de06992757787f3eb65dba2bd8a5d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67045bef2b0d305f8cde3a52be947045d3afb08aa923d84b427d2900f65f3ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96e621b222ef4e0cfeae00620d59b49236d9a80c86eddeea91312a7d798fac36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnQQKjgEIEhgCKkB90hkXtM1ECsFSZoZQzGvmkMn9SuR7nduPKcR1u6L5H8b75vTotSFb1gneOiJ5PHDcsOmJT+MjFQAetjGfxmpwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeClzNUGEgyFMe+jfYemSNV4TqIaDC6VaMtVJmhertMkkSIwDLa9ECKD+g3D+2U6o1GWped2nRJY0k0Rybyp9yanbGAGPqCkU+w3GC7XN+0OwKc8KrsCQ9qz1x2QudrFTI5MegVGT+IC6nHncVGQOLjRJZi5If7ltUZ7jwvoy+FBYjCUSHypYAuawrlIC97oQs88YBZMpKOEbdP/QheN9ERYQmhB/qVVtM9TSKOst16mKwZp7zbA8nlgqsyO3xJobpwcSTsAK5daEZ96+dMwVZ40lsZD0jxt/RNwS7ez/G1ZbkeWp5fKCayAGM3+68ngwxGCpkUjyLQw+v8nzVA01du5BU1+q8t5OalBE0LioDlsEXv4GMjGz+uvJUPsSHisChc7HfnqI+ezsUdVWvKDkvTbKWtKP4NWsdDMa/wJqB0d4Xypsq7n8zjjiFBKFPD+o18iIQkjmmqEiCWqWZNELcfI2951la5GgLXNdEE6CP95jPXguS7RJIWkkAlYBCF0XR1COXVstWbxdx2fUFshjPXIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017CmovVUqQsEmDz5yiw4EKX",
      "input": {
        "note": "The yellow toy is centred on the jaw column in the right wrist view but still well ahead of the fingertips; advancing ~7 cm radially before descending.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.41,
          "right_y": 0.07,
          "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_017CmovVUqQsEmDz5yiw4EKX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4164, -0.0193, -0.038, 0.9992, 0.2276, 1.4696, 0.8333, -0.1547, 0.149, 0.0822, 0.9996]\nstate[eef_state]: left_x=0.2906 left_y=0.0015 left_z=0.1718 left_yaw=0.0023 left_pitch=-0.0351 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3931 right_y=0.0678 right_z=0.1034 right_yaw=0.0527 right_pitch=-0.1904 right_roll=-0.0496 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.5932, 7.0085, 1.8242, -0.0269, -0.0171, -0.0122, -0.4308, -6.188, 8.4171, 1.8095, 0.0708, 0.0464, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:803121732adecb7e7c6c90e24473d7206953c0dc4f7b3846ca2cc1f634df5760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56013ad8915c9350ae0ce422b26138cfc80d956d893fc144d6deececb35a12ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8e70b418556fe76c4483c2e1fa7a762cb33e45f5255a07c47312570d17691f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 7.941 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, 0.7921, 0.6041, -0.3885, -0.0193, -0.0338, 0.9993, -0.0212, 0.7933, 0.6064, -0.4034, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1787 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.4154, 10.2769, 1.9756, -0.0415, 0.2173, -0.0904, -0.2256, -1.4701, 9.7026, 2.044, -0.0513, -0.0366, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0353, 0.9992, 0.2886, 1.1824, 0.638, -0.1905, 0.1947, 0.1261, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3359 right_y=0.0678 right_z=0.1177 right_yaw=0.0528 right_pitch=-0.1281 right_roll=-0.0369 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.5521, 6.8444, 1.8535, -0.0513, -0.0122, -0.0171, 0.0752, -4.9299, 9.9077, 1.9414, 0.188, 0.2418, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4164, -0.0193, -0.038, 0.9992, 0.2276, 1.4696, 0.8333, -0.1547, 0.149, 0.0822, 0.9996]\nstate[eef_state]: left_x=0.2906 left_y=0.0015 left_z=0.1718 left_yaw=0.0023 left_pitch=-0.0351 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3931 right_y=0.0678 right_z=0.1034 right_yaw=0.0527 right_pitch=-0.1904 right_roll=-0.0496 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.5932, 7.0085, 1.8242, -0.0269, -0.0171, -0.0122, -0.4308, -6.188, 8.4171, 1.8095, 0.0708, 0.0464, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:803121732adecb7e7c6c90e24473d7206953c0dc4f7b3846ca2cc1f634df5760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56013ad8915c9350ae0ce422b26138cfc80d956d893fc144d6deececb35a12ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8e70b418556fe76c4483c2e1fa7a762cb33e45f5255a07c47312570d17691f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wMKjgEIEhgCKkDIv93QF21UnVBIF2vZxnPgGBTqh2VJ4M5ZFnDWdwfa7OJzakq6ZyR5W/EpnQ9/lVTVqXZv8AyahBpz7wLcHTT6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAealzNUGEgyFTrAjiaXg6RjwCI4aDBPfDOPn9NOp2pHwSiIwXKPt6uDwCb97Hb0Kms0j3fvpSjkRje/c4xK0IrYwyWRG1aAmXaiEYZr0OqiUoaPMKoECtyv9Zmk0XXwO14aFTboqB3ZrYVflKtiMIxViaTnEOIgMxcM4Q7dRxMirBJYx3HTCubTX3xUpjIkce2dGVr7XpJu92HPgeR/y3q0xbAf/a5DQy3cXGS525YRrvLGYW/6CpwEVWvDZVHPdmD2qv9F3p9pVta6YpAqxJzmfQ0u2mAcCIzIQk6eaWdmWSoAcEXMhM8Q51Xwrhts44LDbaxCWmVYPUUWQE3iLfkydo/nqNhZG7YDEr5/jiehfVcTy52fLPLPXqW7M4XdRNDa59X//y3pJjTmlzOdEITJ52c57aKruwD8fzhS7YltyaW6/x7+azbf6qLEAaNrEhzBmZOZeezoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XrPpLyKX7niRxchn8SWTqx",
      "input": {
        "note": "Yellow toy still sits above the jaw column with empty table below it; advancing another ~5 cm and dropping toward table height for the grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.45,
          "right_y": 0.075,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XrPpLyKX7niRxchn8SWTqx",
      "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, -0.4282, -0.0193, -0.0383, 0.9992, 0.2134, 1.7504, 0.9062, -0.0597, 0.1371, 0.0704, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1687 left_yaw=0.0025 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4211 right_y=0.0702 right_z=0.0361 right_yaw=0.0506 right_pitch=-0.3036 right_roll=-0.0683 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.4154, 6.9812, 1.8095, -0.0269, -0.022, -0.0122, -0.4991, -8.3624, 8.7179, 1.9219, 0.0513, -0.0562, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21d5fdc50ab93cbe90cdf40df243a86be8a76262cb95d75fce5334b4352e0e45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9bbefe6b34486cbfb2a7e342b477f6d80613d80017c9524a219001cc97d12bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de25527100bf5e3f4d2139b8a59087de4fa48c5044636504e4235aece038f3bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 8.385 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, 0.7967, 0.6067, -0.4057, -0.0193, -0.0353, 0.9992, 0.2886, 1.1824, 0.638, -0.1905, 0.1947, 0.1261, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3359 right_y=0.0678 right_z=0.1177 right_yaw=0.0528 right_pitch=-0.1281 right_roll=-0.0369 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.5521, 6.8444, 1.8535, -0.0513, -0.0122, -0.0171, 0.0752, -4.9299, 9.9077, 1.9414, 0.188, 0.2418, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4164, -0.0193, -0.038, 0.9992, 0.2276, 1.4696, 0.8333, -0.1547, 0.149, 0.0822, 0.9996]\nstate[eef_state]: left_x=0.2906 left_y=0.0015 left_z=0.1718 left_yaw=0.0023 left_pitch=-0.0351 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3931 right_y=0.0678 right_z=0.1034 right_yaw=0.0527 right_pitch=-0.1904 right_roll=-0.0496 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.5932, 7.0085, 1.8242, -0.0269, -0.0171, -0.0122, -0.4308, -6.188, 8.4171, 1.8095, 0.0708, 0.0464, -0.0562]\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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4282, -0.0193, -0.0383, 0.9992, 0.2134, 1.7504, 0.9062, -0.0597, 0.1371, 0.0704, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1687 left_yaw=0.0025 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4211 right_y=0.0702 right_z=0.0361 right_yaw=0.0506 right_pitch=-0.3036 right_roll=-0.0683 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.4154, 6.9812, 1.8095, -0.0269, -0.022, -0.0122, -0.4991, -8.3624, 8.7179, 1.9219, 0.0513, -0.0562, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21d5fdc50ab93cbe90cdf40df243a86be8a76262cb95d75fce5334b4352e0e45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9bbefe6b34486cbfb2a7e342b477f6d80613d80017c9524a219001cc97d12bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de25527100bf5e3f4d2139b8a59087de4fa48c5044636504e4235aece038f3bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS8gUKjgEIEhgCKkBBPVLoxru03S1TrVfMOuyQNkqB28tjVMYPluwXR/+vch6Wnf/H543OyF87D/NKusdxvxS/If/f8BLgmN9S+mfUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6lzNUGEgw2n9paxWjY+RpNiQ0aDFbgyiPPEQVKJ5x8kyIwG3ABfYbnbhb9F+lWT5xDeoIu1lEPhiHxoSFel2RaadfHHZjUL1vrHN2Ftzgr380jKpAEhNFarNACcpTkE5vf3fJbpMNiCzkQWhpGAZ8SzAvrJHNPAXxIkjHZ4EgZ8AFjL4uXD4PhEAizXhJ4LJ1X+3tA/4SZdIa9Gc4vCV98gmUsNg+eWK6bTkK+8RI+UoklqnBqrzZeXbmyl1X6L87lRIy7g/U6Yk4KSJBWF+75Bm9Tyz2RcmFeiZwwlXQhrQEu4macH+WTOSkruzwOdwQTyZztwixGniBlshy2jBRM/ZSnnsDhxvYgH2Al0sHQFDjg93YqUDbTHVUh42EAm8RZik37yG9lhfOzOMAgPD4ob80WYe6NLFW5sc3GcAEjDyLInOklT4HBYt9q+KEForvT1Rif+sQYqdsPY6ecuOw+MJBTpipVQ6nyniBwuVb6rGSWThVbjgzpAAzzDLiGCalwZohE2B7jhqTDKjnAZ8DBORxCBBWdDV/ceG6JFuFhtUfWEDtOh6Rd4MdsGDxas4bqlReDo6V5XdSE+hNXYD9rLAii2G7zUNKcfiNwUafmIkyqV8Gu0mT3amXMG/R4H3xcpE829yjU477u7AnQV2SwP6wQDIGfoZBO9ugd7RKg44VKkY6sTB2WzuRcHKRxirAPL+pPXYrRcwviIKmoY1wCkciwUt2kpAjfKW8aaokRbmkQf5b8RLVfgihN1EJBdO6N2+yZUlK7utXk0kxNwXWflTsnIK/+67nk2+GAhjpi26QxVRNnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SoWajJUgFkpVXacNbiGVKi",
      "input": {
        "note": "The yellow banana-shaped toy fills the wrist view slightly right of the jaw column; nudging 2 cm to the arm's right and forward, down to table level for the grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.46,
          "right_y": 0.055,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SoWajJUgFkpVXacNbiGVKi",
      "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, -0.4294, -0.0193, -0.0383, 0.9992, 0.2134, 1.7695, 0.923, -0.0196, 0.1345, 0.0601, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.0507 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4325 right_y=0.0732 right_z=0.0405 right_yaw=0.0606 right_pitch=-0.267 right_roll=-0.0669 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2513, 7.0632, 1.7216, -0.0464, -0.0611, -0.0122, -0.3761, -8.6496, 8.3077, 1.9121, 0.022, 0.0464, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12db4daf3acacef3be2c2fe92885953ea85ba8df86951ee3e11f03c46518cc41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7d5dd7175e1abdd9edf6ef10b8562bc46a16e918e481afe5dff414e93e1154b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5a6523b88354018861ae7bd96b63be75c2d1ec726badbc72d4a369960a28e1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 13.59 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4164, -0.0193, -0.038, 0.9992, 0.2276, 1.4696, 0.8333, -0.1547, 0.149, 0.0822, 0.9996]\nstate[eef_state]: left_x=0.2906 left_y=0.0015 left_z=0.1718 left_yaw=0.0023 left_pitch=-0.0351 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3931 right_y=0.0678 right_z=0.1034 right_yaw=0.0527 right_pitch=-0.1904 right_roll=-0.0496 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.5932, 7.0085, 1.8242, -0.0269, -0.0171, -0.0122, -0.4308, -6.188, 8.4171, 1.8095, 0.0708, 0.0464, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4282, -0.0193, -0.0383, 0.9992, 0.2134, 1.7504, 0.9062, -0.0597, 0.1371, 0.0704, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1687 left_yaw=0.0025 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4211 right_y=0.0702 right_z=0.0361 right_yaw=0.0506 right_pitch=-0.3036 right_roll=-0.0683 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.4154, 6.9812, 1.8095, -0.0269, -0.022, -0.0122, -0.4991, -8.3624, 8.7179, 1.9219, 0.0513, -0.0562, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4294, -0.0193, -0.0383, 0.9992, 0.2134, 1.7695, 0.923, -0.0196, 0.1345, 0.0601, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.0507 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4325 right_y=0.0732 right_z=0.0405 right_yaw=0.0606 right_pitch=-0.267 right_roll=-0.0669 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2513, 7.0632, 1.7216, -0.0464, -0.0611, -0.0122, -0.3761, -8.6496, 8.3077, 1.9121, 0.022, 0.0464, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12db4daf3acacef3be2c2fe92885953ea85ba8df86951ee3e11f03c46518cc41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7d5dd7175e1abdd9edf6ef10b8562bc46a16e918e481afe5dff414e93e1154b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a6523b88354018861ae7bd96b63be75c2d1ec726badbc72d4a369960a28e1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAQKjgEIEhgCKkBVXp0kFjMOUByyQyvD2kKVI87Gcmia/phUGSn+5+qYJYiH63ISNY5ZxeodcIh8vKsNVL1IAxWL/fd1QqEQvC33Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfelzNUGEgwkASBK2g8zLj2lHvwaDIdQqqBTgOxjw4rDjSIwWXXqVNR0TbODr/WVVAHoN3DaC1jU3iHEkySL3ZAP/KPqN4YBWPjcALBi/i4L3KCrKtYCSrXMrTxqJkzvYs+IxbRutgWXJJm11RZTLGx7QFJSstRE1L1OFpcOdtZ1TBCBnRc0yVben10teUJqznMBio2Iha5VtBnsaNfl01t4RkMAyuE6Gntuk4CBlEWXpJX4XidB7ahAWmM7kcJ8Tts96RBEvgFY65cHSJUppVakzLe6eJp8Sto/EMZ3/5nqD1FTQA+rE3m6cGbPhtfeo1aylpOnc3D3xRRDcXxyv9fhRZOW49lSv97F2Wpy0zJXoXbYqDkmjpZsr2loL79zJPHSBpZc9zlpuXj2ErGhS7/wg5A5otcJaIOqTXMp1dtyWaEanMQcRHbrH6wMAZcoXSBlb8T2wl/+bXz0IuqDeyg+sgjYLDoEq+xsD1ZqDF/TD3ZKCXMdPPLPkRaZYzVihZFxPecKBoGxvgW85Uyy04OLVOr8G8qlvSKwCNAubJlXA9DBoCWNWi4/wBcNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JEaWoFuAd63ea7sS24xytL",
      "input": {
        "note": "The arm stalled a few cm short of the last target; re-commanding the descent to table level just over the yellow toy.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.06,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JEaWoFuAd63ea7sS24xytL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.2134, 1.7695, 0.923, -0.0196, 0.1345, 0.0601, 0.9996]\nstate[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1672 left_yaw=0.0027 left_pitch=-0.0568 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4325 right_y=0.0732 right_z=0.0405 right_yaw=0.0606 right_pitch=-0.267 right_roll=-0.0669 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.0598, 7.0632, 1.7265, -0.0611, -0.0415, -0.0073, -0.4034, -8.5128, 8.3761, 1.8828, 0.0317, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1107d3edc330379100a018af7753b93c38e55369c1ce2d1c22145bafbeb6b01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92af555c443696a6a59621b1bf931b974a59d34cd45b8d691c61d798e92359e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a234bc23d01fbfcdb1a675c81d1266c3ac53b7a7b4d77b68d487fa16a138732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 5.465 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4282, -0.0193, -0.0383, 0.9992, 0.2134, 1.7504, 0.9062, -0.0597, 0.1371, 0.0704, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1687 left_yaw=0.0025 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4211 right_y=0.0702 right_z=0.0361 right_yaw=0.0506 right_pitch=-0.3036 right_roll=-0.0683 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.4154, 6.9812, 1.8095, -0.0269, -0.022, -0.0122, -0.4991, -8.3624, 8.7179, 1.9219, 0.0513, -0.0562, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4294, -0.0193, -0.0383, 0.9992, 0.2134, 1.7695, 0.923, -0.0196, 0.1345, 0.0601, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.0507 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4325 right_y=0.0732 right_z=0.0405 right_yaw=0.0606 right_pitch=-0.267 right_roll=-0.0669 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2513, 7.0632, 1.7216, -0.0464, -0.0611, -0.0122, -0.3761, -8.6496, 8.3077, 1.9121, 0.022, 0.0464, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.2134, 1.7695, 0.923, -0.0196, 0.1345, 0.0601, 0.9996]\nstate[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1672 left_yaw=0.0027 left_pitch=-0.0568 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4325 right_y=0.0732 right_z=0.0405 right_yaw=0.0606 right_pitch=-0.267 right_roll=-0.0669 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.0598, 7.0632, 1.7265, -0.0611, -0.0415, -0.0073, -0.4034, -8.5128, 8.3761, 1.8828, 0.0317, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1107d3edc330379100a018af7753b93c38e55369c1ce2d1c22145bafbeb6b01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92af555c443696a6a59621b1bf931b974a59d34cd45b8d691c61d798e92359e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a234bc23d01fbfcdb1a675c81d1266c3ac53b7a7b4d77b68d487fa16a138732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LCmTUTcaWUNEYv2PUJKXka",
      "input": {
        "note": "The right arm has stopped tracking (identical joint readings twice), so I'm backing off upward and shifting 3 cm toward the arm's right to line up with the lemon, tilting the tool forward to help reach.",
        "targets": {
          "right_pitch": 0.2,
          "right_x": 0.43,
          "right_y": 0.045,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01LCmTUTcaWUNEYv2PUJKXka",
      "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, 0.8089, 0.6067, -0.4526, -0.0193, -0.0387, 0.9992, 0.1432, 1.6958, 0.5377, 0.6678, 0.1139, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1625 left_yaw=0.0028 left_pitch=-0.0789 left_roll=-0.0025 left_gripper=0.9992 right_x=0.421 right_y=0.0441 right_z=0.0581 right_yaw=0.0566 right_pitch=0.1019 right_roll=-0.0715 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.347, 7.1179, 1.8877, -0.0659, -0.0708, -0.0073, -0.4171, -7.2547, 5.2855, 2.1368, -0.0855, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97fbb6aac841a0a623d27652b6ef9980cd21be4c90a541c6a1800979ae788037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c34349b6482ed766984a5c04a969cc454f508465be42af975f0e89c76ed6b07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81ccabbeb951d08adf0c7a1d074caa8b0b56aa5abc47ff1aa37abe868d33cd18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 3.963 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4294, -0.0193, -0.0383, 0.9992, 0.2134, 1.7695, 0.923, -0.0196, 0.1345, 0.0601, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1684 left_yaw=0.0025 left_pitch=-0.0507 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4325 right_y=0.0732 right_z=0.0405 right_yaw=0.0606 right_pitch=-0.267 right_roll=-0.0669 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2513, 7.0632, 1.7216, -0.0464, -0.0611, -0.0122, -0.3761, -8.6496, 8.3077, 1.9121, 0.022, 0.0464, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.2134, 1.7695, 0.923, -0.0196, 0.1345, 0.0601, 0.9996]\nstate[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1672 left_yaw=0.0027 left_pitch=-0.0568 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4325 right_y=0.0732 right_z=0.0405 right_yaw=0.0606 right_pitch=-0.267 right_roll=-0.0669 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.0598, 7.0632, 1.7265, -0.0611, -0.0415, -0.0073, -0.4034, -8.5128, 8.3761, 1.8828, 0.0317, 0.0317, -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, 0.8089, 0.6067, -0.4526, -0.0193, -0.0387, 0.9992, 0.1432, 1.6958, 0.5377, 0.6678, 0.1139, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1625 left_yaw=0.0028 left_pitch=-0.0789 left_roll=-0.0025 left_gripper=0.9992 right_x=0.421 right_y=0.0441 right_z=0.0581 right_yaw=0.0566 right_pitch=0.1019 right_roll=-0.0715 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.347, 7.1179, 1.8877, -0.0659, -0.0708, -0.0073, -0.4171, -7.2547, 5.2855, 2.1368, -0.0855, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97fbb6aac841a0a623d27652b6ef9980cd21be4c90a541c6a1800979ae788037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c34349b6482ed766984a5c04a969cc454f508465be42af975f0e89c76ed6b07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81ccabbeb951d08adf0c7a1d074caa8b0b56aa5abc47ff1aa37abe868d33cd18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AMKjgEIEhgCKkBEJXNrTH5SdklD9DO6yvvIsYuthb9grnCjcbWXSHuJVmMH/SgE3xT4WyrqzMcOGoSW4266e7l/+71YqcbI1kkEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYymzNUGEgzwI3ZKZznDphf3QaAaDHaBSypoznscf9nHSyIwbaQDDV8ttb00aW7NnrTYhtuev4sl6lkIXX4AcDQwQSOC9GJKE8n2gCjXwIIZJxCRKu4Blhs6/wG4m1LY/kyVp+yaQ3OOizvhkKzZodKEOnbn7dki/TPjvByRU6q3KF+8vTCeGUbDOpRCeKs9Y3LT1zFSsvBKmx36QW2acc7xwXPpAp6PU2JIAAn32W+MqsUgsi7CJXgCyg00dCgwpoa93jAoJi5OwdH4EaRo5Ap6yR0RKAgrrlrp5NWC3LvRWuHT0zQ7K8mhpqsT1q4Up5IlmHw7gWrE+UyFcsgHVKK7LgZqXxxYGzNkWKAKmjh7bZuv5mWnJkI5qHhzC+FCsB2wmrpODof/VZkD5nSSRx1o59nIMYb6Sjsu+xuvzxy2xv1q1hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YQwA6UhTryq9gq7FdHYpdm",
      "input": {
        "note": "The lemon is now centred on the jaw column in the wrist view; descending to table level over it.",
        "targets": {
          "right_x": 0.44,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01YQwA6UhTryq9gq7FdHYpdm",
      "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, 0.8131, 0.6067, -0.4606, -0.0193, -0.0387, 0.9992, 0.131, 1.948, 0.5785, 0.9703, 0.0952, 0.0002, 0.9996]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1598 left_yaw=0.0028 left_pitch=-0.0911 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4497 right_y=0.0459 right_z=0.034 right_yaw=0.048 right_pitch=0.1926 right_roll=-0.0379 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5385, 6.9675, 1.7265, -0.0855, -0.0415, -0.0122, 0.0205, -4.8205, 3.5897, 0.4127, 0.2076, -0.3736, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f440a710b3e9a12ed2af3aecc04b2190a7e286681977a6f8b2058c3a1ecd3a9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a22c46d0c33b39b77fd0cdd67d7db0c4a878353b1b2b22af9e2de778859adefa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d74381c53accfbbd7302d20e20e265160889593d64d471edbaef8d451abe284a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 7.587 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.2134, 1.7695, 0.923, -0.0196, 0.1345, 0.0601, 0.9996]\nstate[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1672 left_yaw=0.0027 left_pitch=-0.0568 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4325 right_y=0.0732 right_z=0.0405 right_yaw=0.0606 right_pitch=-0.267 right_roll=-0.0669 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.0598, 7.0632, 1.7265, -0.0611, -0.0415, -0.0073, -0.4034, -8.5128, 8.3761, 1.8828, 0.0317, 0.0317, -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, 0.8089, 0.6067, -0.4526, -0.0193, -0.0387, 0.9992, 0.1432, 1.6958, 0.5377, 0.6678, 0.1139, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1625 left_yaw=0.0028 left_pitch=-0.0789 left_roll=-0.0025 left_gripper=0.9992 right_x=0.421 right_y=0.0441 right_z=0.0581 right_yaw=0.0566 right_pitch=0.1019 right_roll=-0.0715 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.347, 7.1179, 1.8877, -0.0659, -0.0708, -0.0073, -0.4171, -7.2547, 5.2855, 2.1368, -0.0855, -0.0855, -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 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, 0.8131, 0.6067, -0.4606, -0.0193, -0.0387, 0.9992, 0.131, 1.948, 0.5785, 0.9703, 0.0952, 0.0002, 0.9996]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1598 left_yaw=0.0028 left_pitch=-0.0911 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4497 right_y=0.0459 right_z=0.034 right_yaw=0.048 right_pitch=0.1926 right_roll=-0.0379 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5385, 6.9675, 1.7265, -0.0855, -0.0415, -0.0122, 0.0205, -4.8205, 3.5897, 0.4127, 0.2076, -0.3736, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f440a710b3e9a12ed2af3aecc04b2190a7e286681977a6f8b2058c3a1ecd3a9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a22c46d0c33b39b77fd0cdd67d7db0c4a878353b1b2b22af9e2de778859adefa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d74381c53accfbbd7302d20e20e265160889593d64d471edbaef8d451abe284a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS2AMKjgEIEhgCKkBALbyKjANh5hGcoVuLhweCb+kzWF+QeIaICC7AX6BSJVQjnVnWIBo6s/Yazoq9+kA6Ao4Hbah4UbN//P+ehAGDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGmzNUGEgy2ndKoCgHlnQVZ39kaDGT0lF7xoKO25ya+ZSIwa/fFOGMGNiKChUfTm23iUAc9h/fadIABxWemC40o6IPRIrCUf9Bqs6zsQjHDAdEiKvYBgl/UNqzf9o6UeCgBTHJk1YmvO0csVrW3O2qSKZ0CrVUXBccql/MEtgaRb3xkpxDW4nUtuFWoGQDextbYJlis13rh6sNDeMOGnX6dPMzESeVj7dJKguVwr+udoWVHLGeo+C0pQ/61ryw7wW/a5ou87wK0KIbBzqWEzg06nicptt4B2MNg0/ckYEf7W3mFY5gUFSQowBLaS9RuowmYR555izR+ZMYaUrn5uV5R5Td1YFDBlePvysdQMmaOGRLuHYAferXLghOEXHsHET54Ck0WMMSUpUzspyMERASUwotoAVbXIxPgbsYue82ThSRVz8bBwD2CmJ8iGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012jDkJjJdjfuLEbvNeRciF8",
      "input": {
        "note": "Lemon is between the open jaws in the wrist view; closing to grasp it.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012jDkJjJdjfuLEbvNeRciF8",
      "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, -0.4728, -0.0193, -0.0387, 0.9992, 0.1314, 1.9656, 0.5816, 0.9554, 0.0929, 0.0002, 0.0548]\nstate[eef_state]: left_x=0.2829 left_y=0.0017 left_z=0.1572 left_yaw=0.0028 left_pitch=-0.1045 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4477 right_y=0.0463 right_z=0.0241 right_yaw=0.0507 right_pitch=0.1632 right_roll=-0.0394 right_gripper=0.0548\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.7558, -0.0562, -0.0317, -0.0122, -0.1983, -9.6479, 3.7265, 2.0195, -0.0024, -0.0024, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7620183613a33711e0e201d5ff38eff2216c1d2609a66533d3c6fe3fe1977d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d096f6e56d53c2fb2c085da821585660c14d4db9a0d3203d4fb58f3f56adedac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:750d18e697383e236dc9163bcceddc585f5d6bc5a6e892262b06929bbf68d03c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 17.42 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, 0.8089, 0.6067, -0.4526, -0.0193, -0.0387, 0.9992, 0.1432, 1.6958, 0.5377, 0.6678, 0.1139, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1625 left_yaw=0.0028 left_pitch=-0.0789 left_roll=-0.0025 left_gripper=0.9992 right_x=0.421 right_y=0.0441 right_z=0.0581 right_yaw=0.0566 right_pitch=0.1019 right_roll=-0.0715 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.347, 7.1179, 1.8877, -0.0659, -0.0708, -0.0073, -0.4171, -7.2547, 5.2855, 2.1368, -0.0855, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8131, 0.6067, -0.4606, -0.0193, -0.0387, 0.9992, 0.131, 1.948, 0.5785, 0.9703, 0.0952, 0.0002, 0.9996]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1598 left_yaw=0.0028 left_pitch=-0.0911 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4497 right_y=0.0459 right_z=0.034 right_yaw=0.048 right_pitch=0.1926 right_roll=-0.0379 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5385, 6.9675, 1.7265, -0.0855, -0.0415, -0.0122, 0.0205, -4.8205, 3.5897, 0.4127, 0.2076, -0.3736, -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 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, 0.8143, 0.6067, -0.4728, -0.0193, -0.0387, 0.9992, 0.1314, 1.9656, 0.5816, 0.9554, 0.0929, 0.0002, 0.0548]\nstate[eef_state]: left_x=0.2829 left_y=0.0017 left_z=0.1572 left_yaw=0.0028 left_pitch=-0.1045 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4477 right_y=0.0463 right_z=0.0241 right_yaw=0.0507 right_pitch=0.1632 right_roll=-0.0394 right_gripper=0.0548\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.7558, -0.0562, -0.0317, -0.0122, -0.1983, -9.6479, 3.7265, 2.0195, -0.0024, -0.0024, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7620183613a33711e0e201d5ff38eff2216c1d2609a66533d3c6fe3fe1977d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d096f6e56d53c2fb2c085da821585660c14d4db9a0d3203d4fb58f3f56adedac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:750d18e697383e236dc9163bcceddc585f5d6bc5a6e892262b06929bbf68d03c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAUKjgEIEhgCKkA1daqhRSZOCzCm6WMcwleVfu9ahwSowukc5LmEUhjyIUj7cTsL38Ow9lfXl/xEP3Fp/96AcIMfs6Z2L3XnHolyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZmmzNUGEgzyLrNdpQmkl+JHJ7QaDKPeg4ZpZg7QJHenpCIw8U9e+7EncPBLI4VlneqqLrqn+d1q/cOswcernti2mOO5+Lju5G8Q+AVHITL3IGnfKrIDnAwK3sfcVzyNgOCQ6iIxGszope5OQ27PHNrp6dL8LOU859ekNKaas5ylS/u7adiEJQ1zSLcwYzgYqshfKikvxwFfGhYgnelVj57cCOtpDyteX6PSrd0La/09iGL0Wq01SqnuW4Q7EOhwvjM+iZrkezbXIp4fJsckfsKInoNwLJBXkm6sb+uOLTt5vs76vrRemRADCbe/BQE8oxBnxQb+vVnljAkALsQ9Hc2KGNex4FPC8Uq7aZq0Bt7HpZt2UjS2dIYaiRNOI9ucGPM3oeEoAcDPP5r1H7ORk2iJ2s65uR8E9ngESe+OQH8rmul2yKsmEotlnHuZ1GI5MI+FkjwztBz1cOs8YHC22usfXbhUPlBogdv1sLYbdTzlMuaKGRoBjYneB9jOWFgBrnPuaRsX+w4aPQZrTlE9YHVZUKTvjzmhAb9RYR3eLK1/kXy/nuAax+nnioJ0xq91KCVeaSz3iLZESMKYcoa5OxPa5Ob7VOoZyHvYzKKyRlL5eJM8a0OmAELplbqIsJuFPKS5w/T7TYtEwxfouEDNR/OW7//1vQKxVE8uj+f9DRFVl/brDfYnnDAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XoGhCAoZzTqVhJTqCMsNrz",
      "input": {
        "note": "Gripper closed to the commanded 0.05 which suggests it may have missed; lifting to check 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 7 steps (0.7s)",
      "tool_use_id": "toolu_01XoGhCAoZzTqVhJTqCMsNrz",
      "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, 0.8169, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.1314, 1.6314, 0.6563, 0.5133, 0.0887, -0.0006, 0.0541]\nstate[eef_state]: left_x=0.2818 left_y=0.0017 left_z=0.1551 left_yaw=0.0028 left_pitch=-0.1144 left_roll=-0.0017 left_gripper=0.9992 right_x=0.4413 right_y=0.0462 right_z=0.097 right_yaw=0.0551 right_pitch=0.13 right_roll=-0.0409 right_gripper=0.0541\nstate[joint_eff]: [-0.0479, -1.4564, 7.0085, 1.7851, -0.0855, -0.0513, -0.0122, -0.1026, -8.4718, 8.6769, 2.1807, 0.0562, -0.022, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07c6c55fcb5bf397a4e66d60ffb751dd778cf43c83915574e13c6cff14161e17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e140e799cc813b95a6b003ae87dd5f97b1273f9bd649404ac093b601c97c79c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d09c30e0036a6c61f8f4dc43fb0e3b910fb91795c5b6667a3fe26d973c5b2c15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 11.97 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, 0.8131, 0.6067, -0.4606, -0.0193, -0.0387, 0.9992, 0.131, 1.948, 0.5785, 0.9703, 0.0952, 0.0002, 0.9996]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1598 left_yaw=0.0028 left_pitch=-0.0911 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4497 right_y=0.0459 right_z=0.034 right_yaw=0.048 right_pitch=0.1926 right_roll=-0.0379 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5385, 6.9675, 1.7265, -0.0855, -0.0415, -0.0122, 0.0205, -4.8205, 3.5897, 0.4127, 0.2076, -0.3736, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8143, 0.6067, -0.4728, -0.0193, -0.0387, 0.9992, 0.1314, 1.9656, 0.5816, 0.9554, 0.0929, 0.0002, 0.0548]\nstate[eef_state]: left_x=0.2829 left_y=0.0017 left_z=0.1572 left_yaw=0.0028 left_pitch=-0.1045 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4477 right_y=0.0463 right_z=0.0241 right_yaw=0.0507 right_pitch=0.1632 right_roll=-0.0394 right_gripper=0.0548\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.7558, -0.0562, -0.0317, -0.0122, -0.1983, -9.6479, 3.7265, 2.0195, -0.0024, -0.0024, 0.0611]\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, 0.8169, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.1314, 1.6314, 0.6563, 0.5133, 0.0887, -0.0006, 0.0541]\nstate[eef_state]: left_x=0.2818 left_y=0.0017 left_z=0.1551 left_yaw=0.0028 left_pitch=-0.1144 left_roll=-0.0017 left_gripper=0.9992 right_x=0.4413 right_y=0.0462 right_z=0.097 right_yaw=0.0551 right_pitch=0.13 right_roll=-0.0409 right_gripper=0.0541\nstate[joint_eff]: [-0.0479, -1.4564, 7.0085, 1.7851, -0.0855, -0.0513, -0.0122, -0.1026, -8.4718, 8.6769, 2.1807, 0.0562, -0.022, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07c6c55fcb5bf397a4e66d60ffb751dd778cf43c83915574e13c6cff14161e17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e140e799cc813b95a6b003ae87dd5f97b1273f9bd649404ac093b601c97c79c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d09c30e0036a6c61f8f4dc43fb0e3b910fb91795c5b6667a3fe26d973c5b2c15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowkKjgEIEhgCKkA9UifedGHKS/bNVTz6AKGmYq/UZ0rHtXeAq98nsUneUWmvrfsn53xuQd0dy2bUP29YZhJ/3rf0weg6Hxucv2DKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaumzNUGEgwuzt24w7AO2JxDzskaDE4WmsO3NNOpMhzY9iIwS8cCm4C9UOGNLm13B2i3Wt84KxMYnnF2TqqTCE8Xh5NYTU5WhlLkANrEaN83B9nRKsEH+q3mFKAyEW60jTiUsGUEVICWGx+9FhxMCgb/IzURl2kFMCHvgWOwV4dIT/Nm4XY6r+f8NvDNUKfQgC0rmmeF6z9uHdwuvo78gsQPrWACXZbB+PqqeV67Mv/diJYMrBJQhwHQ0iQAPIXaa4C/aKs4bim/vfSGXRJoU/12Ly7uJLAXyWY2QqWtBBgi1T+ralDffn0NhW9ksheqp45DjhI2dicKGytKZNtt2aLueyeB/cyqwTGQ4uv3Z57XXTB4nS1cNQQM/Wuzo2PLjCZUfrptiTKzd3YNUAOzB/NKUdpYMTGtSdknCyRdWJFUjNq1psDhTluU4mWlgGUmBuQEta8QBft1sWWtb4hkEnqWJ/xBL/u9LfGLuDJBIsRQRkOtZj8oUgcISLABx8jxjYX6iE06UnDLA1d6cZdYwUvA2b+3iHAJ9lh5lyHZfkEIXO8zMjh44ga8cSlGRpV+fZnfT6FgDE8bOrpzgVeDT3cCD8MrbopugQjkgaEo37/RFsPX0iVE7YxbwVsYe57G/2lQtZz/+FgmfbTMwXZydjPHfF4B2QL0Kxg4JsWyt0RrE1BLdqz9dstGNvS9T19yBwhEMSdS1PLHJ9Irray7nukNqeC9h+btvxz4Ak/MFjTTgYI+eS8Iv07U5Wcs2veA3qszKVJA0yOUeOkHmN+YqV/FGw0boxW5JReKZe8caONpGmUoIWcp+4AgA01SSxplktEVE/HOB0Nrt/XhV/0pW4cNtDHIZeubcBSqaxljcztKwGG4OV2mKViR0ZwwwIJ1b/8ndUyKMlxQutAzCSq6N4BrCbFEfi6ccK+lXN/tKSmzluwHmEjPYR5/gXgwj963gedh1tT5e9oOc4fo1UaBDnIn/6Uip/CR1yeRUEPAIJGPHdNnNQisYf3W9v0lPO3wmVo3GNTkz3/F+dRJzu4J1/ubQ8sUcoU2KaxgHiZVdy/yrR/Stqx7Y9cNcSp1X37ymvRpEXEI+L0w4sbpc431JL2+oF/QA2ugTPJSA6rqBNCdwnoFhk81dhqKVXyimSZqsNKkVpju2+qJVjKwI5p9XJX2qNEOa3bf21K8oovS3W22ktz2wCTjH45Guk9vCA+uc7FMBVNi9kgCwh3xdA5noqis21nppc+lBmJfwrMQ9UPQHrfzSKjlMzVswdKsz0jWCiyWvDkYdk/4AGY0mvN4l8LjssogKp8V3dDq836ZWoLhNb640I5WeHKXKDahcabXx4gMrsS/410hoihU9WdmIuwh9TR+irPI9krten0zsfTaWai13y+10hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019CjwmsuhaFz7bwxJZ3kjvt",
      "input": {
        "note": "The lemon is held in the jaws and lifted. Carrying it left and up toward the open safe, which sits near the middle of the table.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.25,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_019CjwmsuhaFz7bwxJZ3kjvt",
      "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, -0.4965, -0.0193, -0.0383, 0.9992, 0.7353, 1.676, 1.2499, -0.1738, 0.58, 0.2821, 0.054]\nstate[eef_state]: left_x=0.2793 left_y=0.0017 left_z=0.1515 left_yaw=0.0027 left_pitch=-0.1327 left_roll=-0.001 left_gripper=0.9992 right_x=0.4152 right_y=0.2499 right_z=0.2051 right_yaw=0.1047 right_pitch=0.0971 right_roll=-0.0684 right_gripper=0.054\nstate[joint_eff]: [-0.294, -1.4564, 6.9265, 1.7558, -0.0562, -0.0024, -0.0122, -0.0479, -7.8017, 9.3197, 1.7851, 0.3541, 0.2369, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b45da849e7eaa2fd48790581adcd6a48c52936f2e7ce5e0550b6c83c9b5473f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807c62f530ed381b912b7efbf83cd3213667e24ec50cfce4f41a4d423a53da7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:679839ee3a803dbdacfbda8ea61b4c81bd4bc41fb441e50cf050f5ec20435e63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 7.293 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, 0.8143, 0.6067, -0.4728, -0.0193, -0.0387, 0.9992, 0.1314, 1.9656, 0.5816, 0.9554, 0.0929, 0.0002, 0.0548]\nstate[eef_state]: left_x=0.2829 left_y=0.0017 left_z=0.1572 left_yaw=0.0028 left_pitch=-0.1045 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4477 right_y=0.0463 right_z=0.0241 right_yaw=0.0507 right_pitch=0.1632 right_roll=-0.0394 right_gripper=0.0548\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.7558, -0.0562, -0.0317, -0.0122, -0.1983, -9.6479, 3.7265, 2.0195, -0.0024, -0.0024, 0.0611]\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, 0.8169, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.1314, 1.6314, 0.6563, 0.5133, 0.0887, -0.0006, 0.0541]\nstate[eef_state]: left_x=0.2818 left_y=0.0017 left_z=0.1551 left_yaw=0.0028 left_pitch=-0.1144 left_roll=-0.0017 left_gripper=0.9992 right_x=0.4413 right_y=0.0462 right_z=0.097 right_yaw=0.0551 right_pitch=0.13 right_roll=-0.0409 right_gripper=0.0541\nstate[joint_eff]: [-0.0479, -1.4564, 7.0085, 1.7851, -0.0855, -0.0513, -0.0122, -0.1026, -8.4718, 8.6769, 2.1807, 0.0562, -0.022, -0.0806]",
      "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, 0.8188, 0.6067, -0.4965, -0.0193, -0.0383, 0.9992, 0.7353, 1.676, 1.2499, -0.1738, 0.58, 0.2821, 0.054]\nstate[eef_state]: left_x=0.2793 left_y=0.0017 left_z=0.1515 left_yaw=0.0027 left_pitch=-0.1327 left_roll=-0.001 left_gripper=0.9992 right_x=0.4152 right_y=0.2499 right_z=0.2051 right_yaw=0.1047 right_pitch=0.0971 right_roll=-0.0684 right_gripper=0.054\nstate[joint_eff]: [-0.294, -1.4564, 6.9265, 1.7558, -0.0562, -0.0024, -0.0122, -0.0479, -7.8017, 9.3197, 1.7851, 0.3541, 0.2369, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b45da849e7eaa2fd48790581adcd6a48c52936f2e7ce5e0550b6c83c9b5473f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807c62f530ed381b912b7efbf83cd3213667e24ec50cfce4f41a4d423a53da7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:679839ee3a803dbdacfbda8ea61b4c81bd4bc41fb441e50cf050f5ec20435e63",
        "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_01T6bDoXaEhQASK6HPiFZmrA",
      "input": {
        "note": "The lemon slipped out of the jaws and is back on the table at its original spot; the wrist view confirmed the safe opening is at about right (0.42, 0.25). Returning above the lemon to retry the grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.44,
          "right_y": 0.05,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01T6bDoXaEhQASK6HPiFZmrA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.514, -0.0193, -0.0387, 0.9992, 0.1406, 1.5486, 0.7284, 0.2668, 0.0952, -0.0265, 0.9969]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1481 left_yaw=0.0029 left_pitch=-0.1506 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4321 right_y=0.0478 right_z=0.1086 right_yaw=0.0738 right_pitch=0.0381 right_roll=-0.0734 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -1.0598, 7.2, 1.7998, -0.0513, -0.022, -0.0122, -0.212, -6.0376, 6.4479, 2.3663, -0.0464, -0.0806, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9efb8aae79291a7abf15aedb063e7bd323c0ab4cbd6dc125c7b1513bc12bfc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88383dfda31dfbd261173a7edddb273cf99bfab647f2369333d6b671dfb13e85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:367c193168366befc58a33f4852ef7a9dc16966bb21c9a2ca1b3f4c6c58caaab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 7.735 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, 0.8169, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.1314, 1.6314, 0.6563, 0.5133, 0.0887, -0.0006, 0.0541]\nstate[eef_state]: left_x=0.2818 left_y=0.0017 left_z=0.1551 left_yaw=0.0028 left_pitch=-0.1144 left_roll=-0.0017 left_gripper=0.9992 right_x=0.4413 right_y=0.0462 right_z=0.097 right_yaw=0.0551 right_pitch=0.13 right_roll=-0.0409 right_gripper=0.0541\nstate[joint_eff]: [-0.0479, -1.4564, 7.0085, 1.7851, -0.0855, -0.0513, -0.0122, -0.1026, -8.4718, 8.6769, 2.1807, 0.0562, -0.022, -0.0806]",
      "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, 0.8188, 0.6067, -0.4965, -0.0193, -0.0383, 0.9992, 0.7353, 1.676, 1.2499, -0.1738, 0.58, 0.2821, 0.054]\nstate[eef_state]: left_x=0.2793 left_y=0.0017 left_z=0.1515 left_yaw=0.0027 left_pitch=-0.1327 left_roll=-0.001 left_gripper=0.9992 right_x=0.4152 right_y=0.2499 right_z=0.2051 right_yaw=0.1047 right_pitch=0.0971 right_roll=-0.0684 right_gripper=0.054\nstate[joint_eff]: [-0.294, -1.4564, 6.9265, 1.7558, -0.0562, -0.0024, -0.0122, -0.0479, -7.8017, 9.3197, 1.7851, 0.3541, 0.2369, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.514, -0.0193, -0.0387, 0.9992, 0.1406, 1.5486, 0.7284, 0.2668, 0.0952, -0.0265, 0.9969]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1481 left_yaw=0.0029 left_pitch=-0.1506 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4321 right_y=0.0478 right_z=0.1086 right_yaw=0.0738 right_pitch=0.0381 right_roll=-0.0734 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -1.0598, 7.2, 1.7998, -0.0513, -0.022, -0.0122, -0.212, -6.0376, 6.4479, 2.3663, -0.0464, -0.0806, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9efb8aae79291a7abf15aedb063e7bd323c0ab4cbd6dc125c7b1513bc12bfc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88383dfda31dfbd261173a7edddb273cf99bfab647f2369333d6b671dfb13e85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:367c193168366befc58a33f4852ef7a9dc16966bb21c9a2ca1b3f4c6c58caaab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS3gUKjgEIEhgCKkDPsk4Hd085bmNqYBWgFlLRP5kbcYrepIYNddPFMjbBWvUICzcNZV4eM72mA3/C2DI/LtCkXFWKeIPfi75nFvONMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcGmzNUGEgzGCoVRfNrw3r1ontIaDKvEBhayA1AzelktSiIwaj3dBTq3eikbke8w/lg+EAZVA9zdnFSUTH3nEp8O8aqF8Ve0jqbMTDGlujxuz5WVKvwDv8aPaPynyDm6zZDUY5Xkk3mGemE89+oRyj2qcQCcrAl4uwNg5mm6lIjUg++36edKeANljSf0yyEhi93jWBG4EncUhkp86NcUKHGKtNlmMjxZ9vnEL14VOKh6Uz3ipb0ZSzUiCmZjn4LJBe33Ca1AAM2wX/8iKRYO0bHVKjIQS3RUmfrY8OiiCN09mct1TPAuYTn2sERrmu7vVIRM0D05YCEEIarpYST0Rc0EgDEACLfCdO56iBiF3wL1TIzN/QwZg1I/fL/Y7ctvGQUYvyADhNxxKVxthMl2HtQLGJgpznVpSJ8Vegi6rle98goLNVIZYwy/9wWi5x+dWbg2XRSFF4r/nYMt7iz93zivnmla0V6MCavV6/gSr942qk4NJivUPaTCTMzXo0u2dGPD34XaaV7tISthJkPcjv0CYlTN2O/Pinx2jMRpzJBMrgkWyOOTZxlooz3ghuEkl1KjK6gi8r5uMxamSCWUNMFAou0W4uUF8WTLH/xlc460MnSaD+OtBO6/DEELRbps3YGGcN9mVk/NGqHCB8zGtC0tjA6AD0NqOZAvwT3E/LeJG/qZEudQKHBMQigNLOlHUtClAMwMT3NCtuF6+xvzUlkmN1Csgttzlbo2SlU0u8v5laJ0moV8m+gPfVGkHxGGHMuWL915/YqsPgRs3UD9jn7DxxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FaCP5F6Pz1wDPvYG1WJgFx",
      "input": {
        "note": "Lemon is centred on the jaw column and close in the wrist view; descending to just above table level around it.",
        "targets": {
          "right_x": 0.445,
          "right_y": 0.05,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01FaCP5F6Pz1wDPvYG1WJgFx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.136, 1.8732, 0.6476, 0.6674, 0.091, -0.0219, 0.998]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1456 left_yaw=0.0025 left_pitch=-0.164 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4443 right_y=0.0482 right_z=0.0236 right_yaw=0.0702 right_pitch=0.0332 right_roll=-0.0676 right_gripper=0.998\nstate[joint_eff]: [-0.0889, -1.3744, 7.0359, 1.6972, -0.0366, -0.0513, -0.0122, 0.1983, -6.0376, 4.3145, 1.1697, 0.0806, -0.1587, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32e1d8899692d60cfee4e2c41fba328eb846288cbed9cbff4fd2472ea17635d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7a2b75d67a408cc539600e8759073f719d88e08a25f15f0f80ced244afb3d63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a73b862ad07cd7b77d91e97ef32da1066549933f84e33426f2eb3ab8a41f0f5e",
        "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 · 7.368 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, 0.8188, 0.6067, -0.4965, -0.0193, -0.0383, 0.9992, 0.7353, 1.676, 1.2499, -0.1738, 0.58, 0.2821, 0.054]\nstate[eef_state]: left_x=0.2793 left_y=0.0017 left_z=0.1515 left_yaw=0.0027 left_pitch=-0.1327 left_roll=-0.001 left_gripper=0.9992 right_x=0.4152 right_y=0.2499 right_z=0.2051 right_yaw=0.1047 right_pitch=0.0971 right_roll=-0.0684 right_gripper=0.054\nstate[joint_eff]: [-0.294, -1.4564, 6.9265, 1.7558, -0.0562, -0.0024, -0.0122, -0.0479, -7.8017, 9.3197, 1.7851, 0.3541, 0.2369, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.514, -0.0193, -0.0387, 0.9992, 0.1406, 1.5486, 0.7284, 0.2668, 0.0952, -0.0265, 0.9969]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1481 left_yaw=0.0029 left_pitch=-0.1506 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4321 right_y=0.0478 right_z=0.1086 right_yaw=0.0738 right_pitch=0.0381 right_roll=-0.0734 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -1.0598, 7.2, 1.7998, -0.0513, -0.022, -0.0122, -0.212, -6.0376, 6.4479, 2.3663, -0.0464, -0.0806, -0.1245]",
      "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, 0.8207, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.136, 1.8732, 0.6476, 0.6674, 0.091, -0.0219, 0.998]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1456 left_yaw=0.0025 left_pitch=-0.164 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4443 right_y=0.0482 right_z=0.0236 right_yaw=0.0702 right_pitch=0.0332 right_roll=-0.0676 right_gripper=0.998\nstate[joint_eff]: [-0.0889, -1.3744, 7.0359, 1.6972, -0.0366, -0.0513, -0.0122, 0.1983, -6.0376, 4.3145, 1.1697, 0.0806, -0.1587, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32e1d8899692d60cfee4e2c41fba328eb846288cbed9cbff4fd2472ea17635d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7a2b75d67a408cc539600e8759073f719d88e08a25f15f0f80ced244afb3d63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a73b862ad07cd7b77d91e97ef32da1066549933f84e33426f2eb3ab8a41f0f5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugcKjgEIEhgCKkApHDfdvXebDyw0Luc3UX4QgJTEGoIPE+gzupaxFTRwvCmmyIHC446ahuHz++NjhH2qbLEBgV2a32qIiLqJuGp8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcqmzNUGEgyx4w0BVM99kdnQxpAaDKZRFR19jKQISBY00iIwH6OCqsFBDrZLC3uaWA0oVzFEE24klXy5zL8MmFOHSFYsPu6S3tFn8YwMBZiRo7w3KtgFKxwgmBVtKDMOwzQDyvGWPiccNjWkErE1kV96UAETeQyyVcOhO1U75a9Jhe8w1zHyEns1KTxnw7+/aZlPsx3jKiLBKQ7srwuvRm/JkX0tfEON8gzVzUL3fbijr19FSRC1NZaoHHBg/sYOO7b3Gv63Y4szlg4UQUVKWVoprRHUIYvbMiFVKV+NAbN36bLLxYoU/WImaCS/FNTAnZqRZAczm61Bjy6Jq66gNXRSqW9fRm+rzOTEQ7MdRJ/Y4tXEP5Q9HJVZVkthUgEoau3M3gFR9sPt7quUqZdr7XfwHKqvp7z8LpH31Os1FXpbTnf365rYTYP1xW8oijko0txUJ12eFiQbtdb80ALJxyD1TPyoFbD89RB9G4MpfsZRxkg3j6uMv+Snd0gRe4z2NwwShl+MWQfoseShz8JHiHhxOkJCBCQlxZy8pNbCcR4QyGzqWHthZ3MPwLKxKFQ5lUx7xPRoZZgLEoCbMdjuxymCVXEB4UehdCF2rnGGnEq/35WgNAFFqklH3CAlLH4vCg+hZc3kD9BrzpZDYc+35idaSWmXrEsuFK/IaiDffGkjgUAU/US3UOk37o2zxJPKeyPhANxcrnmL323wwWiGnNjXVaJnekMK9Dz0FZQGg/pGw8APfiFlu8kw3CTRmgoI21vyfm0PsV4clG+9qMhSfWHc3iOC/fVbZB2+Oe/Bd+k9Y2KCPGPI7BmfpzIvVCJgQPgi1N9dJvXIwIsAl3zCzLhDS3xWn73cT3IrdzJI5WUV7Rtwy80a4toWo1VcOzL4MO0V2andsRjxX+NHfU2Ot0J69Hn66FS5G0oSZ3vZGnI4aJsy9OCJC8jeVy1wVQmo/40F5Yb4OLLoqupWGUnQ0VkQQuPdu0TRY22X+ZafCup0pAdDAiR36dr3jW5QFqNkL1ctV4yekYnx5L2O2qa2J0ZsGIEgSNySQHJUWBgeqrVxBbdcEyFCULYAsUi8vXsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NH8AFe9upFeJYPQqXiDsj4",
      "input": {
        "note": "Lemon sits squarely between the jaws; closing to about 2 cm jaw gap to grip it.",
        "targets": {
          "right_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01NH8AFe9upFeJYPQqXiDsj4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5404, -0.0193, -0.0387, 0.9992, 0.1364, 1.8923, 0.6476, 0.6487, 0.0895, -0.0261, 0.2047]\nstate[eef_state]: left_x=0.2721 left_y=0.0019 left_z=0.143 left_yaw=0.003 left_pitch=-0.1785 left_roll=-0.0003 left_gripper=0.9992 right_x=0.44 right_y=0.0481 right_z=0.0116 right_yaw=0.0742 right_pitch=-0.0047 right_roll=-0.0727 right_gripper=0.2047\nstate[joint_eff]: [-0.1846, -1.2786, 6.8855, 1.6679, -0.0562, -0.0415, -0.0122, -0.1162, -9.7162, 4.6564, 1.9414, 0.0464, -0.0024, 0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73fd01d059174740b3547c3d7706df9ee6b424c89484e470ddd6ca89a28e9bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7845709ee1da5f387f6c6b7837584d9e2c891188d1f89a16eb0f478ab38d0dae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16c72c8093a0079fbc5cf5bc6d382cd2727413ffb90462a9245d7737231de0ce",
        "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 · 10.72 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, 0.8192, 0.6067, -0.514, -0.0193, -0.0387, 0.9992, 0.1406, 1.5486, 0.7284, 0.2668, 0.0952, -0.0265, 0.9969]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1481 left_yaw=0.0029 left_pitch=-0.1506 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4321 right_y=0.0478 right_z=0.1086 right_yaw=0.0738 right_pitch=0.0381 right_roll=-0.0734 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -1.0598, 7.2, 1.7998, -0.0513, -0.022, -0.0122, -0.212, -6.0376, 6.4479, 2.3663, -0.0464, -0.0806, -0.1245]",
      "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, 0.8207, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.136, 1.8732, 0.6476, 0.6674, 0.091, -0.0219, 0.998]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1456 left_yaw=0.0025 left_pitch=-0.164 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4443 right_y=0.0482 right_z=0.0236 right_yaw=0.0702 right_pitch=0.0332 right_roll=-0.0676 right_gripper=0.998\nstate[joint_eff]: [-0.0889, -1.3744, 7.0359, 1.6972, -0.0366, -0.0513, -0.0122, 0.1983, -6.0376, 4.3145, 1.1697, 0.0806, -0.1587, 0.1001]",
      "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, 0.8207, 0.6067, -0.5404, -0.0193, -0.0387, 0.9992, 0.1364, 1.8923, 0.6476, 0.6487, 0.0895, -0.0261, 0.2047]\nstate[eef_state]: left_x=0.2721 left_y=0.0019 left_z=0.143 left_yaw=0.003 left_pitch=-0.1785 left_roll=-0.0003 left_gripper=0.9992 right_x=0.44 right_y=0.0481 right_z=0.0116 right_yaw=0.0742 right_pitch=-0.0047 right_roll=-0.0727 right_gripper=0.2047\nstate[joint_eff]: [-0.1846, -1.2786, 6.8855, 1.6679, -0.0562, -0.0415, -0.0122, -0.1162, -9.7162, 4.6564, 1.9414, 0.0464, -0.0024, 0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73fd01d059174740b3547c3d7706df9ee6b424c89484e470ddd6ca89a28e9bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7845709ee1da5f387f6c6b7837584d9e2c891188d1f89a16eb0f478ab38d0dae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16c72c8093a0079fbc5cf5bc6d382cd2727413ffb90462a9245d7737231de0ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS5wcKjgEIEhgCKkCtOFA1QWvYpALqq8T7Hd4nuBmNYbC9wjnHGSlZNZNFoI2oUbw7N6gQvqeuen4IE2OBvRUp7kf7QPIs6yoqzklsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdKmzNUGEgxnwebKIRJ9lRpzZuQaDFyeEhaw/Xp4G3BUyiIw4jmmmgYUUQUOIceE/rdlE+0A2R862qqZIyrl5ejLUO86zBGTd4dDQv4pc6bwJab9KoUGK7AmZZDPLnTp3xIRHuKj0ORzDSY2lxADM1v//tRd0WBYAkEq2Vlip+3MGrn8rnVMY8P9CCodMQc8xahNZUD1gxJ0gvFx2gNWSkU0wpqOnOGRjX+91AWS3tmtlO9ri60IhSuBY7c0ck/3w/fQD3w4I2IeeljP4bsc/7JPBsk7MMNnsQEaM7ckrqsVX7hZSE8u7aiKxnRtj+iB+arrKhfALkODknqRbg4gCHdewDuXQ65AmwNp8M4wf1DZ2LGfTnm/42GeD/Frw4xMSVuhM8QutfDGYRqllm5Y6IMKDScZ9eh6eHwSOTqZ5b4LTP8dYauS7kF4AQ/R/UvpMKc1f05f/Ls+X10yR4Ym0zBl7RcA2zfkFhOb6UymYqlMQkxA3Ovuohe7JcmBNLgChwZyv54L5rYUhmTWx7M929zT9p/xjmKfIz7coUzjEcsbct4sY0B7PzQQXHtmmKfVinuYZsXM/Qx5PCRlj0AO9XotKhW3LbgthNKvH9JQFLST30wqAqHotnct7mtsfllXNgcEAv6Qq2l1Sr3XijjTFLfra9J0E3nxbNDZu+M7qhB+bbHiT5f4pcpG5w7GoWVlhxCzOAAd+1rdHjx5vhYjUiqxyQ8ubOnuO/QIU79N6UihM7Iy+lmwo2O0kCwnX0T5uKb3T6UfdmYKzUmYuZcImSpNxLeJ39Rsl/Vg80V3ktwrtw8oixUvLdCD82Xu+CsOVQFuGRTugquusmHI1eLv6XTlJxWhZfM8ELZEqC31Xz+FE2pyG1LxHzGnNoB3eLISLk9ikBAI/al0P8wRlyZS5XaOXWT71MuEOQTHEH/y9BBXHaO0o9So02p/4dlZji8BftD2eaVV1BZ1TUnxg9ZgN2hXWDyCqmd41hRc+ikOoH4SetJQRVCmL8tsI4soy421nU0iz46rhk3nvhyJJIUwTgJqBs6dz23JCOh4w8E92eECVIzkMkq9Li7zTxvdAf9bU6x8XRQB/GNrTDFKJ/So5EGsC5BLmjRPDrf4GvoyZfPJa1cmcpcxdH7KTjEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015m5mss6jk8AKFLmMmKdsvg",
      "input": {
        "note": "Second empty close: the jaws are passing beyond the lemon, so the lemon is actually nearer the base than the fingertips. Opening and pulling back 3 cm.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.41,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015m5mss6jk8AKFLmMmKdsvg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5552, -0.0193, -0.0387, 0.9992, 0.1471, 1.8015, 0.5354, 0.6212, 0.0933, -0.0242, 0.9949]\nstate[eef_state]: left_x=0.2697 left_y=0.0019 left_z=0.1393 left_yaw=0.0031 left_pitch=-0.1972 left_roll=0.0002 left_gripper=0.9992 right_x=0.4053 right_y=0.047 right_z=0.0056 right_yaw=0.0806 right_pitch=-0.0532 right_roll=-0.0765 right_gripper=0.9949\nstate[joint_eff]: [-0.0068, -1.6205, 6.9812, 1.7021, -0.0806, -0.0415, -0.0073, 0.2393, -8.6769, 4.6701, 1.9267, 0.0708, 0.0024, -0.2222]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c732045eed13caa8b315356f5d4da9cb240c9d06fdb169eca9b47d660e60873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:036b2fef143e0065412463dd2d13297c085d8094f461e7f2aaf0c98ac116909f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51b834c5974f5020c84287c97774d440e6526833c3d5a8f43cde9792b7f6caaf",
        "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 · 3.571 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, 0.8207, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.136, 1.8732, 0.6476, 0.6674, 0.091, -0.0219, 0.998]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1456 left_yaw=0.0025 left_pitch=-0.164 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4443 right_y=0.0482 right_z=0.0236 right_yaw=0.0702 right_pitch=0.0332 right_roll=-0.0676 right_gripper=0.998\nstate[joint_eff]: [-0.0889, -1.3744, 7.0359, 1.6972, -0.0366, -0.0513, -0.0122, 0.1983, -6.0376, 4.3145, 1.1697, 0.0806, -0.1587, 0.1001]",
      "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, 0.8207, 0.6067, -0.5404, -0.0193, -0.0387, 0.9992, 0.1364, 1.8923, 0.6476, 0.6487, 0.0895, -0.0261, 0.2047]\nstate[eef_state]: left_x=0.2721 left_y=0.0019 left_z=0.143 left_yaw=0.003 left_pitch=-0.1785 left_roll=-0.0003 left_gripper=0.9992 right_x=0.44 right_y=0.0481 right_z=0.0116 right_yaw=0.0742 right_pitch=-0.0047 right_roll=-0.0727 right_gripper=0.2047\nstate[joint_eff]: [-0.1846, -1.2786, 6.8855, 1.6679, -0.0562, -0.0415, -0.0122, -0.1162, -9.7162, 4.6564, 1.9414, 0.0464, -0.0024, 0.2271]",
      "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, 0.8246, 0.6067, -0.5552, -0.0193, -0.0387, 0.9992, 0.1471, 1.8015, 0.5354, 0.6212, 0.0933, -0.0242, 0.9949]\nstate[eef_state]: left_x=0.2697 left_y=0.0019 left_z=0.1393 left_yaw=0.0031 left_pitch=-0.1972 left_roll=0.0002 left_gripper=0.9992 right_x=0.4053 right_y=0.047 right_z=0.0056 right_yaw=0.0806 right_pitch=-0.0532 right_roll=-0.0765 right_gripper=0.9949\nstate[joint_eff]: [-0.0068, -1.6205, 6.9812, 1.7021, -0.0806, -0.0415, -0.0073, 0.2393, -8.6769, 4.6701, 1.9267, 0.0708, 0.0024, -0.2222]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c732045eed13caa8b315356f5d4da9cb240c9d06fdb169eca9b47d660e60873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:036b2fef143e0065412463dd2d13297c085d8094f461e7f2aaf0c98ac116909f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51b834c5974f5020c84287c97774d440e6526833c3d5a8f43cde9792b7f6caaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LdhqdqtrykXpzV8ZFm6fdA",
      "input": {
        "note": "Backing off made the lemon look smaller and further, so it is beyond the fingertips; pushing out to x=0.49 with the tool pitched forward to gain reach.",
        "targets": {
          "right_pitch": 0.4,
          "right_x": 0.49,
          "right_y": 0.05,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01LdhqdqtrykXpzV8ZFm6fdA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6067, -0.5663, -0.0193, -0.0387, 0.9992, 0.1291, 2.2581, 0.6842, 1.3258, 0.0784, -0.0521, 0.9966]\nstate[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1372 left_yaw=0.0032 left_pitch=-0.209 left_roll=0.0004 left_gripper=0.9992 right_x=0.4829 right_y=0.0524 right_z=0.0106 right_yaw=0.0882 right_pitch=0.3415 right_roll=-0.074 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.3607, 7.0632, 1.6337, -0.0708, -0.0317, -0.0122, -0.5402, -8.0479, 3.9863, 2.1026, 0.0513, -0.0464, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0866b8e3a6179b7dd292409cc0c5107a8bf47e86e2cba333f89c8f44e2f37564",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73b88886173041ca11bfc93049a5c9c5e71ed37634e0c980d902240e1d68cc99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5b018aacad5dd85809ab191f830cb1a39d3d1cfa0493f6550ca29bb6f5d9612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.484 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, 0.8207, 0.6067, -0.5404, -0.0193, -0.0387, 0.9992, 0.1364, 1.8923, 0.6476, 0.6487, 0.0895, -0.0261, 0.2047]\nstate[eef_state]: left_x=0.2721 left_y=0.0019 left_z=0.143 left_yaw=0.003 left_pitch=-0.1785 left_roll=-0.0003 left_gripper=0.9992 right_x=0.44 right_y=0.0481 right_z=0.0116 right_yaw=0.0742 right_pitch=-0.0047 right_roll=-0.0727 right_gripper=0.2047\nstate[joint_eff]: [-0.1846, -1.2786, 6.8855, 1.6679, -0.0562, -0.0415, -0.0122, -0.1162, -9.7162, 4.6564, 1.9414, 0.0464, -0.0024, 0.2271]",
      "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, 0.8246, 0.6067, -0.5552, -0.0193, -0.0387, 0.9992, 0.1471, 1.8015, 0.5354, 0.6212, 0.0933, -0.0242, 0.9949]\nstate[eef_state]: left_x=0.2697 left_y=0.0019 left_z=0.1393 left_yaw=0.0031 left_pitch=-0.1972 left_roll=0.0002 left_gripper=0.9992 right_x=0.4053 right_y=0.047 right_z=0.0056 right_yaw=0.0806 right_pitch=-0.0532 right_roll=-0.0765 right_gripper=0.9949\nstate[joint_eff]: [-0.0068, -1.6205, 6.9812, 1.7021, -0.0806, -0.0415, -0.0073, 0.2393, -8.6769, 4.6701, 1.9267, 0.0708, 0.0024, -0.2222]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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, 0.8253, 0.6067, -0.5663, -0.0193, -0.0387, 0.9992, 0.1291, 2.2581, 0.6842, 1.3258, 0.0784, -0.0521, 0.9966]\nstate[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1372 left_yaw=0.0032 left_pitch=-0.209 left_roll=0.0004 left_gripper=0.9992 right_x=0.4829 right_y=0.0524 right_z=0.0106 right_yaw=0.0882 right_pitch=0.3415 right_roll=-0.074 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.3607, 7.0632, 1.6337, -0.0708, -0.0317, -0.0122, -0.5402, -8.0479, 3.9863, 2.1026, 0.0513, -0.0464, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0866b8e3a6179b7dd292409cc0c5107a8bf47e86e2cba333f89c8f44e2f37564",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73b88886173041ca11bfc93049a5c9c5e71ed37634e0c980d902240e1d68cc99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5b018aacad5dd85809ab191f830cb1a39d3d1cfa0493f6550ca29bb6f5d9612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvAIKjgEIEhgCKkBj5S2eCx0Nb6eqDhLmZYWRYj8IMLq1fl9JIF/DWdsqNnz/QYeLsKAzDY8323QTmAuLGhmRGnOWasNqtOfGJ+IyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeOmzNUGEgzyh1MMHb0SvgOWHrEaDHXm1HdZx8DdYHym4SIw4RyLjnQOrhDj2+PH3ZZAWqh2dLXosshsRMNvfy2dBJQcHL37HGC2aXiscRqlBGrGKltGkDW6WbryRc0DMYPSTYAx9fwNn3Lmpua4AxJ6XBMRHO/uMDm52C06YqzB16iqIjXAiMmrc6R6aamdwXABdFY3pcZw41xMT6sysKxUz1HRC64nzdGaIsTFlgZMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KhjVgXQAqPYdcBuAcyM1fi",
      "input": {
        "note": "At x=0.483 the lemon now sits low between the jaws, right at the fingertips; closing on it.",
        "targets": {
          "right_gripper": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KhjVgXQAqPYdcBuAcyM1fi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.5816, -0.0189, -0.0387, 0.9992, 0.1295, 2.2688, 0.6872, 1.338, 0.07, -0.0528, 0.4582]\nstate[eef_state]: left_x=0.2651 left_y=0.0019 left_z=0.1345 left_yaw=0.0029 left_pitch=-0.2246 left_roll=0.0005 left_gripper=0.9992 right_x=0.4834 right_y=0.0541 right_z=0.0095 right_yaw=0.0964 right_pitch=0.346 right_roll=-0.0724 right_gripper=0.4582\nstate[joint_eff]: [-0.0752, -1.2923, 6.8444, 1.6386, -0.0171, -0.0415, -0.0122, -0.1299, -10.4547, 2.7282, 1.8388, 0.0611, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ded0f329c173b3120b6be30a1e93bcd3d30cff497f2d62fbc15ef545a5f587b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc70a2cda7433c57284856beeab95b5e9397d5d785bc96b9b77562162714025c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:467f75cc4ea19e8e287eff9ce8587255c430dfa62c45316eb2b2fbd7411c2523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 9.854 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, 0.8246, 0.6067, -0.5552, -0.0193, -0.0387, 0.9992, 0.1471, 1.8015, 0.5354, 0.6212, 0.0933, -0.0242, 0.9949]\nstate[eef_state]: left_x=0.2697 left_y=0.0019 left_z=0.1393 left_yaw=0.0031 left_pitch=-0.1972 left_roll=0.0002 left_gripper=0.9992 right_x=0.4053 right_y=0.047 right_z=0.0056 right_yaw=0.0806 right_pitch=-0.0532 right_roll=-0.0765 right_gripper=0.9949\nstate[joint_eff]: [-0.0068, -1.6205, 6.9812, 1.7021, -0.0806, -0.0415, -0.0073, 0.2393, -8.6769, 4.6701, 1.9267, 0.0708, 0.0024, -0.2222]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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, 0.8253, 0.6067, -0.5663, -0.0193, -0.0387, 0.9992, 0.1291, 2.2581, 0.6842, 1.3258, 0.0784, -0.0521, 0.9966]\nstate[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1372 left_yaw=0.0032 left_pitch=-0.209 left_roll=0.0004 left_gripper=0.9992 right_x=0.4829 right_y=0.0524 right_z=0.0106 right_yaw=0.0882 right_pitch=0.3415 right_roll=-0.074 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.3607, 7.0632, 1.6337, -0.0708, -0.0317, -0.0122, -0.5402, -8.0479, 3.9863, 2.1026, 0.0513, -0.0464, 0.1636]",
      "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, 0.8257, 0.6067, -0.5816, -0.0189, -0.0387, 0.9992, 0.1295, 2.2688, 0.6872, 1.338, 0.07, -0.0528, 0.4582]\nstate[eef_state]: left_x=0.2651 left_y=0.0019 left_z=0.1345 left_yaw=0.0029 left_pitch=-0.2246 left_roll=0.0005 left_gripper=0.9992 right_x=0.4834 right_y=0.0541 right_z=0.0095 right_yaw=0.0964 right_pitch=0.346 right_roll=-0.0724 right_gripper=0.4582\nstate[joint_eff]: [-0.0752, -1.2923, 6.8444, 1.6386, -0.0171, -0.0415, -0.0122, -0.1299, -10.4547, 2.7282, 1.8388, 0.0611, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ded0f329c173b3120b6be30a1e93bcd3d30cff497f2d62fbc15ef545a5f587b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc70a2cda7433c57284856beeab95b5e9397d5d785bc96b9b77562162714025c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:467f75cc4ea19e8e287eff9ce8587255c430dfa62c45316eb2b2fbd7411c2523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShwMKjgEIEhgCKkBSEs7q4wVHRacFyu/huG/Q6udQYQSws+AM5SIKwSOjA5AFIlJpMkpCFB0+vbagwDdCqLvAIn6FDqVaDUHABYMSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeimzNUGEgyCaVp6ZySlBhPdSM0aDHN6xU+cS7Sw0AFu5SIwo9UaPSRhHIzWNdDlml7xv1ZeNwNqZDc4DLqAAqAn8RwKqWD/YkVSw5HQRj6LdxvQKqUB14ZhHfy8dM4wDuiJ5xi3mke6K7fKT1t63t6Iz5JbaWiOnHW25yynRGrwAyw9bfjNXMaPHecc1MV7mZH66zTXM4aZOCst+3tSxxTaMNmhgcvNzW2omwTyagmYh1vvsqQvShNf7t2CjY4yLMrpUh56CHNs4N8in1mmSl6GFmW7wy9Z51bTKhuP/Jj1ykYr6l4P9HivgKfxjITzEa86SxOqvPESYRaSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BEjuQSWuGYDtCVKrS6xZcA",
      "input": {
        "note": "Gripper settled at 0.46 (≈4.3 cm object) so the lemon is grasped; lifting it clear of the table.",
        "targets": {
          "right_pitch": 0.1,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01BEjuQSWuGYDtCVKrS6xZcA",
      "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, 0.8295, 0.6067, -0.5884, -0.0193, -0.0383, 0.9992, 0.1295, 1.6024, 1.1183, -0.0212, 0.0624, -0.0528, 0.4594]\nstate[eef_state]: left_x=0.264 left_y=0.002 left_z=0.1324 left_yaw=0.0031 left_pitch=-0.2353 left_roll=0.0013 left_gripper=0.9992 right_x=0.4857 right_y=0.0558 right_z=0.1959 right_yaw=0.1046 right_pitch=0.0843 right_roll=-0.0773 right_gripper=0.4594\nstate[joint_eff]: [0.0068, -1.5932, 6.8444, 1.5897, -0.0611, -0.0464, -0.0122, -0.4855, -10.4684, 8.9504, 2.0977, 0.0317, 0.0562, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09aba8814f40e0ac11216a9195e276e1b968d22172ff6ad09a93519cfeeaaefe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df5933fefdaa485d77c4fb6a6fed321803c35e79be7a76a2bc21ce1f5765cc4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea4329ae650a5f72220e6443e34bf5e9e5a592da6ea5caeac9c7d98c625a506c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 6.425 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, 0.8253, 0.6067, -0.5663, -0.0193, -0.0387, 0.9992, 0.1291, 2.2581, 0.6842, 1.3258, 0.0784, -0.0521, 0.9966]\nstate[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1372 left_yaw=0.0032 left_pitch=-0.209 left_roll=0.0004 left_gripper=0.9992 right_x=0.4829 right_y=0.0524 right_z=0.0106 right_yaw=0.0882 right_pitch=0.3415 right_roll=-0.074 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.3607, 7.0632, 1.6337, -0.0708, -0.0317, -0.0122, -0.5402, -8.0479, 3.9863, 2.1026, 0.0513, -0.0464, 0.1636]",
      "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, 0.8257, 0.6067, -0.5816, -0.0189, -0.0387, 0.9992, 0.1295, 2.2688, 0.6872, 1.338, 0.07, -0.0528, 0.4582]\nstate[eef_state]: left_x=0.2651 left_y=0.0019 left_z=0.1345 left_yaw=0.0029 left_pitch=-0.2246 left_roll=0.0005 left_gripper=0.9992 right_x=0.4834 right_y=0.0541 right_z=0.0095 right_yaw=0.0964 right_pitch=0.346 right_roll=-0.0724 right_gripper=0.4582\nstate[joint_eff]: [-0.0752, -1.2923, 6.8444, 1.6386, -0.0171, -0.0415, -0.0122, -0.1299, -10.4547, 2.7282, 1.8388, 0.0611, -0.0269, 1.0281]",
      "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, 0.8295, 0.6067, -0.5884, -0.0193, -0.0383, 0.9992, 0.1295, 1.6024, 1.1183, -0.0212, 0.0624, -0.0528, 0.4594]\nstate[eef_state]: left_x=0.264 left_y=0.002 left_z=0.1324 left_yaw=0.0031 left_pitch=-0.2353 left_roll=0.0013 left_gripper=0.9992 right_x=0.4857 right_y=0.0558 right_z=0.1959 right_yaw=0.1046 right_pitch=0.0843 right_roll=-0.0773 right_gripper=0.4594\nstate[joint_eff]: [0.0068, -1.5932, 6.8444, 1.5897, -0.0611, -0.0464, -0.0122, -0.4855, -10.4684, 8.9504, 2.0977, 0.0317, 0.0562, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09aba8814f40e0ac11216a9195e276e1b968d22172ff6ad09a93519cfeeaaefe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df5933fefdaa485d77c4fb6a6fed321803c35e79be7a76a2bc21ce1f5765cc4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea4329ae650a5f72220e6443e34bf5e9e5a592da6ea5caeac9c7d98c625a506c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwUKjgEIEhgCKkAUsuzPOPxiyOTsSR2YF3PAj9vyfGvLlZCiTn6OGMP8CEotlkU+TkE/ZCkoqx8o4PcnkZr9hWF8QzyUgu0tUcosMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfOmzNUGEgxjYGaLYZti2HPh42kaDD3ZdvNQa00N/2Fz8CIwPme1Ha8C6i2EM3VzwR5fwhu9WrF/7j0NgE1M37hbMTc5noTv8nn3Slm9HbmYaiRFKskDB/W6IujlMUeLtKHwr40wed5gf3CoMAla6orIBHFBKPTey8v/4TC3fp+1DhKczuUspeslQJDHo/OwQPjSy3Ds/Y8LlEc4kLG46iRlI+zy1lAugAzrSYUBXJ44VDsRJ3k/4s3iVud9ScVY2ZP8rPBbnoZRYAkIjr2V5WrZ958EJdNvPRhAMlvFs6YtmvR4kYcJoNeLxXXlTKZgeVSqf8WlmzcPuP4SYYNmxDzI+iScg3o7iIOGvkLV5+QMEReoVJApvY8oWm95T3YmH1L1dAllEoLt8mHT8/jRuXffFx0iI8PDRCtS3m2x/3u1LYbzd3xDGfacRvSm6FGHSGDQ1YPazvRCUfHIzAOKYt7e65O5lareznsiPxFib66e552z1wkg/gu0UUN2crtr1IO01ZHvIuJLG0jByq9b2V9zZgcO3NtSSe4EGxgBrZYQZSBGQmYfb+IUhoqgZ472cZhllLzJLO7qf5BOLj8xwLAet6/mivDZpaGBxw5AMYBGFZ0leC8y9yR02LLfgJ0AVsDrImx/E73YF2qhUQqYulIN13A+W2bBTsCG2btSuugglDfdYFnWEiqkojFY58GbkQ+X/YYsof3wt18Qth5LpBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CstRuHWoopNj1RYCPLKZXJ",
      "input": {
        "note": "Lemon is held aloft; carrying it over to above the open safe at right (0.42, 0.25).",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.25,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01CstRuHWoopNj1RYCPLKZXJ",
      "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, 0.8303, 0.6067, -0.5922, -0.0193, -0.0387, 0.9992, 0.7162, 1.6726, 1.3621, -0.3473, 0.5285, 0.2375, 0.4625]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1315 left_yaw=0.0033 left_pitch=-0.2399 left_roll=0.0011 left_gripper=0.9992 right_x=0.4142 right_y=0.2472 right_z=0.2209 right_yaw=0.1526 right_pitch=0.03 right_roll=-0.1146 right_gripper=0.4625\nstate[joint_eff]: [0.0068, -1.1419, 6.9402, 1.5214, -0.0806, -0.0415, -0.0122, 0.1983, -8.0615, 9.6342, 1.7998, 0.3346, 0.0952, 0.7009]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54a3a8335492160d221fbac184376d396161390e0ad5d04d3fb61831aa8d5723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4407246cc7c6a3a51cc25b986e9bd6fcdec1903128cf7926935245a5af3adec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f534d2fcdb1b574fae77d2c621bae9f05e285d50c041b627750f0c29a45c0967",
        "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 · 13.46 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, 0.8257, 0.6067, -0.5816, -0.0189, -0.0387, 0.9992, 0.1295, 2.2688, 0.6872, 1.338, 0.07, -0.0528, 0.4582]\nstate[eef_state]: left_x=0.2651 left_y=0.0019 left_z=0.1345 left_yaw=0.0029 left_pitch=-0.2246 left_roll=0.0005 left_gripper=0.9992 right_x=0.4834 right_y=0.0541 right_z=0.0095 right_yaw=0.0964 right_pitch=0.346 right_roll=-0.0724 right_gripper=0.4582\nstate[joint_eff]: [-0.0752, -1.2923, 6.8444, 1.6386, -0.0171, -0.0415, -0.0122, -0.1299, -10.4547, 2.7282, 1.8388, 0.0611, -0.0269, 1.0281]",
      "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, 0.8295, 0.6067, -0.5884, -0.0193, -0.0383, 0.9992, 0.1295, 1.6024, 1.1183, -0.0212, 0.0624, -0.0528, 0.4594]\nstate[eef_state]: left_x=0.264 left_y=0.002 left_z=0.1324 left_yaw=0.0031 left_pitch=-0.2353 left_roll=0.0013 left_gripper=0.9992 right_x=0.4857 right_y=0.0558 right_z=0.1959 right_yaw=0.1046 right_pitch=0.0843 right_roll=-0.0773 right_gripper=0.4594\nstate[joint_eff]: [0.0068, -1.5932, 6.8444, 1.5897, -0.0611, -0.0464, -0.0122, -0.4855, -10.4684, 8.9504, 2.0977, 0.0317, 0.0562, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.5922, -0.0193, -0.0387, 0.9992, 0.7162, 1.6726, 1.3621, -0.3473, 0.5285, 0.2375, 0.4625]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1315 left_yaw=0.0033 left_pitch=-0.2399 left_roll=0.0011 left_gripper=0.9992 right_x=0.4142 right_y=0.2472 right_z=0.2209 right_yaw=0.1526 right_pitch=0.03 right_roll=-0.1146 right_gripper=0.4625\nstate[joint_eff]: [0.0068, -1.1419, 6.9402, 1.5214, -0.0806, -0.0415, -0.0122, 0.1983, -8.0615, 9.6342, 1.7998, 0.3346, 0.0952, 0.7009]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54a3a8335492160d221fbac184376d396161390e0ad5d04d3fb61831aa8d5723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4407246cc7c6a3a51cc25b986e9bd6fcdec1903128cf7926935245a5af3adec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f534d2fcdb1b574fae77d2c621bae9f05e285d50c041b627750f0c29a45c0967",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7gQKjgEIEhgCKkCuX/zuzWVfWfYiuwtwNeMGGoEmxtZM7dxZXRJljjWhmRw7Ya/bvupNTPD7PT8VeRvZTOtmKBm9ZZkIYv1M1YdbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfumzNUGEgxmUo6eWzw1XUJ2HUEaDMC+SyUZYxHnuNiEXCIwb5GQhLbgCr/DhKphPd83pTsQ+WLsS85znA21p/K0p2/+ftRNnC/x0JCtIYQFpsCwKowDoJgEI2BuVt3thCMC+FxyhL6WfAGx4CZCD2/rLulX5fmTPwth1DCTpnEcCWUGK/QiLxDuqo6DiNznoBkZUxleBqYy4wxI+4uI+RD1uSEI1SPCeT/7DskYjFn/ZGO8iyJ+fUo2PvOLz6MxffhXgp/3Nq3F7gH5HM7MF9XPDqIKgEY6AVGdZL0P+3UGrenVmcr02SnG8K7jO5phHplN0FxHng9+u/uvE09Wz2nkwS4FlXc2D2HzjwlYLBiPML4PlBVU5xAhIaXMO8UyMHlktGpdvJLr93rKmK67yHqswcpNYMEIiNeDKT8SGGQog++ogYfeyVd/keY4CqcA+2stMFhB9md89Xu2quH63nwepDF72fr3i+NCjPJJumqCLSeCfywnUQ2LUEHH6r2kYQQinxlwoRI73SB2W2ATXCeUp7M0KZhcw6gLx1yzwFp82Jq+SOH0leqKb09rnkOS88nnwgGoJ94yucZ+ABj4ePEujkS//L4XeszO7jehPK4X8iPC241WTOhzKu8xTfMToAHrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QTRe4zMf2wUZdwPoH2GBor",
      "input": {
        "note": "Wrist view shows the red interior just to the arm's left of the held lemon; shifting 4 cm further left to centre over the opening.",
        "targets": {
          "right_y": 0.29,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QTRe4zMf2wUZdwPoH2GBor",
      "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, 0.8303, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 0.7929, 1.7897, 1.3861, -0.3649, 0.5686, 0.2749, 0.4652]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1315 left_yaw=0.0033 left_pitch=-0.2403 left_roll=0.0011 left_gripper=0.9992 right_x=0.4047 right_y=0.2803 right_z=0.1766 right_yaw=0.1777 right_pitch=-0.0446 right_roll=-0.1669 right_gripper=0.4652\nstate[joint_eff]: [-0.0479, -1.2923, 6.8444, 1.5556, -0.0513, -0.0464, -0.0122, 0.1573, -9.9214, 10.8786, 1.9512, 0.4567, 0.2222, 0.7009]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ade0c54738d0da720da574366f4ccba115afa5e13fb7f1bf29989fbde9d6b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:671b25b8a481f4eda71dedd11ff21ec0a19649f4668f7397b8638b690226fd80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3af211609bbcd13bb220ee0571452f93b32d7a8b838a4ef049dd5ce7b0ea27c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 8.809 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, 0.8295, 0.6067, -0.5884, -0.0193, -0.0383, 0.9992, 0.1295, 1.6024, 1.1183, -0.0212, 0.0624, -0.0528, 0.4594]\nstate[eef_state]: left_x=0.264 left_y=0.002 left_z=0.1324 left_yaw=0.0031 left_pitch=-0.2353 left_roll=0.0013 left_gripper=0.9992 right_x=0.4857 right_y=0.0558 right_z=0.1959 right_yaw=0.1046 right_pitch=0.0843 right_roll=-0.0773 right_gripper=0.4594\nstate[joint_eff]: [0.0068, -1.5932, 6.8444, 1.5897, -0.0611, -0.0464, -0.0122, -0.4855, -10.4684, 8.9504, 2.0977, 0.0317, 0.0562, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.5922, -0.0193, -0.0387, 0.9992, 0.7162, 1.6726, 1.3621, -0.3473, 0.5285, 0.2375, 0.4625]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1315 left_yaw=0.0033 left_pitch=-0.2399 left_roll=0.0011 left_gripper=0.9992 right_x=0.4142 right_y=0.2472 right_z=0.2209 right_yaw=0.1526 right_pitch=0.03 right_roll=-0.1146 right_gripper=0.4625\nstate[joint_eff]: [0.0068, -1.1419, 6.9402, 1.5214, -0.0806, -0.0415, -0.0122, 0.1983, -8.0615, 9.6342, 1.7998, 0.3346, 0.0952, 0.7009]",
      "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, 0.8303, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 0.7929, 1.7897, 1.3861, -0.3649, 0.5686, 0.2749, 0.4652]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1315 left_yaw=0.0033 left_pitch=-0.2403 left_roll=0.0011 left_gripper=0.9992 right_x=0.4047 right_y=0.2803 right_z=0.1766 right_yaw=0.1777 right_pitch=-0.0446 right_roll=-0.1669 right_gripper=0.4652\nstate[joint_eff]: [-0.0479, -1.2923, 6.8444, 1.5556, -0.0513, -0.0464, -0.0122, 0.1573, -9.9214, 10.8786, 1.9512, 0.4567, 0.2222, 0.7009]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ade0c54738d0da720da574366f4ccba115afa5e13fb7f1bf29989fbde9d6b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:671b25b8a481f4eda71dedd11ff21ec0a19649f4668f7397b8638b690226fd80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3af211609bbcd13bb220ee0571452f93b32d7a8b838a4ef049dd5ce7b0ea27c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISswIKjgEIEhgCKkAJfxpeJ0qYoPIvfm/knUbC/PuaUidB46umr7dLGbX5Z/55L8nLEqv+YbugloY0CfMbjz8L3JlDjXHo4yHTBB59Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYmnzNUGEgxBtHvVs315atTmWLwaDNDSil/De/lSau60OyIwjlMM07BGHeAbFK4DqlkD03BEvZyNyc9D6BZzFoapVQXPYFcJ0qHsNsl61mR/hwRvKlKhoaVlYpG4v8BJuXmP93bV4XLU4F+ZgUvhwflRjcHhVhoZDlv7+JFBou41Jr1kRQKq9mLXlnkz9QUVN3MFuMqDY6usj8n/E/NWn2iEhOoOE0mQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QhdPmN52wogpYtVzHtFBes",
      "input": {
        "note": "The lemon is centred over the red interior of the open safe; opening the gripper to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QhdPmN52wogpYtVzHtFBes",
      "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, 0.8303, 0.6067, -0.6075, -0.0189, -0.0383, 0.9992, 0.8032, 1.8088, 1.3972, -0.3649, 0.5724, 0.289, 0.9949]\nstate[eef_state]: left_x=0.2605 left_y=0.002 left_z=0.129 left_yaw=0.0029 left_pitch=-0.2551 left_roll=0.0014 left_gripper=0.9992 right_x=0.4043 right_y=0.2863 right_z=0.1725 right_yaw=0.1772 right_pitch=-0.0483 right_roll=-0.1624 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -1.1282, 6.8034, 1.6484, -0.0806, -0.0366, -0.0122, -0.4855, -10.5368, 9.5932, 1.8632, 0.398, 0.0855, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:804902306f7db58538617fc6b4e3ef48fca05a45fbf1545f863bcccf4ca2f6d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66689dda4f239a2f9c3e0a1b3fa171d3e9da21d5208f8aa37ccc450d2919e386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71f10522059fe8143f1151ced93a309be9a358d32e113d08335c375139ad8bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 7.294 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, 0.8303, 0.6067, -0.5922, -0.0193, -0.0387, 0.9992, 0.7162, 1.6726, 1.3621, -0.3473, 0.5285, 0.2375, 0.4625]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1315 left_yaw=0.0033 left_pitch=-0.2399 left_roll=0.0011 left_gripper=0.9992 right_x=0.4142 right_y=0.2472 right_z=0.2209 right_yaw=0.1526 right_pitch=0.03 right_roll=-0.1146 right_gripper=0.4625\nstate[joint_eff]: [0.0068, -1.1419, 6.9402, 1.5214, -0.0806, -0.0415, -0.0122, 0.1983, -8.0615, 9.6342, 1.7998, 0.3346, 0.0952, 0.7009]",
      "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, 0.8303, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 0.7929, 1.7897, 1.3861, -0.3649, 0.5686, 0.2749, 0.4652]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1315 left_yaw=0.0033 left_pitch=-0.2403 left_roll=0.0011 left_gripper=0.9992 right_x=0.4047 right_y=0.2803 right_z=0.1766 right_yaw=0.1777 right_pitch=-0.0446 right_roll=-0.1669 right_gripper=0.4652\nstate[joint_eff]: [-0.0479, -1.2923, 6.8444, 1.5556, -0.0513, -0.0464, -0.0122, 0.1573, -9.9214, 10.8786, 1.9512, 0.4567, 0.2222, 0.7009]",
      "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, 0.8303, 0.6067, -0.6075, -0.0189, -0.0383, 0.9992, 0.8032, 1.8088, 1.3972, -0.3649, 0.5724, 0.289, 0.9949]\nstate[eef_state]: left_x=0.2605 left_y=0.002 left_z=0.129 left_yaw=0.0029 left_pitch=-0.2551 left_roll=0.0014 left_gripper=0.9992 right_x=0.4043 right_y=0.2863 right_z=0.1725 right_yaw=0.1772 right_pitch=-0.0483 right_roll=-0.1624 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -1.1282, 6.8034, 1.6484, -0.0806, -0.0366, -0.0122, -0.4855, -10.5368, 9.5932, 1.8632, 0.398, 0.0855, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:804902306f7db58538617fc6b4e3ef48fca05a45fbf1545f863bcccf4ca2f6d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66689dda4f239a2f9c3e0a1b3fa171d3e9da21d5208f8aa37ccc450d2919e386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71f10522059fe8143f1151ced93a309be9a358d32e113d08335c375139ad8bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIShAkKjgEIEhgCKkAzZvaefrBguE2b4QlEg9UqZpLH7Z4VioBPniDIkNBJx09fyKg0yYFXw404OgJQEeVSLP24J9Es7X2XZSugw6GTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKnzNUGEgxkGx4/Mg/fG25RGwEaDMgu35MeZFAXxK267CIwgNGd0lQy3JASdBELvlEWsrqRwTC2Ax6VaK4yTukJtF1tpjZhN44mhN91kdXMwex9KqIHaowKTbIV/CD5VpwK4KLA+kCGnrynO5ledJ/AHYDko6aMdRCacVb3pkjrFO1vf05iUEkSf7M5zuXZXJCRTxiRvCqldNtEIOI4oJ4DoV5e9C2syE9Tf3fmGUFiCrdx3YbGj2POWz4EInKe54JqjINiVe4yvsfzxT9izJyUFRh+zruODmVM4cBuWldz31WCUnVWel7FGKDdj8In0et0PEtUlBpjSgfdCFYVMnEqos/+NqPqEB3xUMLvlWpZaMtODiss/EWZvg7lWOR7x1DAql2PyUiwor/8qJxE2ZbBQNXjoFNVV+9QS6rjSGIWzLN8WUVLG74yRvbnYaF4V2hTCvw1+Imc6NowUz0CshgS7mRsk71Cte5YsIT9jAvK6CO46kkyt4+OUtakF+anyGvT6wo4dprt9s2DEQ1IhjScWye9UTsdhoKaneJ4ggAtsSPeIVteAVYFqCSsQRDIG2eOJtHGviQb6IKF7lw0pgTIFlDUbrXN8TgZfnu5A/XNbhp/+cDPHESyIsjTtwTo26LEQ8H91ay+49h0/UGnMZPNsrf12B9AqFwfvFzerYuSqnBoLWkaab8tdY3oCyv9e3xAJB9KUyQDrfYy+el5cGRYlcdpht0UC4lPAOtaq5O0ocCc2Lke1C2r2kpeb1QfqMCbiFRGCcanY/ttHVmLxPgTKHEyTqo/etFR6LpkLnL8xHaDUWb9drsQgeezUajX9tGDFW5ww/GD1Sz4MMR6k3sk+beSYViiT/NjOa3JQ3fRXl9HLz8YkQ5Vlm89U945DtPg6GM1zsM8EED7mRjSz2KgWyyi9nc9F4Mv2oqH9qky0+RlFxffg/Fa5jRf6LZM6GRWqKO0U59ivCRfbfL6j+a5wKQ1XAjRz8W58OsgxYsTOWl9hLWrp/Jw8cvvgQ0ElRdpq01zWM1lVyvKxe6TlhpUl9MpK+IO3zIqkiVebY4ikkWM1ppNpDgCTTPGRr/QTk7wsBQLEgJLJRe5IDnqhkniyfD6eo4Mz0DLUYbq30SqVYNWp+TGnYv3v+zYT/KVSXJaPA8BVcUh/BeU4KYzY4DNKt3FlgAeW1s4AIR3XAt2NKxLFozmuPTcdT7FPQC305rFQ0cFFPAcrs1jH2dtDqbTliNTUC4USJXR2rxSVlQYn71WzE1GgqW+WpOSmvf9aoySpkT8tJ5puhC5dqXC2h3zAlnyNoNmBSmdGHX7H7zCeBtmjzgtV4Yued5TV4VlaRuyvDqKH9w2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EZMT3V2vmD6yDMyrLBjTmT",
      "input": {
        "note": "The lemon is in the safe. Retracting the right arm out of the view and bringing the left arm above the small bear that sits to the left of the safe.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.38,
          "left_y": -0.1,
          "left_z": 0.15,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01EZMT3V2vmD6yDMyrLBjTmT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3775, 1.4296, 0.9997, -0.5011, -0.2443, -0.3134, 0.9993, 0.247, 0.9184, 0.7666, -0.5072, 0.1806, -0.0662, 0.9966]\nstate[eef_state]: left_x=0.3654 left_y=-0.0951 left_z=0.1322 left_yaw=0.0011 left_pitch=-0.3165 left_roll=0.0133 left_gripper=0.9993 right_x=0.3016 right_y=0.047 right_z=0.1949 right_yaw=0.1311 right_pitch=-0.0651 right_roll=-0.1641 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -6.0786, 9.0735, 1.6679, -0.2808, 0.0171, -0.0904, -0.1299, -2.0308, 7.2957, 1.9121, -0.0464, -0.1001, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04c7fe9eb23b48dbd9cfd8efbb90455465f475946f1eb9612cc59ea2d00b8550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67e14e6fb9352219bcf29b5fd5da5357ebd230886925ced9a52d108f134b19ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aba50e077db23f251c2013745fb3dc8e1305feb2cda7f7f83d6cd1963c351d75",
        "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 · 5.641 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, 0.8303, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 0.7929, 1.7897, 1.3861, -0.3649, 0.5686, 0.2749, 0.4652]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1315 left_yaw=0.0033 left_pitch=-0.2403 left_roll=0.0011 left_gripper=0.9992 right_x=0.4047 right_y=0.2803 right_z=0.1766 right_yaw=0.1777 right_pitch=-0.0446 right_roll=-0.1669 right_gripper=0.4652\nstate[joint_eff]: [-0.0479, -1.2923, 6.8444, 1.5556, -0.0513, -0.0464, -0.0122, 0.1573, -9.9214, 10.8786, 1.9512, 0.4567, 0.2222, 0.7009]",
      "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, 0.8303, 0.6067, -0.6075, -0.0189, -0.0383, 0.9992, 0.8032, 1.8088, 1.3972, -0.3649, 0.5724, 0.289, 0.9949]\nstate[eef_state]: left_x=0.2605 left_y=0.002 left_z=0.129 left_yaw=0.0029 left_pitch=-0.2551 left_roll=0.0014 left_gripper=0.9992 right_x=0.4043 right_y=0.2863 right_z=0.1725 right_yaw=0.1772 right_pitch=-0.0483 right_roll=-0.1624 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -1.1282, 6.8034, 1.6484, -0.0806, -0.0366, -0.0122, -0.4855, -10.5368, 9.5932, 1.8632, 0.398, 0.0855, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3775, 1.4296, 0.9997, -0.5011, -0.2443, -0.3134, 0.9993, 0.247, 0.9184, 0.7666, -0.5072, 0.1806, -0.0662, 0.9966]\nstate[eef_state]: left_x=0.3654 left_y=-0.0951 left_z=0.1322 left_yaw=0.0011 left_pitch=-0.3165 left_roll=0.0133 left_gripper=0.9993 right_x=0.3016 right_y=0.047 right_z=0.1949 right_yaw=0.1311 right_pitch=-0.0651 right_roll=-0.1641 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -6.0786, 9.0735, 1.6679, -0.2808, 0.0171, -0.0904, -0.1299, -2.0308, 7.2957, 1.9121, -0.0464, -0.1001, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04c7fe9eb23b48dbd9cfd8efbb90455465f475946f1eb9612cc59ea2d00b8550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67e14e6fb9352219bcf29b5fd5da5357ebd230886925ced9a52d108f134b19ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aba50e077db23f251c2013745fb3dc8e1305feb2cda7f7f83d6cd1963c351d75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AUKjgEIEhgCKkCtM7EzJd45xamZrlLcPGe7x+6GVA7Ck43dc8T0H3X+P568GNEfULCBJGxX8WOmMwyxi3b6/+jBan2LoSyYUu6HMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZunzNUGEgzwcJGWbcn5Y25amdAaDMaLwGanjko1DiP2TiIwn2sTQ8gn4eoAWsZo5bLYC6nrw6rAb31v1yjqvfX8LJDXWEFI9QeLpD9QHgPVnGR+KvoDEFA3taM9z8w0fq47m23WTIaCjUei51QOWWLbBRBIvXNJnTUQBQ1UEVVvwcPOxHHxmE3XD54rBgqq011YzvqwniGd9Ytd55dVrMSGJG+Uc0CpZr33Z5BQSk13c16N0JqpyBKEQth3KHBGem7YlaxFXbZ5reu8e/IBibVCr7vFO8EPpKPMu3AEV/N3Hl2wfT3b6MNAeVXLLbN9YmW+kih7NJzfMnaz3jRS43orzkmMmclF+FWp7nsm0aCH+Oe19UCiQoVUiEB5z3gM1/xzD/qMkAYsqgse9URINsOyibcYoZ1G2Os+P1zkzdL5pUdmx4v9jY+085CiX4Fc4YVMHlyxHIBT64PhU3POrd4Sv9QJTD/oHGrU9dwMRLBDDLEzg6n7lq0YuwDvO73e9b6Uj1YvvJt27n+7VXQhXH0tmx7NGjLda0yRMb5DHeL9O6FdTlx5TL6/vC6DOPvPX8rvGNPSVP6vvwo801En8MRQYzbGFamD0o0q91jdMGDURpt9IMftfMnXc/C/CERgQf7BCBfhhaRSQNe0786F1OJK74lpBwkCJfuEvi7wF0FGnymQrls2gV32mdASi5k6Q9jMC3XyViL9ZqE++lo0utl4+7rg/idt2EcIuZu8UMDQP8QQfulsOjVYRYC+pAJzlDOnUKog5PgO2G+b0jYAXnkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nr6U4cGNjL1FEPHrJP83kB",
      "input": {
        "note": "Left wrist view shows the small bear down and to the arm's right of the jaw column; shifting right and slightly forward, descending to 10 cm.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.15,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Nr6U4cGNjL1FEPHrJP83kB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.487, 1.6623, 1.0622, -0.4515, -0.2878, -0.3992, 0.9992, 0.2428, 0.9226, 0.7643, -0.5453, 0.1677, -0.0788, 0.9968]\nstate[eef_state]: left_x=0.3778 left_y=-0.1392 left_z=0.0783 left_yaw=-0.0027 left_pitch=-0.4092 left_roll=0.0483 left_gripper=0.9992 right_x=0.2958 right_y=0.0466 right_z=0.1852 right_yaw=0.1442 right_pitch=-0.1115 right_roll=-0.1706 right_gripper=0.9968\nstate[joint_eff]: [-0.4034, -8.3624, 9.388, 1.4335, -0.4274, -0.0024, -0.0171, 0.2667, -2.3179, 7.0632, 2.0244, 0.1636, 0.0611, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb66239b940f8d3c20c215f2d5f8f35c3191689124941855f8912995be401ca1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0c45814c71f9e68cbe88f4b2d848b38dd0fe79970486fd923fce752082f14a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64ee5730603e2b17b16cfd2d19567dea1f4abd845ccdcf3fae9893d851c291b9",
        "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 · 7.445 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, 0.8303, 0.6067, -0.6075, -0.0189, -0.0383, 0.9992, 0.8032, 1.8088, 1.3972, -0.3649, 0.5724, 0.289, 0.9949]\nstate[eef_state]: left_x=0.2605 left_y=0.002 left_z=0.129 left_yaw=0.0029 left_pitch=-0.2551 left_roll=0.0014 left_gripper=0.9992 right_x=0.4043 right_y=0.2863 right_z=0.1725 right_yaw=0.1772 right_pitch=-0.0483 right_roll=-0.1624 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -1.1282, 6.8034, 1.6484, -0.0806, -0.0366, -0.0122, -0.4855, -10.5368, 9.5932, 1.8632, 0.398, 0.0855, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3775, 1.4296, 0.9997, -0.5011, -0.2443, -0.3134, 0.9993, 0.247, 0.9184, 0.7666, -0.5072, 0.1806, -0.0662, 0.9966]\nstate[eef_state]: left_x=0.3654 left_y=-0.0951 left_z=0.1322 left_yaw=0.0011 left_pitch=-0.3165 left_roll=0.0133 left_gripper=0.9993 right_x=0.3016 right_y=0.047 right_z=0.1949 right_yaw=0.1311 right_pitch=-0.0651 right_roll=-0.1641 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -6.0786, 9.0735, 1.6679, -0.2808, 0.0171, -0.0904, -0.1299, -2.0308, 7.2957, 1.9121, -0.0464, -0.1001, 0.1636]",
      "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]: [-0.487, 1.6623, 1.0622, -0.4515, -0.2878, -0.3992, 0.9992, 0.2428, 0.9226, 0.7643, -0.5453, 0.1677, -0.0788, 0.9968]\nstate[eef_state]: left_x=0.3778 left_y=-0.1392 left_z=0.0783 left_yaw=-0.0027 left_pitch=-0.4092 left_roll=0.0483 left_gripper=0.9992 right_x=0.2958 right_y=0.0466 right_z=0.1852 right_yaw=0.1442 right_pitch=-0.1115 right_roll=-0.1706 right_gripper=0.9968\nstate[joint_eff]: [-0.4034, -8.3624, 9.388, 1.4335, -0.4274, -0.0024, -0.0171, 0.2667, -2.3179, 7.0632, 2.0244, 0.1636, 0.0611, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb66239b940f8d3c20c215f2d5f8f35c3191689124941855f8912995be401ca1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0c45814c71f9e68cbe88f4b2d848b38dd0fe79970486fd923fce752082f14a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64ee5730603e2b17b16cfd2d19567dea1f4abd845ccdcf3fae9893d851c291b9",
        "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+AMKjgEIEhgCKkDYWMZQ10zZ97bjGAe8P/SM43w/7Fxp6PPj5N/BnSitj870/5idmkwLu1houEVA1XdnBgWMzbNXDdDLvRjhtOYWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaKnzNUGEgxOnJ6evI8WIdvXcWAaDFxdZsZ345hfci0RdiIwXsxpEoBwShL4Z6UKvKlEhyQWcvmIUV+zyQ8EtI/JbKHfjH3OjFi73gAASb8pm3ahKpYC6Y7bCAW+ZWX0qvg5rC6sbT1FNIA3pY+4IbgQSu0I7bRS3HDFHdCkWJDVoVKKpJ2cBFRC2F72Vgv2hn/tsotlUFe0cdcw9Apak31yAPOthJos2mbqYVFLGNegJQw/RQmKbNyqPZGe8/M/1WLOm0t9NNhCUx3LXzhcMJK0hk/3/O1fHi9HuRMIxBEzA/tUgOcoCjb9mff7XVFpr2VnCnUGVfOqEbCL3zx8opoK0ByzDXOomYVwrjTlDGaNRpX5CLJ3mykKUkXR65BiPNR7dc8U9skL3xKXtkD+Rvh2WnYsNWvteFxk5KauV6+cIuHpjnsVAMkWcSslvDBnQL40kXur8Fwe/AzCieDqowoc3zNVMVR8qGeJUFwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017A9TdQAWrmmAgbqgSVxsx9",
      "input": {
        "note": "Bear is still slightly right of the jaw column and ahead of the fingertips; nudging right and forward while descending toward table level.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.175,
          "left_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_017A9TdQAWrmmAgbqgSVxsx9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4961, 1.6794, 1.0821, -0.4255, -0.305, -0.4175, 0.9992, 0.2428, 0.923, 0.7643, -0.569, 0.1669, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.3868 left_y=-0.145 left_z=0.0827 left_yaw=0.0074 left_pitch=-0.3765 left_roll=0.0365 left_gripper=0.9992 right_x=0.2921 right_y=0.0458 right_z=0.1807 right_yaw=0.1448 right_pitch=-0.1355 right_roll=-0.1728 right_gripper=0.9968\nstate[joint_eff]: [-0.2803, -8.3897, 8.6222, 1.4676, -0.2955, 0.0024, -0.0122, -0.0615, -2.0034, 6.9128, 1.7851, 0.0073, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6d309e578164671fbbac4dcace445e3fb1cddd10f7e4a084ff98fc3697b5130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b424f05876ae79305539ca416f110aa8d6e17f33effc8986ce64a8a8e0e086eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6381edb6918173b647a837fcd946883e0d64ac1c1ac39c736eb0f61fec0a1aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 6.217 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]: [-0.3775, 1.4296, 0.9997, -0.5011, -0.2443, -0.3134, 0.9993, 0.247, 0.9184, 0.7666, -0.5072, 0.1806, -0.0662, 0.9966]\nstate[eef_state]: left_x=0.3654 left_y=-0.0951 left_z=0.1322 left_yaw=0.0011 left_pitch=-0.3165 left_roll=0.0133 left_gripper=0.9993 right_x=0.3016 right_y=0.047 right_z=0.1949 right_yaw=0.1311 right_pitch=-0.0651 right_roll=-0.1641 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -6.0786, 9.0735, 1.6679, -0.2808, 0.0171, -0.0904, -0.1299, -2.0308, 7.2957, 1.9121, -0.0464, -0.1001, 0.1636]",
      "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]: [-0.487, 1.6623, 1.0622, -0.4515, -0.2878, -0.3992, 0.9992, 0.2428, 0.9226, 0.7643, -0.5453, 0.1677, -0.0788, 0.9968]\nstate[eef_state]: left_x=0.3778 left_y=-0.1392 left_z=0.0783 left_yaw=-0.0027 left_pitch=-0.4092 left_roll=0.0483 left_gripper=0.9992 right_x=0.2958 right_y=0.0466 right_z=0.1852 right_yaw=0.1442 right_pitch=-0.1115 right_roll=-0.1706 right_gripper=0.9968\nstate[joint_eff]: [-0.4034, -8.3624, 9.388, 1.4335, -0.4274, -0.0024, -0.0171, 0.2667, -2.3179, 7.0632, 2.0244, 0.1636, 0.0611, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4961, 1.6794, 1.0821, -0.4255, -0.305, -0.4175, 0.9992, 0.2428, 0.923, 0.7643, -0.569, 0.1669, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.3868 left_y=-0.145 left_z=0.0827 left_yaw=0.0074 left_pitch=-0.3765 left_roll=0.0365 left_gripper=0.9992 right_x=0.2921 right_y=0.0458 right_z=0.1807 right_yaw=0.1448 right_pitch=-0.1355 right_roll=-0.1728 right_gripper=0.9968\nstate[joint_eff]: [-0.2803, -8.3897, 8.6222, 1.4676, -0.2955, 0.0024, -0.0122, -0.0615, -2.0034, 6.9128, 1.7851, 0.0073, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6d309e578164671fbbac4dcace445e3fb1cddd10f7e4a084ff98fc3697b5130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b424f05876ae79305539ca416f110aa8d6e17f33effc8986ce64a8a8e0e086eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6381edb6918173b647a837fcd946883e0d64ac1c1ac39c736eb0f61fec0a1aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxQYKjgEIEhgCKkBmK7Jg9QZzhgrDgSkzUOSZxuhJRuFYWiONRur2SMxUV9NvxJEpyIidw2qAPeJXwq0hVew92jV8TiBf6QZfGcmCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAamnzNUGEgwJXpwp0PRRMTlSC2caDIxc+tQLpOuC6M2kYiIwo1cf+J2MFbKwyMtb5mqu8SJ2x0E1WKGV95I3XX8sybjZ8hCFC0O8p+BW6qF1/CVsKuMELn1qK9pxsImmWhs7lEHrbE2P4n495CiAFZ5a4oyTYprhtGV1F1sf/0hV5X5Q1t+PnNmmn7MnwDkU3FeyVQHmqPHfgTSjBjfUAsqnjCNCxlC454cgofqx9SilYbLIjr31alDK8ZIZED76Qj3GyiHWyO5sty8dYgjR5PtR+w2yArCrBUG4BU4wDh6SbjisJgYvGIDXWt9QHqc9ETm/8vykY0bT9ON6g07lOqtl5ASuXniwk2bc+gWaBmV12B47Vw74WnnM9nJJdtOrMczNFwL5wrRZzlCTl/ETa+ZsM0TvdA3YMJYzYaXPePunhobghiBrCtIqkkRskSWJkv54bgOpMQvyt1Gh6ABFJ/0upM5EnM4MIszX101y20Q2egikmi1xKQNK3I7GASzT+Ew3HVWI02wcn0o7NkvysilOH+UmparOpTWFnbZHUWwMT1rCcSwmkhsNY3psaNY7hnEgtkS+TY35W00TlZmxRCQyL96Dj4LHX8E5bFlviLNQIV7f05eu8Q0w5Zc+Yi4TUsKtRMrovIt4c4MIeDF1Tgh1JSa6rtb4Srcm9X2Yk8Ag6eNfrI6gKdpDl1/JGcYSPItNP8MqNV/NouCXodklYCXwjgzWkPrvhVtKy6btL/J6pJjNQHf1R1kKnoqKEnlu1tkI/0qL1qqk/DBHjDC9Q/mPBe3eCgotlCAcOr43J20Q6GnjjbRd1BHV3/EyZOvpOHNGgHk6UzqYVSjHNGUAXtiiy4tRgAkBQYI4StOA5qClkzC4KAp8YvfVRwwZQP8jLynNabkCeovY/KI2Xhko1IMMCM2Ob4L6do8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YEmbSXCFNHrKneWhCJ4n6T",
      "input": {
        "note": "The left arm stalled short again with the tool tilted back; pitching the tool forward and pushing out to x=0.44 to get the jaws around the small bear (as worked for the lemon).",
        "targets": {
          "left_pitch": 0.35,
          "left_x": 0.44,
          "left_y": -0.175,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01YEmbSXCFNHrKneWhCJ4n6T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5976, 2.0426, 0.7063, 0.9691, -0.6033, -0.1791, 0.9992, 0.2428, 0.923, 0.7643, -0.6117, 0.1673, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.4359 left_y=-0.1711 left_z=0.0456 left_yaw=0.0019 left_pitch=0.2745 left_roll=0.0577 left_gripper=0.9992 right_x=0.2852 right_y=0.044 right_z=0.1731 right_yaw=0.1438 right_pitch=-0.178 right_roll=-0.1773 right_gripper=0.9968\nstate[joint_eff]: [-0.8, -8.5949, 4.1094, 2.0391, -0.2662, 0.0855, -0.0122, -0.212, -1.9624, 6.9675, 1.9219, 0.0171, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58c7e7dfe9e6665fa10180236654fc730dad4b296a759a9bf1fd728a4ef7c4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3f771de78ca5e98b7575213b67aa3d9ecba2087a8ddcc6de7a40d7a3d204dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cbbbf40e41b56f6d6e2da8e1850deee2e15aad5fa0af62fc945ab3e2ca782390",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 6.299 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]: [-0.487, 1.6623, 1.0622, -0.4515, -0.2878, -0.3992, 0.9992, 0.2428, 0.9226, 0.7643, -0.5453, 0.1677, -0.0788, 0.9968]\nstate[eef_state]: left_x=0.3778 left_y=-0.1392 left_z=0.0783 left_yaw=-0.0027 left_pitch=-0.4092 left_roll=0.0483 left_gripper=0.9992 right_x=0.2958 right_y=0.0466 right_z=0.1852 right_yaw=0.1442 right_pitch=-0.1115 right_roll=-0.1706 right_gripper=0.9968\nstate[joint_eff]: [-0.4034, -8.3624, 9.388, 1.4335, -0.4274, -0.0024, -0.0171, 0.2667, -2.3179, 7.0632, 2.0244, 0.1636, 0.0611, 0.0122]\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]: [-0.4961, 1.6794, 1.0821, -0.4255, -0.305, -0.4175, 0.9992, 0.2428, 0.923, 0.7643, -0.569, 0.1669, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.3868 left_y=-0.145 left_z=0.0827 left_yaw=0.0074 left_pitch=-0.3765 left_roll=0.0365 left_gripper=0.9992 right_x=0.2921 right_y=0.0458 right_z=0.1807 right_yaw=0.1448 right_pitch=-0.1355 right_roll=-0.1728 right_gripper=0.9968\nstate[joint_eff]: [-0.2803, -8.3897, 8.6222, 1.4676, -0.2955, 0.0024, -0.0122, -0.0615, -2.0034, 6.9128, 1.7851, 0.0073, -0.022, -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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5976, 2.0426, 0.7063, 0.9691, -0.6033, -0.1791, 0.9992, 0.2428, 0.923, 0.7643, -0.6117, 0.1673, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.4359 left_y=-0.1711 left_z=0.0456 left_yaw=0.0019 left_pitch=0.2745 left_roll=0.0577 left_gripper=0.9992 right_x=0.2852 right_y=0.044 right_z=0.1731 right_yaw=0.1438 right_pitch=-0.178 right_roll=-0.1773 right_gripper=0.9968\nstate[joint_eff]: [-0.8, -8.5949, 4.1094, 2.0391, -0.2662, 0.0855, -0.0122, -0.212, -1.9624, 6.9675, 1.9219, 0.0171, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58c7e7dfe9e6665fa10180236654fc730dad4b296a759a9bf1fd728a4ef7c4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3f771de78ca5e98b7575213b67aa3d9ecba2087a8ddcc6de7a40d7a3d204dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbbbf40e41b56f6d6e2da8e1850deee2e15aad5fa0af62fc945ab3e2ca782390",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxgYKjgEIEhgCKkDStX6s0qCVP138nUWLLSp5nxCYzwIC8FbUV3pjPztbiy3SSG3HkwNeN9jmLBXN9tA4FLPcOsG2azXM0Wy3Wy2YMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbKnzNUGEgynUWI2C6MncdgMUhIaDJGKy5FOAj4Fovud9CIwtiQN+rEnXxhIGBa0YeNPfPiRq8mYKjxesYrLNARFEvc1Td2EGUHW5V1Y65RdhQ9FKuQE/b6ydKqr2xDK/rsetcqALE8ohd+K4sItABjZER2cmM5flCYKT6EbVxWDrXdeRzd2uOVtvMSeaCVPBslV9gwyNZWCsilNdfepXQ1XSbc8+8AtutC81qdX+x8amZsBrP8WCAqd82G8lIt0IZj1ZJBs7gVXcU+RVHo7bDFZJFsaGTVE1y17SArUVpj14UAXnRBm7ilswlgC3FQMCxuXrN0gYZVNcFiQbpmJSVOyhGYMSZAdWF/sMdX+clPSaPT3zgy3NyDBYAUCbCX3mO9coEMVKUpYtEhXM9mT5W21nJ1ks4k0qQ0G81Sa8DjP1ipHnWiYwytkWss6lDZiSqVY2D35O9OHLoHiTUt8N7490zeYbYbKS5krz1LY3rXZ6WR3Vt64KF0RXv6W1L/5vJlV+23IFv7RvK2myh7r2u6gdXjpGKwOJ5vL9BALXF9HMmmXuBAHZQCyiMA2BbwTDVq/gvpdSCYWLdT83qBorDWfkM8IhBuSTgHuXxCDZRANYXHLuv1r9u4lqAEIa8RM2ZHNsZVwdE6AIAlM9juiaym1dsc/vSceQJt1Q9XMYD+NqvtDmzZB5Y5oZNoHKuLbRO2n4AedL+UlwEXb3mHNy0OjaU22hKktDf8Kp2qhu7ofNuyUBA0fTY80C2hDBQ5x3GvtMDz40eFk9D/g5Lgnhb4NjY7QHMcCxZSqjdByyy6XW9Y8V0rQdi3fV5kK8A2RVch/gpIEyoYkq0DV3gDGonIdGkwf69ugdhKpzW42yyRdAayqK8KHjAFnk/iIsO/wwl5AFuE+Vw//vso6nWTFg7Cur02swOT/7z5dGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Gz7YsSmhZMQ8mmsGQsQZ3",
      "input": {
        "note": "The small bear is now right at the fingertips (visible at the bottom edge of the left wrist view); closing the jaws on it.",
        "targets": {
          "left_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016Gz7YsSmhZMQ8mmsGQsQZ3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.601, 2.0571, 0.7055, 0.9646, -0.6109, -0.1841, 0.1548, 0.2428, 0.923, 0.7643, -0.6353, 0.1673, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.434 left_y=-0.1704 left_z=0.0384 left_yaw=0.0046 left_pitch=0.2599 left_roll=0.0669 left_gripper=0.1548 right_x=0.2813 right_y=0.0431 right_z=0.169 right_yaw=0.1434 right_pitch=-0.2016 right_roll=-0.1797 right_gripper=0.9968\nstate[joint_eff]: [0.0615, -10.2496, 4.2462, 1.7558, -0.0415, 0.022, 0.0464, -0.1709, -1.9624, 6.8444, 1.7118, 0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58b3d77a1ea159835678d675c12f2b73703714a4708b9ac25dbe11cb22e058b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd9a2fc61227200e8f8d9e1fd06d3a83eacc847ac00368b870c30b1b0cd6825d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e63ce5ac5bd51374610dce4f7bdd61fce5c01ca7306a1527b5ef64e3f133ac1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 15.98 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4961, 1.6794, 1.0821, -0.4255, -0.305, -0.4175, 0.9992, 0.2428, 0.923, 0.7643, -0.569, 0.1669, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.3868 left_y=-0.145 left_z=0.0827 left_yaw=0.0074 left_pitch=-0.3765 left_roll=0.0365 left_gripper=0.9992 right_x=0.2921 right_y=0.0458 right_z=0.1807 right_yaw=0.1448 right_pitch=-0.1355 right_roll=-0.1728 right_gripper=0.9968\nstate[joint_eff]: [-0.2803, -8.3897, 8.6222, 1.4676, -0.2955, 0.0024, -0.0122, -0.0615, -2.0034, 6.9128, 1.7851, 0.0073, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5976, 2.0426, 0.7063, 0.9691, -0.6033, -0.1791, 0.9992, 0.2428, 0.923, 0.7643, -0.6117, 0.1673, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.4359 left_y=-0.1711 left_z=0.0456 left_yaw=0.0019 left_pitch=0.2745 left_roll=0.0577 left_gripper=0.9992 right_x=0.2852 right_y=0.044 right_z=0.1731 right_yaw=0.1438 right_pitch=-0.178 right_roll=-0.1773 right_gripper=0.9968\nstate[joint_eff]: [-0.8, -8.5949, 4.1094, 2.0391, -0.2662, 0.0855, -0.0122, -0.212, -1.9624, 6.9675, 1.9219, 0.0171, -0.022, -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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.601, 2.0571, 0.7055, 0.9646, -0.6109, -0.1841, 0.1548, 0.2428, 0.923, 0.7643, -0.6353, 0.1673, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.434 left_y=-0.1704 left_z=0.0384 left_yaw=0.0046 left_pitch=0.2599 left_roll=0.0669 left_gripper=0.1548 right_x=0.2813 right_y=0.0431 right_z=0.169 right_yaw=0.1434 right_pitch=-0.2016 right_roll=-0.1797 right_gripper=0.9968\nstate[joint_eff]: [0.0615, -10.2496, 4.2462, 1.7558, -0.0415, 0.022, 0.0464, -0.1709, -1.9624, 6.8444, 1.7118, 0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58b3d77a1ea159835678d675c12f2b73703714a4708b9ac25dbe11cb22e058b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd9a2fc61227200e8f8d9e1fd06d3a83eacc847ac00368b870c30b1b0cd6825d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e63ce5ac5bd51374610dce4f7bdd61fce5c01ca7306a1527b5ef64e3f133ac1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQUKjgEIEhgCKkAQmgJ8eyeNBQqq5b98VPCr0+AXFap3waP609TnUJ1X76QH2Jb6cQdP1y45gKBE5IL01/Zkj/Svd7ZZKo8WhShyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbmnzNUGEgz8Qk06dQneXZLrvDIaDC7vEGy/2fBokosKtCIwcRAU09Ty0txvK49qM/PjazkbZ3I1+CMk1xJ9Aq5rlZA5qAkz8mKa2aKRDeVquZabKtsDbmzdHFj2nS4qdPGBU+InJ5BdEGcDpJLPtE1J26h44PmLtuBQeS8Z+I9onbjPMSg5x0NaFocxMxmsYF+T4tUnWpwNZqm1SBZUniqC8o5S1szRIQRxdlJZHyLRAsmzXq6FvJ2R1biwVo3ys9KsQoV3BwJYt2DrQP40iUdnBwMFUzJj+LI0A+dZg/yr3XT/eaqFMc2SxiaQPo8/u9aikevzmuDywmVfgf6Orgxfn17yEtEPSoclrCEXhnR0pM/D+NRq/3b8AzTwdAUb2uaBtb3VkIkxlRRcYChKdjGO72YAjzSyoqUjotffcpfMCvesKM3O7UGqKXqYFGXhZoHaTJPJMFpXYYrT+bFzaxVah+VxE30OxDUHz/Z2FnGzD3Zd3OpLlbR+hkFInknAWWcyVGqUB1HCiWYReQRAK223eDRaGgc+P97nu7OEGEJ7/Pl3rAnJc5GA5D+Gm9zgf+Af2ZiWC7ukGNdbDxFi8YYY7YizLW3s7COhsaTa5FYjYRODx7x3ttyG4c8r5YfUrdLa02fmjUTa+AsCdKenG8WS6aRhGw6xWVUHx53P71HVMmepylev7WHROKMu4Mdo8nBuogGDnnELlRRgF9sQ97HJ6luj7/JSmC8UUpb3vl8bIRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y6rFDqot9KRrUMqRBuLXKy",
      "input": {
        "note": "Jaws closed on something soft; lifting to see whether the small bear came up with them.",
        "targets": {
          "left_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_01Y6rFDqot9KRrUMqRBuLXKy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.601, 1.6146, 0.9035, 0.2996, -0.6151, -0.1955, 0.1545, 0.2428, 0.923, 0.7643, -0.6575, 0.1669, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.4333 left_y=-0.1691 left_z=0.1758 left_yaw=0.011 left_pitch=0.2413 left_roll=0.0715 left_gripper=0.1545 right_x=0.2775 right_y=0.0422 right_z=0.1652 right_yaw=0.1432 right_pitch=-0.2236 right_roll=-0.1816 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -9.5521, 9.4427, 1.7998, -0.1783, 0.0659, -0.0415, -0.1983, -1.935, 6.7761, 1.7509, 0.0415, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8695994674f4438acbc786351276fe9511378f6aa120b7834df9cbbdee49c484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92163131ac0124753eb450c06f343a81e5535fdfea4b07f321ca3d32224ce046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d33c98fce7aa9c467b0a830c6a5e31d31c14e310d55c82bc8bfe21a11e799e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 20.03 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5976, 2.0426, 0.7063, 0.9691, -0.6033, -0.1791, 0.9992, 0.2428, 0.923, 0.7643, -0.6117, 0.1673, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.4359 left_y=-0.1711 left_z=0.0456 left_yaw=0.0019 left_pitch=0.2745 left_roll=0.0577 left_gripper=0.9992 right_x=0.2852 right_y=0.044 right_z=0.1731 right_yaw=0.1438 right_pitch=-0.178 right_roll=-0.1773 right_gripper=0.9968\nstate[joint_eff]: [-0.8, -8.5949, 4.1094, 2.0391, -0.2662, 0.0855, -0.0122, -0.212, -1.9624, 6.9675, 1.9219, 0.0171, -0.022, -0.0073]\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]: [-0.601, 2.0571, 0.7055, 0.9646, -0.6109, -0.1841, 0.1548, 0.2428, 0.923, 0.7643, -0.6353, 0.1673, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.434 left_y=-0.1704 left_z=0.0384 left_yaw=0.0046 left_pitch=0.2599 left_roll=0.0669 left_gripper=0.1548 right_x=0.2813 right_y=0.0431 right_z=0.169 right_yaw=0.1434 right_pitch=-0.2016 right_roll=-0.1797 right_gripper=0.9968\nstate[joint_eff]: [0.0615, -10.2496, 4.2462, 1.7558, -0.0415, 0.022, 0.0464, -0.1709, -1.9624, 6.8444, 1.7118, 0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.601, 1.6146, 0.9035, 0.2996, -0.6151, -0.1955, 0.1545, 0.2428, 0.923, 0.7643, -0.6575, 0.1669, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.4333 left_y=-0.1691 left_z=0.1758 left_yaw=0.011 left_pitch=0.2413 left_roll=0.0715 left_gripper=0.1545 right_x=0.2775 right_y=0.0422 right_z=0.1652 right_yaw=0.1432 right_pitch=-0.2236 right_roll=-0.1816 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -9.5521, 9.4427, 1.7998, -0.1783, 0.0659, -0.0415, -0.1983, -1.935, 6.7761, 1.7509, 0.0415, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8695994674f4438acbc786351276fe9511378f6aa120b7834df9cbbdee49c484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92163131ac0124753eb450c06f343a81e5535fdfea4b07f321ca3d32224ce046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d33c98fce7aa9c467b0a830c6a5e31d31c14e310d55c82bc8bfe21a11e799e1",
        "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_01T6S4M1igorPWijz5yu5eCs",
      "input": {
        "note": "The left grasp was empty and there is in fact no small bear — the only remaining object is the brown teddy in front of the safe. Parking the left arm home and moving the right arm above the teddy.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0,
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_x": 0.3,
          "right_y": 0.18,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01T6S4M1igorPWijz5yu5eCs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1146, 0.7982, 0.606, -0.3576, -0.1925, -0.0628, 0.9973, 0.7712, 1.335, 1.1244, -0.8009, 0.4805, 0.3202, 0.9969]\nstate[eef_state]: left_x=0.2978 left_y=0.0033 left_z=0.1861 left_yaw=0.065 left_pitch=0.0355 left_roll=0.0647 left_gripper=0.9973 right_x=0.2916 right_y=0.1745 right_z=0.1841 right_yaw=0.173 right_pitch=-0.2787 right_roll=-0.2162 right_gripper=0.9969\nstate[joint_eff]: [0.0752, -1.1966, 6.9128, 2.0147, 0.0757, 0.149, -0.0171, 0.1573, -4.9436, 9.0051, 1.3065, 0.4274, 0.188, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0a75878a35374f8c4e3d1ed4b862b4c4d97e29a0edad60c0752a8d1e6e128ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4093a6d4fc2d6a528ff38d363c303f01a796244d83ee9f6ae963aad8dde7eb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e15e566dcef824015ec5ef79a577b01020ec25fbccc9106aee36489d0c9f3240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 4.949 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.601, 2.0571, 0.7055, 0.9646, -0.6109, -0.1841, 0.1548, 0.2428, 0.923, 0.7643, -0.6353, 0.1673, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.434 left_y=-0.1704 left_z=0.0384 left_yaw=0.0046 left_pitch=0.2599 left_roll=0.0669 left_gripper=0.1548 right_x=0.2813 right_y=0.0431 right_z=0.169 right_yaw=0.1434 right_pitch=-0.2016 right_roll=-0.1797 right_gripper=0.9968\nstate[joint_eff]: [0.0615, -10.2496, 4.2462, 1.7558, -0.0415, 0.022, 0.0464, -0.1709, -1.9624, 6.8444, 1.7118, 0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.601, 1.6146, 0.9035, 0.2996, -0.6151, -0.1955, 0.1545, 0.2428, 0.923, 0.7643, -0.6575, 0.1669, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.4333 left_y=-0.1691 left_z=0.1758 left_yaw=0.011 left_pitch=0.2413 left_roll=0.0715 left_gripper=0.1545 right_x=0.2775 right_y=0.0422 right_z=0.1652 right_yaw=0.1432 right_pitch=-0.2236 right_roll=-0.1816 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -9.5521, 9.4427, 1.7998, -0.1783, 0.0659, -0.0415, -0.1983, -1.935, 6.7761, 1.7509, 0.0415, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1146, 0.7982, 0.606, -0.3576, -0.1925, -0.0628, 0.9973, 0.7712, 1.335, 1.1244, -0.8009, 0.4805, 0.3202, 0.9969]\nstate[eef_state]: left_x=0.2978 left_y=0.0033 left_z=0.1861 left_yaw=0.065 left_pitch=0.0355 left_roll=0.0647 left_gripper=0.9973 right_x=0.2916 right_y=0.1745 right_z=0.1841 right_yaw=0.173 right_pitch=-0.2787 right_roll=-0.2162 right_gripper=0.9969\nstate[joint_eff]: [0.0752, -1.1966, 6.9128, 2.0147, 0.0757, 0.149, -0.0171, 0.1573, -4.9436, 9.0051, 1.3065, 0.4274, 0.188, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0a75878a35374f8c4e3d1ed4b862b4c4d97e29a0edad60c0752a8d1e6e128ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4093a6d4fc2d6a528ff38d363c303f01a796244d83ee9f6ae963aad8dde7eb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e15e566dcef824015ec5ef79a577b01020ec25fbccc9106aee36489d0c9f3240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgcKjgEIEhgCKkA7ZWhDD8U4hV0X7YUs4StiT2bKMznpP4pnhXLLPFbx/Kwnryt9h3a5AjsyyH0bBzI3Y4P/1bXH47YnAhN4grVLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd+nzNUGEgwcqZvu8G0SlR8J6pwaDKQxLbpCRD3l2Y4MDSIwEDolQW/oyE8S9U4NNTw/1aaIPOIla5OjhcrVh/+kfBUvlw3nt4tQoZ5OHHZ1r0P+KrgF670k1dLSVyVb3Nn/ef0PxNpOsQYxsilCViPDTu/YQQzAyVnbtGcQ2iyk54hsNJRSgmg5jDV4rSa9AFr7ctGyAt3b2MF1tIQKfGSPvfs249a+UblYq3ulOqiwxSciU3ZKRD/qWCw1+NVW6kTNC4TqhOh+TyA7Q/PX5kKBqrIOIUMG5eMQCZ4Bg1hwSgOAGoFtMIbg+arRdqNzyPJTtruaWUzOSz0LlK1xUY9ah1XQ5Wzw8WOE7IGLrR8QfMa4PAa5Pba2HGgl23ylC5lHgWM4cq5Iz0LwhL6OyIbWwyVjddeQjvOO3i9XE02I9/eFGVT5ndr2yiVelEIKX6vI6mDlraLT+bjyzcbyE2wVLVLQQMV0XbPZxRc1j5s437254tIbB37lbD5w7uX/OE1JYWhgKNeYr72/MRjwciz7JLrq0ip/gEpo5WNnuidN8iiKDgZWa0A8fd0/CV3mrDSdRGUzUy7nd4sv5V5lHgqCGPxEVGH4B/PqmuyY/H0NZdFOBycdTe6h7nH8WT6FDNuyRy5AV5vNMcaGqTlicXcvQ3AkIzogt8iZD/NJcrenID2nZ4H0ZRY17A3Sl8T0pH9pDWS+ICfQhMT76MxEpHWANoT1ngxwl4oIDwXiOI3Uxu7o9GgTd7rQwi/ah3vEyHLCXwvyelxiIaX2H2xlVEKegE+TaAxA1bZoTfiRG/Tv4352igN/5WvM0x2ZnWWEscTDcMp4JtGMjH3bzjLhUkBLK3CsqHwUxTLA5dvZSVQJ8t8570reRbHXmNAW4K1Cn4XFhG2CxuMUBtLA0CcFzAvHTkznXz+3hcLJbpF1xAzStfaIGDPymP55uwXSgHcZqgfrhH9avz328jDYzt9OWncVfgefrOmZGrWbMpEczsITNWQIOmoD8L59Rr1fdkLCcQILY+tVeRLSgAF9FctRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PYbhZnbDfLkSThqVYdzfnD",
      "input": {
        "note": "There is also a cream-coloured bear left of the safe. First: the brown teddy appears low-left in the right wrist view; shifting 5 cm to the arm's left and descending over it.",
        "targets": {
          "right_pitch": 0.2,
          "right_x": 0.3,
          "right_y": 0.23,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01PYbhZnbDfLkSThqVYdzfnD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.112, 0.8028, 0.6044, -0.3969, -0.1806, -0.0643, 0.9977, 1.0023, 1.544, 0.5827, 0.2432, 0.8238, 0.2749, 0.9969]\nstate[eef_state]: left_x=0.2928 left_y=0.0026 left_z=0.1759 left_yaw=0.0586 left_pitch=-0.0102 left_roll=0.065 left_gripper=0.9977 right_x=0.2923 right_y=0.2234 right_z=0.0844 right_yaw=0.2017 right_pitch=0.1057 right_roll=-0.2654 right_gripper=0.9969\nstate[joint_eff]: [-0.4581, -1.6615, 7.1316, 2.1563, -0.2222, 0.0366, 0.0317, 0.294, -5.6547, 5.6274, 1.7363, 0.5397, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d38d55efe5015e4a680ff68884884e890c650ca55b685c1bdd22a878539ba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d220ece163618c5678c2599ec6c659b501137fe09723ea4a4d626e40eb6e5bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0104aee55cefa2a4550c963a90e51df2fe1ba04f647610296c2a4903ded5082",
        "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 · 4.058 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.601, 1.6146, 0.9035, 0.2996, -0.6151, -0.1955, 0.1545, 0.2428, 0.923, 0.7643, -0.6575, 0.1669, -0.0792, 0.9968]\nstate[eef_state]: left_x=0.4333 left_y=-0.1691 left_z=0.1758 left_yaw=0.011 left_pitch=0.2413 left_roll=0.0715 left_gripper=0.1545 right_x=0.2775 right_y=0.0422 right_z=0.1652 right_yaw=0.1432 right_pitch=-0.2236 right_roll=-0.1816 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -9.5521, 9.4427, 1.7998, -0.1783, 0.0659, -0.0415, -0.1983, -1.935, 6.7761, 1.7509, 0.0415, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1146, 0.7982, 0.606, -0.3576, -0.1925, -0.0628, 0.9973, 0.7712, 1.335, 1.1244, -0.8009, 0.4805, 0.3202, 0.9969]\nstate[eef_state]: left_x=0.2978 left_y=0.0033 left_z=0.1861 left_yaw=0.065 left_pitch=0.0355 left_roll=0.0647 left_gripper=0.9973 right_x=0.2916 right_y=0.1745 right_z=0.1841 right_yaw=0.173 right_pitch=-0.2787 right_roll=-0.2162 right_gripper=0.9969\nstate[joint_eff]: [0.0752, -1.1966, 6.9128, 2.0147, 0.0757, 0.149, -0.0171, 0.1573, -4.9436, 9.0051, 1.3065, 0.4274, 0.188, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.112, 0.8028, 0.6044, -0.3969, -0.1806, -0.0643, 0.9977, 1.0023, 1.544, 0.5827, 0.2432, 0.8238, 0.2749, 0.9969]\nstate[eef_state]: left_x=0.2928 left_y=0.0026 left_z=0.1759 left_yaw=0.0586 left_pitch=-0.0102 left_roll=0.065 left_gripper=0.9977 right_x=0.2923 right_y=0.2234 right_z=0.0844 right_yaw=0.2017 right_pitch=0.1057 right_roll=-0.2654 right_gripper=0.9969\nstate[joint_eff]: [-0.4581, -1.6615, 7.1316, 2.1563, -0.2222, 0.0366, 0.0317, 0.294, -5.6547, 5.6274, 1.7363, 0.5397, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d38d55efe5015e4a680ff68884884e890c650ca55b685c1bdd22a878539ba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d220ece163618c5678c2599ec6c659b501137fe09723ea4a4d626e40eb6e5bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0104aee55cefa2a4550c963a90e51df2fe1ba04f647610296c2a4903ded5082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwQKjgEIEhgCKkA7CmyEGWJu/H1z41i/NKxKjX4C+tc+vQ3Oi/FcrwGjJ0Ua55Gok47wjY1/6bJRYZUllwI6cA4kFWpz1wIKJZLbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeanzNUGEgxdj1nCmqmfosHGpQ0aDFASTHlfUcNs5WrDmiIwi591tAkWOeKXGbxJ9nqKXDl19i52mZoyLcfnyxLZTTVUk56GM+4ryaVtGjU5UL0/KskCkORlegdVLtmu7FxmEILO9bdjAe8dWadApjTJaK5l2R5btMgcheSUlgUM+I0Dn7Cbje+UwMcE5qD+Cq6Ho2npQZlsRJTNC63FK34eopeCAbN1Qv7PzmvN1T/pM0A6L5h7pLt1mP2ebB7l69Y7Ap1d+ht22OmiE1doaGXDFhnvfqFCj6gkg6v8wR0Sk4qiF6gRe4iyQSxGMtRs25Giq4mKLMgzHIikCQOKT78MJc3SCx+5kzPCa8uOpFHPetGuKthbN+ctJMbguJ505c/p3ThsGYQORQPqGjvJtCPbAS+OMBbkPzzN3YFFl7e4wnzxjhNgSCBbwIYYXuCpvJC17sTGNKWaVATin8u3EYy51+2kEE5xbLSH8owJM2I2TWPOd8O+7HVQkqTRLKlYI8OK/utxznXPYqMkZ4D06RjTnOQ/xX3W8DoOSZwY+KgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019WLscb9fqUPpcn4t8D4XkG",
      "input": {
        "note": "The brown teddy fills the bottom of the right wrist view between the jaws; descending onto it.",
        "targets": {
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019WLscb9fqUPpcn4t8D4XkG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.112, 0.804, 0.6044, -0.4053, -0.1799, -0.0643, 0.9977, 1.0019, 1.7744, 0.5095, 0.5541, 0.8345, 0.2783, 0.9969]\nstate[eef_state]: left_x=0.2917 left_y=0.0026 left_z=0.1738 left_yaw=0.058 left_pitch=-0.0197 left_roll=0.0662 left_gripper=0.9977 right_x=0.2944 right_y=0.2242 right_z=0.032 right_yaw=0.1914 right_pitch=0.1162 right_roll=-0.262 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -1.3333, 7.2137, 1.8144, -0.105, -0.0562, -0.0073, 0.0479, -4.7385, 2.947, 0.9158, 0.1636, -0.188, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60da1c2c3dcf9d319fd99515d9928dc8ee14a115d7930b2c2500f57e902cc6a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c60b8a83c8eebf36646b7f33e2826ab4a01c1030e86585ff6e7e4331675d2705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:196842e206e8105e9f3d7daaf55f61d19658e50895ca96b64ac5a40a41688bd9",
        "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 · 4.608 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1146, 0.7982, 0.606, -0.3576, -0.1925, -0.0628, 0.9973, 0.7712, 1.335, 1.1244, -0.8009, 0.4805, 0.3202, 0.9969]\nstate[eef_state]: left_x=0.2978 left_y=0.0033 left_z=0.1861 left_yaw=0.065 left_pitch=0.0355 left_roll=0.0647 left_gripper=0.9973 right_x=0.2916 right_y=0.1745 right_z=0.1841 right_yaw=0.173 right_pitch=-0.2787 right_roll=-0.2162 right_gripper=0.9969\nstate[joint_eff]: [0.0752, -1.1966, 6.9128, 2.0147, 0.0757, 0.149, -0.0171, 0.1573, -4.9436, 9.0051, 1.3065, 0.4274, 0.188, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.112, 0.8028, 0.6044, -0.3969, -0.1806, -0.0643, 0.9977, 1.0023, 1.544, 0.5827, 0.2432, 0.8238, 0.2749, 0.9969]\nstate[eef_state]: left_x=0.2928 left_y=0.0026 left_z=0.1759 left_yaw=0.0586 left_pitch=-0.0102 left_roll=0.065 left_gripper=0.9977 right_x=0.2923 right_y=0.2234 right_z=0.0844 right_yaw=0.2017 right_pitch=0.1057 right_roll=-0.2654 right_gripper=0.9969\nstate[joint_eff]: [-0.4581, -1.6615, 7.1316, 2.1563, -0.2222, 0.0366, 0.0317, 0.294, -5.6547, 5.6274, 1.7363, 0.5397, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.112, 0.804, 0.6044, -0.4053, -0.1799, -0.0643, 0.9977, 1.0019, 1.7744, 0.5095, 0.5541, 0.8345, 0.2783, 0.9969]\nstate[eef_state]: left_x=0.2917 left_y=0.0026 left_z=0.1738 left_yaw=0.058 left_pitch=-0.0197 left_roll=0.0662 left_gripper=0.9977 right_x=0.2944 right_y=0.2242 right_z=0.032 right_yaw=0.1914 right_pitch=0.1162 right_roll=-0.262 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -1.3333, 7.2137, 1.8144, -0.105, -0.0562, -0.0073, 0.0479, -4.7385, 2.947, 0.9158, 0.1636, -0.188, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60da1c2c3dcf9d319fd99515d9928dc8ee14a115d7930b2c2500f57e902cc6a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c60b8a83c8eebf36646b7f33e2826ab4a01c1030e86585ff6e7e4331675d2705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:196842e206e8105e9f3d7daaf55f61d19658e50895ca96b64ac5a40a41688bd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GcegXu17QGroA77iLhEnRV",
      "input": {
        "note": "Jaws are down on the brown teddy's body; closing to grip its fur.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01GcegXu17QGroA77iLhEnRV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1116, 0.804, 0.6044, -0.4061, -0.1799, -0.0643, 0.9977, 1.0023, 1.7996, 0.5026, 0.6197, 0.8196, 0.271, 0.1054]\nstate[eef_state]: left_x=0.2916 left_y=0.0027 left_z=0.1737 left_yaw=0.0584 left_pitch=-0.0205 left_roll=0.0664 left_gripper=0.9977 right_x=0.2956 right_y=0.2295 right_z=0.0301 right_yaw=0.2033 right_pitch=0.1317 right_roll=-0.2374 right_gripper=0.1054\nstate[joint_eff]: [-0.1846, -1.2923, 7.0085, 1.6777, -0.1294, -0.0611, -0.0073, -0.0889, -5.4222, 3.412, 1.3211, 0.2857, 0.0366, 0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d01fc96ac4a0f74b10547ba359dcd69bb5ed05677fbce133667ca665e1f9631",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e5349699b21f4591369f396059fc20794d78338b5fb13fb12e8bdfffb407462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4cc6945d4ee4458d7e86a996f9fea6509270603bf5863855436375d0b47f2454",
        "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 · 6.436 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.112, 0.8028, 0.6044, -0.3969, -0.1806, -0.0643, 0.9977, 1.0023, 1.544, 0.5827, 0.2432, 0.8238, 0.2749, 0.9969]\nstate[eef_state]: left_x=0.2928 left_y=0.0026 left_z=0.1759 left_yaw=0.0586 left_pitch=-0.0102 left_roll=0.065 left_gripper=0.9977 right_x=0.2923 right_y=0.2234 right_z=0.0844 right_yaw=0.2017 right_pitch=0.1057 right_roll=-0.2654 right_gripper=0.9969\nstate[joint_eff]: [-0.4581, -1.6615, 7.1316, 2.1563, -0.2222, 0.0366, 0.0317, 0.294, -5.6547, 5.6274, 1.7363, 0.5397, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.112, 0.804, 0.6044, -0.4053, -0.1799, -0.0643, 0.9977, 1.0019, 1.7744, 0.5095, 0.5541, 0.8345, 0.2783, 0.9969]\nstate[eef_state]: left_x=0.2917 left_y=0.0026 left_z=0.1738 left_yaw=0.058 left_pitch=-0.0197 left_roll=0.0662 left_gripper=0.9977 right_x=0.2944 right_y=0.2242 right_z=0.032 right_yaw=0.1914 right_pitch=0.1162 right_roll=-0.262 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -1.3333, 7.2137, 1.8144, -0.105, -0.0562, -0.0073, 0.0479, -4.7385, 2.947, 0.9158, 0.1636, -0.188, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1116, 0.804, 0.6044, -0.4061, -0.1799, -0.0643, 0.9977, 1.0023, 1.7996, 0.5026, 0.6197, 0.8196, 0.271, 0.1054]\nstate[eef_state]: left_x=0.2916 left_y=0.0027 left_z=0.1737 left_yaw=0.0584 left_pitch=-0.0205 left_roll=0.0664 left_gripper=0.9977 right_x=0.2956 right_y=0.2295 right_z=0.0301 right_yaw=0.2033 right_pitch=0.1317 right_roll=-0.2374 right_gripper=0.1054\nstate[joint_eff]: [-0.1846, -1.2923, 7.0085, 1.6777, -0.1294, -0.0611, -0.0073, -0.0889, -5.4222, 3.412, 1.3211, 0.2857, 0.0366, 0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d01fc96ac4a0f74b10547ba359dcd69bb5ed05677fbce133667ca665e1f9631",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e5349699b21f4591369f396059fc20794d78338b5fb13fb12e8bdfffb407462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cc6945d4ee4458d7e86a996f9fea6509270603bf5863855436375d0b47f2454",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywIKjgEIEhgCKkDpKSRWJj2EpVlfY0slkxgBGAF4+Ht6vC8CXZSqA0Nq0OGD1tKbgSMo6d9PI5hbowm67P2HeoQqmh6//qQURWjfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfCnzNUGEgzJkYrsCU9pLJtazqcaDKrsQYltKQN09C/cSSIwGjS7sZuoa6/QNw4/i+T2BALEwweySb5EOnUiTnZMmFM4AE7p4GHdzitefXJgdlE6KmoeNq3mHA0tJPp50OoZikZ8DIuoJ7a8aQCZ2t6PNrBu6UnsosTZ8rTuuijb6xRDVu1boo7nfw6cWx6FLqoOlagwfoPZIsZfnj7EUTOJ5+Hr/S14RSuKlokR14k2UUgUj3XDbR8GCcfgrBgzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QKCrFx7bW1mCfDFzqcQkTf",
      "input": {
        "note": "Closed on the teddy's fur; lifting to see if it comes up.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01QKCrFx7bW1mCfDFzqcQkTf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1116, 0.8059, 0.6044, -0.4091, -0.1799, -0.0643, 0.9978, 1.0019, 1.3388, 0.9188, -0.2844, 0.8116, 0.2653, 0.1059]\nstate[eef_state]: left_x=0.2913 left_y=0.0028 left_z=0.1726 left_yaw=0.0584 left_pitch=-0.0254 left_roll=0.0672 left_gripper=0.9978 right_x=0.2954 right_y=0.2308 right_z=0.1998 right_yaw=0.2141 right_pitch=0.1083 right_roll=-0.2584 right_gripper=0.1059\nstate[joint_eff]: [-0.2256, -1.388, 6.9949, 1.7558, -0.105, -0.0415, -0.0073, -0.1846, -7.0085, 8.8957, 1.5507, 0.2857, 0.0317, 0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ff7c248967da0237ff8db6130b12d5dcf38710b2a299539d70b75e1ee7ad2a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72217cd1cf397a8d00fabd073455d8fb68dc83312939beef520abe269c48550d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6aea08448ab3aaa7b8ae32d18ce9ab987bdd31fb6842b5fb9530fb2cc74dd619",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 14.82 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.112, 0.804, 0.6044, -0.4053, -0.1799, -0.0643, 0.9977, 1.0019, 1.7744, 0.5095, 0.5541, 0.8345, 0.2783, 0.9969]\nstate[eef_state]: left_x=0.2917 left_y=0.0026 left_z=0.1738 left_yaw=0.058 left_pitch=-0.0197 left_roll=0.0662 left_gripper=0.9977 right_x=0.2944 right_y=0.2242 right_z=0.032 right_yaw=0.1914 right_pitch=0.1162 right_roll=-0.262 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -1.3333, 7.2137, 1.8144, -0.105, -0.0562, -0.0073, 0.0479, -4.7385, 2.947, 0.9158, 0.1636, -0.188, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1116, 0.804, 0.6044, -0.4061, -0.1799, -0.0643, 0.9977, 1.0023, 1.7996, 0.5026, 0.6197, 0.8196, 0.271, 0.1054]\nstate[eef_state]: left_x=0.2916 left_y=0.0027 left_z=0.1737 left_yaw=0.0584 left_pitch=-0.0205 left_roll=0.0664 left_gripper=0.9977 right_x=0.2956 right_y=0.2295 right_z=0.0301 right_yaw=0.2033 right_pitch=0.1317 right_roll=-0.2374 right_gripper=0.1054\nstate[joint_eff]: [-0.1846, -1.2923, 7.0085, 1.6777, -0.1294, -0.0611, -0.0073, -0.0889, -5.4222, 3.412, 1.3211, 0.2857, 0.0366, 0.188]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1116, 0.8059, 0.6044, -0.4091, -0.1799, -0.0643, 0.9978, 1.0019, 1.3388, 0.9188, -0.2844, 0.8116, 0.2653, 0.1059]\nstate[eef_state]: left_x=0.2913 left_y=0.0028 left_z=0.1726 left_yaw=0.0584 left_pitch=-0.0254 left_roll=0.0672 left_gripper=0.9978 right_x=0.2954 right_y=0.2308 right_z=0.1998 right_yaw=0.2141 right_pitch=0.1083 right_roll=-0.2584 right_gripper=0.1059\nstate[joint_eff]: [-0.2256, -1.388, 6.9949, 1.7558, -0.105, -0.0415, -0.0073, -0.1846, -7.0085, 8.8957, 1.5507, 0.2857, 0.0317, 0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ff7c248967da0237ff8db6130b12d5dcf38710b2a299539d70b75e1ee7ad2a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72217cd1cf397a8d00fabd073455d8fb68dc83312939beef520abe269c48550d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aea08448ab3aaa7b8ae32d18ce9ab987bdd31fb6842b5fb9530fb2cc74dd619",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISjgYKjgEIEhgCKkCzlgSJLd2v++pKOyZLmhUCW6xTt0fLS/Fxh86u2g2+44SBE1bqYTVpNWqNp1JrPg4BXnXEZkyzYPfcrQ/tS2S3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfinzNUGEgwuoT4QXVJ0gQ58N6saDKh8g/eCs2wQAAA/USIwcj+ebDJNqjNfxKC0Q38ITQelFt6MI1oD5AN3WISDfzYlEmr13X5jb7B02hAED41CKqwERu+tWaF0sskiOEF88DUHkBvAnHuXyiyNcd0xn+94YyYmSBLjPnOCLTOaEkx3mTBFJgAyYe8loVfqpQfhE4QyvMyUsSvTSJeDGDD+GLQ7qxMHqm4T29QzWaEqqo2/6PytuXgI/1q4Wc+81pH9JJz9MifYOLxglXXS0uyrqV+klVy29dQonAKOJ7U2tH5ufLj9rjQqn/I0qtQqavQU25jE3Tvy2lZyt1PcUmx2i8B/ULQvsgMZJCG/giWXCTOP5PajjVwpNSpkwchm9+PiIDkmgnxWa2TflFNk94+3EbIrvctP6uF64nOCWdPjujasthKFTcIaC3C2jS2r5Xxad7tLfkrRuMhfieVe699stIF+5P9bpDpRXpXgszhovVHAG0zBNOx1q5UHRsSNSsaqjB1ixu0raBNRi65n3wPwtF1C1Bls3PIm++J3DFFwmgLgTmp9yMnUtUzM4xXkHrHjfdQpbctMRPPWqxtnB9S1ppEWsRMiOAKNE4Z+T+kdQ/kucXm0AN/4UoSMtkHge/dtB8s55y3jKHxUM6HJB10A6mVipUA3usgssjHZqhQIqY8cqXeEC4bua5gKsaJzTceBtBUj94Kfcbj9aPVrse03t50OyV5U7gitjNvwDc302/zzrmL03w+nG8T7tB2/GzUiCYfjKYm4IWN2j/hyhdRJRCaCODaGcAaTQAoM8rF92PHPxsMC7UIHgxnzuqpHSoiepND1BKSkXS92X/xFq//hOhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019LYhWbBXz2RExYKf5Vxmwj",
      "input": {
        "note": "The teddy appears to be hanging from the jaws; carrying it forward over the open safe opening.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.29,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019LYhWbBXz2RExYKf5Vxmwj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8097, 0.6044, -0.4278, -0.1799, -0.0643, 0.9977, 0.8577, 1.7123, 1.4616, -0.4171, 0.6941, 0.1406, 0.1059]\nstate[eef_state]: left_x=0.2889 left_y=0.0033 left_z=0.1678 left_yaw=0.0593 left_pitch=-0.0475 left_roll=0.071 left_gripper=0.9977 right_x=0.391 right_y=0.2848 right_z=0.2434 right_yaw=0.221 right_pitch=0.0688 right_roll=-0.2875 right_gripper=0.1059\nstate[joint_eff]: [-0.0889, -1.5385, 6.9812, 1.8681, -0.0806, -0.0659, -0.0122, -0.4308, -8.9231, 8.7863, 1.7021, 0.2027, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ecfd69f7dd0a6459b76147e3327b0313f4c12fbc545b9b1f4ad08f9b6959c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:644ec2cd2f8ecb1b161ffb069c81a117549c406ea8603f2635a4a2888038ed43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c2a39008a38287d5a8cd28ac025dac888e61ac0605cd93fbbec2e3d2d7dc8a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 4.938 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1116, 0.804, 0.6044, -0.4061, -0.1799, -0.0643, 0.9977, 1.0023, 1.7996, 0.5026, 0.6197, 0.8196, 0.271, 0.1054]\nstate[eef_state]: left_x=0.2916 left_y=0.0027 left_z=0.1737 left_yaw=0.0584 left_pitch=-0.0205 left_roll=0.0664 left_gripper=0.9977 right_x=0.2956 right_y=0.2295 right_z=0.0301 right_yaw=0.2033 right_pitch=0.1317 right_roll=-0.2374 right_gripper=0.1054\nstate[joint_eff]: [-0.1846, -1.2923, 7.0085, 1.6777, -0.1294, -0.0611, -0.0073, -0.0889, -5.4222, 3.412, 1.3211, 0.2857, 0.0366, 0.188]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1116, 0.8059, 0.6044, -0.4091, -0.1799, -0.0643, 0.9978, 1.0019, 1.3388, 0.9188, -0.2844, 0.8116, 0.2653, 0.1059]\nstate[eef_state]: left_x=0.2913 left_y=0.0028 left_z=0.1726 left_yaw=0.0584 left_pitch=-0.0254 left_roll=0.0672 left_gripper=0.9978 right_x=0.2954 right_y=0.2308 right_z=0.1998 right_yaw=0.2141 right_pitch=0.1083 right_roll=-0.2584 right_gripper=0.1059\nstate[joint_eff]: [-0.2256, -1.388, 6.9949, 1.7558, -0.105, -0.0415, -0.0073, -0.1846, -7.0085, 8.8957, 1.5507, 0.2857, 0.0317, 0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8097, 0.6044, -0.4278, -0.1799, -0.0643, 0.9977, 0.8577, 1.7123, 1.4616, -0.4171, 0.6941, 0.1406, 0.1059]\nstate[eef_state]: left_x=0.2889 left_y=0.0033 left_z=0.1678 left_yaw=0.0593 left_pitch=-0.0475 left_roll=0.071 left_gripper=0.9977 right_x=0.391 right_y=0.2848 right_z=0.2434 right_yaw=0.221 right_pitch=0.0688 right_roll=-0.2875 right_gripper=0.1059\nstate[joint_eff]: [-0.0889, -1.5385, 6.9812, 1.8681, -0.0806, -0.0659, -0.0122, -0.4308, -8.9231, 8.7863, 1.7021, 0.2027, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ecfd69f7dd0a6459b76147e3327b0313f4c12fbc545b9b1f4ad08f9b6959c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:644ec2cd2f8ecb1b161ffb069c81a117549c406ea8603f2635a4a2888038ed43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c2a39008a38287d5a8cd28ac025dac888e61ac0605cd93fbbec2e3d2d7dc8a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsA0KjgEIEhgCKkD/8R/Zs4qp2Pj9kRreJMyqh+P5S6bsv7TPt6aMY0iq1c8cK/XEgSXQKjYuS9C/xSnhpZDfPHJ3BLBj8K3r6CiVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYeozNUGEgwFcvdkn4+Bh+vkE7EaDGgJNYc/FAif3OuiQyIwZ35jJhuWx9DTe8mg6qI1/Wv7XlC+oHY3daoc7VR1BDnKdugi1oPTHSjWD6w1i1VcKs4LMj/6ICuGYj/ElsXlANcORJTGMir2DZnQiV740XYCSzVV8kYeV4OktrPT6DJlvpr3T2ZVMmTLLbeVXoFfmc6Mj83tdCQzXBFItyaJu5KW3GliThJCwRogy9x6CH4EBCwspuWVaH0kGKkWsgHgD0G3Q/1D29HGLbqNJnTO+28iooCxTW0WctQ8yEN6MDr5bbHWvRZfN9Noauo3fCDwumjAJbj+5R+IOd74goFlFb3AwQN5MbZvX6upLnyCJLbJWMH/+wEPCoqiICOx2scNT7rTyVNTO+IrL/jy8OFmrvQQtAijCNPsKZ/BWvSYunbJwoNcofiuDdonX1ziuilOotaHvm9q2hrhVSYowJs1UxM6Mb3iMhhx55G441tUgeXy/QXjaIByrwzlziGUKkKpDxAenvy0Q+GcA7zDwOVW9yzVbl3mX2ELbtaN3jbrN0D5bfQ5kqItmqY9sU7outfBHof6T31J6GQGXV9t3MN+NwfqjgpIncikpdEx+VeqriEmen1xwK6EYGVIA4W0Z+dGfLfZQIRRTt+/c0km+XOoN/Aign5MJfKRpvP/1Lohzxbf5YRp0eaRxDQbMMBv+yJBukZQM1mgIhdIKF32C/RPK+ShNM+MT486sRzkoqaiyVoB26d8+S3/LJpJ/PYP9OSTtibDe+nVTvOhNE692xecQGSnBjUTFgc69KXmWOPNw5c2G4/8s43my1HKwdjGgoXL2H3Yc/0EfalPFnUvmBN/MM0UBR8tEvUTk4W9ZsrKjsilQlyLmlFvSbtzteFBUaQ7sbn6wz6zk+R5u3xkbMHPKxnHCCDZtn/LC6Q7SDKi+znNoJPxG7aQyg/3kKTkSt1ex/RxHMTtlU96nvSJipS8upzhcSqh38G+3IX9xjDQabJjTPXWLiqudWZPhaEQ8eehWBhkPzP+NCDavCkrl1HwUHKYins8gVU++BGpU20UGuHqZiGLYmMYpl6l8Fwcxn7VlM8GaeZikQEeJ0d0McMr14Fnz5oEBW1mjSd3vYO7PYRpN/AOHqrVjxdiJX+LGlZnyJbIMOJORZTFHlFYoQOXL7xTszONrM54QQXQCEpEmluswevVTERh4ADt5IT4o5ugI1s64JOykgGtZQabJuK9dbdF74/YIsKlHattrGT0Mcelvvmm35Dk6FGqaYtHguRUReDrGgVaXXWHNUvHfNRAtGmpioBU4thFiYdx26M0YdRLUVIcEkJbfSXdL0IuQCbD82oS+A1fkkJUNpBzp/F+CXsXInEplFaJ/mkYco+7qRKSi5hDnXq7+kbVaJd+asXZcLM3jspSeYr5HBv4XeIQKP9CbswCk6tIjAuQg3THQsmpLrjJWTiZ7ze+PlQiJ+NQNgFY8P56GpJIWdLRUz+21AfJtC76XOifKopb0PBiT75j1GiqY/lnz6q6o7BofBVL6e9lzIPitP0R8k+AlasDcDgQAxjSicbbQNMUXND7gaYRo0RcsPs+nR6oBrXM0GLazD89iUiY7CoWYQIVYIQArCTkQoyEhbdGb5kaR1cWOvxDn/rGjIGqsvJemYQ1HjWOUxXr2GiWy1+G/aT7OZGc7LAfcCWgNdJsmV4HhA+/SSP5LIN8ENxOI+s0Lsxz9lEeM0xqGClATe9G/lKhAx4sphHGwmAXgibdectU14jM3BLoHpuHOmTEiJc2A07QC03u32iKB5HRNZlqbwiSbbnBAjgWgqjdV3MiCRg1Qf9aPjZQo5MxNpx64bSQD4fZGwNoncq3OELajoSzRamSHPWIBgdeugvI0ShZR8YlYKDV4HLIk3JjjhLP2x3768qW2oTYJrFVgl8CZUK7J0zOYqRvv7db6NosgjbZV+2k5Hza52PoPOEVnLha5SxnhibqGRrt1UHI5pL6mI3HKDfMXYU7djexmFcE6hw9+xDWrUQJfKUC3FLjR6CegGWWSpO/4W93/Pq1EMytxB/TZLuzI3F2N33by29GLFOPrqXuAvaUujwwKxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FbCRc8sihg3EdEeiBCDaiU",
      "input": {
        "note": "The teddy did not come with the jaws — it is still on the table. Returning to it, aiming a bit further left and nearer this time, down at table level.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.2,
          "right_x": 0.28,
          "right_y": 0.26,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01FbCRc8sihg3EdEeiBCDaiU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8139, 0.6044, -0.4355, -0.1799, -0.0643, 0.9978, 1.116, 1.9202, 0.5789, 0.6064, 0.9245, 0.2565, 0.996]\nstate[eef_state]: left_x=0.288 left_y=0.0034 left_z=0.1652 left_yaw=0.0594 left_pitch=-0.0592 left_roll=0.073 left_gripper=0.9978 right_x=0.2796 right_y=0.259 right_z=0.017 right_yaw=0.257 right_pitch=0.1407 right_roll=-0.3398 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.6615, 6.9812, 1.7265, -0.1197, -0.0659, -0.0073, 0.3487, -7.4462, 4.0274, 1.7656, 0.5592, 0.2076, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e486197442837dee586fd60a3b30c2605392629f8aa04e508cf2377348f39b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddd00f301fa639918cb88abcfa520c2772bd74839d5678763c2edce31cbad19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:458284d4bb692db6f8dc938782b25567120e2047ea300a777ca25de90600e981",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 5.067 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1116, 0.8059, 0.6044, -0.4091, -0.1799, -0.0643, 0.9978, 1.0019, 1.3388, 0.9188, -0.2844, 0.8116, 0.2653, 0.1059]\nstate[eef_state]: left_x=0.2913 left_y=0.0028 left_z=0.1726 left_yaw=0.0584 left_pitch=-0.0254 left_roll=0.0672 left_gripper=0.9978 right_x=0.2954 right_y=0.2308 right_z=0.1998 right_yaw=0.2141 right_pitch=0.1083 right_roll=-0.2584 right_gripper=0.1059\nstate[joint_eff]: [-0.2256, -1.388, 6.9949, 1.7558, -0.105, -0.0415, -0.0073, -0.1846, -7.0085, 8.8957, 1.5507, 0.2857, 0.0317, 0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8097, 0.6044, -0.4278, -0.1799, -0.0643, 0.9977, 0.8577, 1.7123, 1.4616, -0.4171, 0.6941, 0.1406, 0.1059]\nstate[eef_state]: left_x=0.2889 left_y=0.0033 left_z=0.1678 left_yaw=0.0593 left_pitch=-0.0475 left_roll=0.071 left_gripper=0.9977 right_x=0.391 right_y=0.2848 right_z=0.2434 right_yaw=0.221 right_pitch=0.0688 right_roll=-0.2875 right_gripper=0.1059\nstate[joint_eff]: [-0.0889, -1.5385, 6.9812, 1.8681, -0.0806, -0.0659, -0.0122, -0.4308, -8.9231, 8.7863, 1.7021, 0.2027, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8139, 0.6044, -0.4355, -0.1799, -0.0643, 0.9978, 1.116, 1.9202, 0.5789, 0.6064, 0.9245, 0.2565, 0.996]\nstate[eef_state]: left_x=0.288 left_y=0.0034 left_z=0.1652 left_yaw=0.0594 left_pitch=-0.0592 left_roll=0.073 left_gripper=0.9978 right_x=0.2796 right_y=0.259 right_z=0.017 right_yaw=0.257 right_pitch=0.1407 right_roll=-0.3398 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.6615, 6.9812, 1.7265, -0.1197, -0.0659, -0.0073, 0.3487, -7.4462, 4.0274, 1.7656, 0.5592, 0.2076, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e486197442837dee586fd60a3b30c2605392629f8aa04e508cf2377348f39b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddd00f301fa639918cb88abcfa520c2772bd74839d5678763c2edce31cbad19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:458284d4bb692db6f8dc938782b25567120e2047ea300a777ca25de90600e981",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzgQKjgEIEhgCKkASNRPq4YG1BPmoT6XMwZJJYHwbJ8wqbp/jk66bOoTM9slYx6Pvv4/4I/lkixAQb9J/5b6Q9NuwMwP/LWwzRGv6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY6ozNUGEgzW7yHcp/F6VYHUqO8aDOvB8VuG8JX9UI89ASIw2VT/yzdMOc3aUXCoq0YrM5GCkzNgy+0CCL1YJohwazE98TRdV9rPtiG3AsGGT4RiKuwCqELtbBTIdcaoRgBMLdCTR+hu9PK/TpQNzQ8YKAouFKmiy/a7RCXh70XUuJTgXxiZN8PRMisAwvYd5VolZEX89942KRtZEO2Zj2f/xKyFB6K4j6VKqYk9CXt0lO36bUmFAoeYuVEVOeJCWsIjlBPQQ/GP7z6oEORm+brZ6PwlZ0hWIo6VxWPc41TW9gqn4CLlRGkOVMyrNEmBg1HbG5Z9vLobdunTr+bIwFK8q0Alv89gYJPVw3tbGQSiJrxLToMZReITWC8u5wt+QioOus9IJduvyToLuADEHEHZvQRYFaHbfoCIKyp+FFh/U/JCPpUwpMU+V8bjNaaBGTDskbwbznK5ZnqaGNO/LOTx/g07BK0/yCKX/0N/GjjqGfs3I1hqjBjfg5dDAro7UOkdMCOCadRxcBK5RMcptvO6ovWRluPGFhI572KaORpN1C6Y3qqEWQku2cERFKySKAkfCJfZZwXqs/03G4p3yPVR2hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UdBQMLdAeZwcLVykGSwnbL",
      "input": {
        "note": "The teddy's head/back is right under the jaws; closing fully to pinch its fur.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UdBQMLdAeZwcLVykGSwnbL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8154, 0.6044, -0.4511, -0.1799, -0.0647, 0.9978, 1.1172, 1.9316, 0.572, 0.6189, 0.9276, 0.2512, 0.2118]\nstate[eef_state]: left_x=0.2858 left_y=0.0036 left_z=0.1618 left_yaw=0.0598 left_pitch=-0.0761 left_roll=0.0756 left_gripper=0.9978 right_x=0.2786 right_y=0.2571 right_z=0.0134 right_yaw=0.2595 right_pitch=0.1375 right_roll=-0.3503 right_gripper=0.2118\nstate[joint_eff]: [-0.0205, -1.4427, 6.9675, 1.8486, -0.1099, -0.0708, -0.0122, -0.3077, -8.5675, 4.2051, 1.2674, 0.2759, 0.0073, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:880a03c3958dabb2ff4d4a73dd7dd5cb4881d97522b329ce5b5d6b9ca5d434f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a81c9733564ac874a40ef10d540bf9eb8c21bdd63f563e327045ef697651b12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:824113535efdc2f87a464b7574c023475c4ae54fbf3d1b65034fbe87239638f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 6.85 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8097, 0.6044, -0.4278, -0.1799, -0.0643, 0.9977, 0.8577, 1.7123, 1.4616, -0.4171, 0.6941, 0.1406, 0.1059]\nstate[eef_state]: left_x=0.2889 left_y=0.0033 left_z=0.1678 left_yaw=0.0593 left_pitch=-0.0475 left_roll=0.071 left_gripper=0.9977 right_x=0.391 right_y=0.2848 right_z=0.2434 right_yaw=0.221 right_pitch=0.0688 right_roll=-0.2875 right_gripper=0.1059\nstate[joint_eff]: [-0.0889, -1.5385, 6.9812, 1.8681, -0.0806, -0.0659, -0.0122, -0.4308, -8.9231, 8.7863, 1.7021, 0.2027, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8139, 0.6044, -0.4355, -0.1799, -0.0643, 0.9978, 1.116, 1.9202, 0.5789, 0.6064, 0.9245, 0.2565, 0.996]\nstate[eef_state]: left_x=0.288 left_y=0.0034 left_z=0.1652 left_yaw=0.0594 left_pitch=-0.0592 left_roll=0.073 left_gripper=0.9978 right_x=0.2796 right_y=0.259 right_z=0.017 right_yaw=0.257 right_pitch=0.1407 right_roll=-0.3398 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.6615, 6.9812, 1.7265, -0.1197, -0.0659, -0.0073, 0.3487, -7.4462, 4.0274, 1.7656, 0.5592, 0.2076, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8154, 0.6044, -0.4511, -0.1799, -0.0647, 0.9978, 1.1172, 1.9316, 0.572, 0.6189, 0.9276, 0.2512, 0.2118]\nstate[eef_state]: left_x=0.2858 left_y=0.0036 left_z=0.1618 left_yaw=0.0598 left_pitch=-0.0761 left_roll=0.0756 left_gripper=0.9978 right_x=0.2786 right_y=0.2571 right_z=0.0134 right_yaw=0.2595 right_pitch=0.1375 right_roll=-0.3503 right_gripper=0.2118\nstate[joint_eff]: [-0.0205, -1.4427, 6.9675, 1.8486, -0.1099, -0.0708, -0.0122, -0.3077, -8.5675, 4.2051, 1.2674, 0.2759, 0.0073, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:880a03c3958dabb2ff4d4a73dd7dd5cb4881d97522b329ce5b5d6b9ca5d434f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a81c9733564ac874a40ef10d540bf9eb8c21bdd63f563e327045ef697651b12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:824113535efdc2f87a464b7574c023475c4ae54fbf3d1b65034fbe87239638f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpAMKjgEIEhgCKkBeqOi0zF4sert7rVO4eHkszH7KG42EV5TM+yUgv+AC1SwEhperbOWNpUke4EimFpx/dXRJr15pRj5+HDA4iIwaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZOozNUGEgyP7kwLJ3r45mKYfbIaDA1gPiY+aH0PfS/KpSIwUJRo83PUo2XgEImlIlO1mhNSB00wlhKhKwF+hUV+yP7gNYLnlf5xhqtq6kq0shnAKsIBJVZu6mHElQHYAfOLntqeNqHbdmlE+0AMx/BMEATm9V+quNfyY9hAiGkDgKEzsyniH6tZ4LfeQjvuN8Wu2FYHW4pVZqiFjz/QDMs0ZgME6ts1Rz64tqO2R4+3EApGFOn+ZIcpCUq3NkR6NQNX22zA0FJB2WFgyL3iQQhzCNAR3LL5sbz2dueTkeqDnxkVwH67jBO/7vmRn97TX9FS3Ofr9oTKFpE3EtipTGPX0c9a2Xp/gNfk24q9VYrB2YXJnKn6uBIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0192DZoz1xwh17GJVvLpkrnd",
      "input": {
        "note": "Gripper settled at 0.21 on the teddy's fur, so it has a grip; lifting and carrying it over the safe opening.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.3,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_0192DZoz1xwh17GJVvLpkrnd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8181, 0.6044, -0.4576, -0.1799, -0.0643, 0.9978, 0.9031, 1.7214, 1.5848, -0.4725, 0.7486, 0.0509, 0.213]\nstate[eef_state]: left_x=0.2849 left_y=0.0037 left_z=0.1598 left_yaw=0.0597 left_pitch=-0.0851 left_roll=0.0775 left_gripper=0.9978 right_x=0.3852 right_y=0.3002 right_z=0.2851 right_yaw=0.2693 right_pitch=0.1198 right_roll=-0.3577 right_gripper=0.213\nstate[joint_eff]: [-0.2393, -1.4427, 7.0632, 1.7753, -0.0952, -0.0708, -0.0122, -0.7179, -8.4991, 8.5949, 1.7167, 0.359, -0.105, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50318f3aee25fcd2f6cec9429d8d312eb51c58d2e1802162928a3f582f2e741a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1be0ef3fc35c14893daeb4e8b71cb09d00a0784f081c053b18ef6fea5087cc27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b313aed514bd79d9363fab6319368077e03198adfc8dfbfe5ba30320df93693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 5.567 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8139, 0.6044, -0.4355, -0.1799, -0.0643, 0.9978, 1.116, 1.9202, 0.5789, 0.6064, 0.9245, 0.2565, 0.996]\nstate[eef_state]: left_x=0.288 left_y=0.0034 left_z=0.1652 left_yaw=0.0594 left_pitch=-0.0592 left_roll=0.073 left_gripper=0.9978 right_x=0.2796 right_y=0.259 right_z=0.017 right_yaw=0.257 right_pitch=0.1407 right_roll=-0.3398 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.6615, 6.9812, 1.7265, -0.1197, -0.0659, -0.0073, 0.3487, -7.4462, 4.0274, 1.7656, 0.5592, 0.2076, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8154, 0.6044, -0.4511, -0.1799, -0.0647, 0.9978, 1.1172, 1.9316, 0.572, 0.6189, 0.9276, 0.2512, 0.2118]\nstate[eef_state]: left_x=0.2858 left_y=0.0036 left_z=0.1618 left_yaw=0.0598 left_pitch=-0.0761 left_roll=0.0756 left_gripper=0.9978 right_x=0.2786 right_y=0.2571 right_z=0.0134 right_yaw=0.2595 right_pitch=0.1375 right_roll=-0.3503 right_gripper=0.2118\nstate[joint_eff]: [-0.0205, -1.4427, 6.9675, 1.8486, -0.1099, -0.0708, -0.0122, -0.3077, -8.5675, 4.2051, 1.2674, 0.2759, 0.0073, 1.0281]\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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8181, 0.6044, -0.4576, -0.1799, -0.0643, 0.9978, 0.9031, 1.7214, 1.5848, -0.4725, 0.7486, 0.0509, 0.213]\nstate[eef_state]: left_x=0.2849 left_y=0.0037 left_z=0.1598 left_yaw=0.0597 left_pitch=-0.0851 left_roll=0.0775 left_gripper=0.9978 right_x=0.3852 right_y=0.3002 right_z=0.2851 right_yaw=0.2693 right_pitch=0.1198 right_roll=-0.3577 right_gripper=0.213\nstate[joint_eff]: [-0.2393, -1.4427, 7.0632, 1.7753, -0.0952, -0.0708, -0.0122, -0.7179, -8.4991, 8.5949, 1.7167, 0.359, -0.105, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50318f3aee25fcd2f6cec9429d8d312eb51c58d2e1802162928a3f582f2e741a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1be0ef3fc35c14893daeb4e8b71cb09d00a0784f081c053b18ef6fea5087cc27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b313aed514bd79d9363fab6319368077e03198adfc8dfbfe5ba30320df93693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQUKjgEIEhgCKkBRGxonLc72/65vBCJEuotGBOMRLw2HA7328bvzVUljNEOjE8bGTC71qk12q6e3qGwvxpNrl9gbbvk/fl6OsSyqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZyozNUGEgwTLxqwc2ygVQSV2aYaDLpO+gVmzyzLFAiJxyIwChMAdlmOp+3Hic0KuLsYd4bjxi/LjkQLlFZNwm4FsXruDjDPUiYA3avwEFHIMpbXKusDYLVynbUnLijOWef6hs2NXHziYA8mGvX+QPtszQRCSHuu3ezEwWaiI/RsUtfufqazdAVnRKUlkVU3tqw8vumVQjWPTomgOTsiDb2fmzX9vA34sNP46OuRYvv9GWIfeuszrr/4H1lfjwALlrny55oW8UerYGIUyZRmYt4XLHal4HZcl1EE6wvuW+Q8dBs26ZZ6WL+DkeEHlFRj8J1wqDLrwkpQWwY+i/c4uxslmNXVJaJV/xL34H+Aes9DY4Zw1xKYF3kQkJgmnb4eDMFaXIBlAozdAYifczeCdefM6wid2jKR7ec4axE9m/GttPs9lESDyeWvWoiL08+cxwNHo2X8VOX7JnQCbIXEVpneWhMt6tpLNsrGkeJyX4vEAzgLaBvDtSwT9pSxNVN4dh9RWCJk9LFViC4VLlYUbf0bhnxgoRjTH+FetJyRQa8R34rzZZ8A2SlwXrriDH9Ff/glR+Rnr0ri+yxdmzqmBJdOCdC3p3U8wxJOQUhuW6kovZdoy2KXQEN4oQtx0WoH0kB7ghFGCVSqsq4THVdGivMd9ctRtpRLJw9IRxU1KELcCOQMMx91GjJdRnB4gMcS+WeFpCxusBrSO7wObRNwejsBVi5zbGpeeDhdxb1LXy13AceJmNmldAxebjyCIkbYtIEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K9e7Xwf81MmHo4G61zDyTr",
      "input": {
        "note": "Teddy is held just to the arm's right of the safe opening; shifting 5 cm left to centre it over the red interior.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01K9e7Xwf81MmHo4G61zDyTr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8188, 0.6044, -0.4618, -0.1799, -0.0643, 0.9978, 0.9504, 1.9179, 1.7901, -0.598, 0.7528, 0.0635, 0.213]\nstate[eef_state]: left_x=0.2843 left_y=0.0038 left_z=0.1588 left_yaw=0.0598 left_pitch=-0.09 left_roll=0.0783 left_gripper=0.9978 right_x=0.3915 right_y=0.3463 right_z=0.2566 right_yaw=0.3122 right_pitch=0.03 right_roll=-0.4184 right_gripper=0.213\nstate[joint_eff]: [-0.0752, -1.4017, 6.9538, 1.6777, -0.1099, -0.022, -0.0171, -0.212, -11.0017, 9.9487, 1.8926, 0.5201, 0.1978, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:173b1272d54d28aa279ce5dd8c298ad59d4903cf142d768bfa3ba5eec73d4ae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:023414e38d7be5ec9439a9a06726a30ab1f34779ab120ff71ae73e506a3ab01f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afef2fd7dc71995cbf409c9d03025e1da94257f23202f0dfbeec9600b071b626",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 8.895 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8154, 0.6044, -0.4511, -0.1799, -0.0647, 0.9978, 1.1172, 1.9316, 0.572, 0.6189, 0.9276, 0.2512, 0.2118]\nstate[eef_state]: left_x=0.2858 left_y=0.0036 left_z=0.1618 left_yaw=0.0598 left_pitch=-0.0761 left_roll=0.0756 left_gripper=0.9978 right_x=0.2786 right_y=0.2571 right_z=0.0134 right_yaw=0.2595 right_pitch=0.1375 right_roll=-0.3503 right_gripper=0.2118\nstate[joint_eff]: [-0.0205, -1.4427, 6.9675, 1.8486, -0.1099, -0.0708, -0.0122, -0.3077, -8.5675, 4.2051, 1.2674, 0.2759, 0.0073, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8181, 0.6044, -0.4576, -0.1799, -0.0643, 0.9978, 0.9031, 1.7214, 1.5848, -0.4725, 0.7486, 0.0509, 0.213]\nstate[eef_state]: left_x=0.2849 left_y=0.0037 left_z=0.1598 left_yaw=0.0597 left_pitch=-0.0851 left_roll=0.0775 left_gripper=0.9978 right_x=0.3852 right_y=0.3002 right_z=0.2851 right_yaw=0.2693 right_pitch=0.1198 right_roll=-0.3577 right_gripper=0.213\nstate[joint_eff]: [-0.2393, -1.4427, 7.0632, 1.7753, -0.0952, -0.0708, -0.0122, -0.7179, -8.4991, 8.5949, 1.7167, 0.359, -0.105, 1.0281]\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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8188, 0.6044, -0.4618, -0.1799, -0.0643, 0.9978, 0.9504, 1.9179, 1.7901, -0.598, 0.7528, 0.0635, 0.213]\nstate[eef_state]: left_x=0.2843 left_y=0.0038 left_z=0.1588 left_yaw=0.0598 left_pitch=-0.09 left_roll=0.0783 left_gripper=0.9978 right_x=0.3915 right_y=0.3463 right_z=0.2566 right_yaw=0.3122 right_pitch=0.03 right_roll=-0.4184 right_gripper=0.213\nstate[joint_eff]: [-0.0752, -1.4017, 6.9538, 1.6777, -0.1099, -0.022, -0.0171, -0.212, -11.0017, 9.9487, 1.8926, 0.5201, 0.1978, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:173b1272d54d28aa279ce5dd8c298ad59d4903cf142d768bfa3ba5eec73d4ae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:023414e38d7be5ec9439a9a06726a30ab1f34779ab120ff71ae73e506a3ab01f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afef2fd7dc71995cbf409c9d03025e1da94257f23202f0dfbeec9600b071b626",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAUKjgEIEhgCKkCfz/PqwKFcmC0Z8LLl6oA7iq7B0t7HjWNgae8oPDiIY5PLrjN5kadcL9CRP12Buq9sQJR2qdqu2UfFzkEFqkP0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaKozNUGEgxbzd0PhQlcnq0Fn4waDPup0ctLWZ/bQDfyDCIwd9fzaRROnP6B+G1i4FKi8c8qJle/CTNrbHnT9kKfTuX8KCalcJT22cI+4ts/DXAcKp4DZ3Tqd/2ehS0qOue3HilBHF1u5zlLnNvowiDZyePbyzhkexoqhm03kRqYdeWQbRVuy1gg9B9e/WLjaTDWYMb/TdTBmGw+UB0kh/gFkt+oUDM1928B4hppE5GZ3AtcWpCy5rsRix2IeMg7kVh4AU1SWLnVzaGxXMHlAvtuFMgiPnEtCwv8uyeKwPLDsOBW3clN57Fh46Y3lchn5zCzLYyX4gqJTWiQcYfo5UmHr45JlQixqPxZqPtFSRw2VmcI5ruHp1u6fw4uf/K3Zk0dsbjPPfWhoIaOXhO4x05YbQzKK7J32cr0cuNLdDQ+A9iU/E1X+y32XZC925e6aRWpWx6DALLPqIOBTSbzZsKfTfbY+rcEW42aJa4+TD+Nt4Cl+QvVXfSIAskr40p9ThupF+MPEX/K8FumNVuFavDDURvvad0isjw/j0I222n6Tr7NBVanp2Hg7SDvfmp/vtWC1V0OaIPTNXvGi8bB1EJz7ERYqPBLkxVbyiiet+mi3lCGlAQqnKr5v5FxWNCC4sY5YLzd7BNnbte2tnE6eXO0L0DcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01STc9VqSBdpou12dZuxmWYD",
      "input": {
        "note": "The safe interior still sits ahead of the hanging teddy in the wrist view; advancing 5 cm so the bear is over the opening.",
        "targets": {
          "right_x": 0.44,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01STc9VqSBdpou12dZuxmWYD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8188, 0.6044, -0.4728, -0.1799, -0.0643, 0.9978, 0.952, 1.9305, 1.8088, -0.6121, 0.7662, 0.0711, 0.2131]\nstate[eef_state]: left_x=0.2826 left_y=0.004 left_z=0.1568 left_yaw=0.06 left_pitch=-0.1009 left_roll=0.0802 left_gripper=0.9978 right_x=0.3927 right_y=0.3465 right_z=0.2569 right_yaw=0.3002 right_pitch=0.0307 right_roll=-0.4239 right_gripper=0.2131\nstate[joint_eff]: [-0.0615, -1.347, 6.9402, 1.7167, -0.105, -0.0513, -0.0122, -0.2256, -10.865, 10.0581, 2.0, 0.4029, 0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ea035013b945f2fdaa7854bbb28e4773a8a47f0cb8ac6a3e162fa4b3a6712c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d11236d528eb644054148b4a0bb595ea5a778344cfe87a4cc73652cee528b0c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa2974da8f9112213afc223663abc33acfb412bf692504c681d82447dd1ab8d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 4.143 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8181, 0.6044, -0.4576, -0.1799, -0.0643, 0.9978, 0.9031, 1.7214, 1.5848, -0.4725, 0.7486, 0.0509, 0.213]\nstate[eef_state]: left_x=0.2849 left_y=0.0037 left_z=0.1598 left_yaw=0.0597 left_pitch=-0.0851 left_roll=0.0775 left_gripper=0.9978 right_x=0.3852 right_y=0.3002 right_z=0.2851 right_yaw=0.2693 right_pitch=0.1198 right_roll=-0.3577 right_gripper=0.213\nstate[joint_eff]: [-0.2393, -1.4427, 7.0632, 1.7753, -0.0952, -0.0708, -0.0122, -0.7179, -8.4991, 8.5949, 1.7167, 0.359, -0.105, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8188, 0.6044, -0.4618, -0.1799, -0.0643, 0.9978, 0.9504, 1.9179, 1.7901, -0.598, 0.7528, 0.0635, 0.213]\nstate[eef_state]: left_x=0.2843 left_y=0.0038 left_z=0.1588 left_yaw=0.0598 left_pitch=-0.09 left_roll=0.0783 left_gripper=0.9978 right_x=0.3915 right_y=0.3463 right_z=0.2566 right_yaw=0.3122 right_pitch=0.03 right_roll=-0.4184 right_gripper=0.213\nstate[joint_eff]: [-0.0752, -1.4017, 6.9538, 1.6777, -0.1099, -0.022, -0.0171, -0.212, -11.0017, 9.9487, 1.8926, 0.5201, 0.1978, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8188, 0.6044, -0.4728, -0.1799, -0.0643, 0.9978, 0.952, 1.9305, 1.8088, -0.6121, 0.7662, 0.0711, 0.2131]\nstate[eef_state]: left_x=0.2826 left_y=0.004 left_z=0.1568 left_yaw=0.06 left_pitch=-0.1009 left_roll=0.0802 left_gripper=0.9978 right_x=0.3927 right_y=0.3465 right_z=0.2569 right_yaw=0.3002 right_pitch=0.0307 right_roll=-0.4239 right_gripper=0.2131\nstate[joint_eff]: [-0.0615, -1.347, 6.9402, 1.7167, -0.105, -0.0513, -0.0122, -0.2256, -10.865, 10.0581, 2.0, 0.4029, 0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ea035013b945f2fdaa7854bbb28e4773a8a47f0cb8ac6a3e162fa4b3a6712c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d11236d528eb644054148b4a0bb595ea5a778344cfe87a4cc73652cee528b0c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa2974da8f9112213afc223663abc33acfb412bf692504c681d82447dd1ab8d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIShQkKjgEIEhgCKkDlMaZcc16EgDLDlbtxAizqpgb+n6wbo8f6Y4bQDmDTfTR3DrM1bLPVnV/kAAvFz2yGWAtToVaTdd9KCI9vfwroMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAauozNUGEgxbejDP/C3uXMsMR2AaDAp+1L48JyBqXdspWiIwmDqL7YTDevWpxDNANtcnWRamGtcKkr9DNsgbRCdEB4bWqpw+fC6LymYd6hu1isaLKqMH/9iU1daZ/CT7kehw2G9Qn51IoAI/tduMX+2H3FrY0xZX2N9ShmJrt0PuiHWQf4pqtVq3RNb/nJ5AFAtKHuJHePVMUDfwjx0UP0LT47I4Ta9wyQuP412RoG8WKnrr3vo4jHAjnHVS2o4+ka/b7ABNKNYbAkCRqvKY4gbr+iTtZqmr8kbZYRolufeg535YYIHuZNILtqNUiIj3igSJAOz0Pgbw9RWG0jU3p02db/FcZW3kQB6TVh8StaBtY2n2gmFTxuKRdEayp4Mg8YRHe5g8StD8BRIinbjDoMAsrlUMjTnL4MqHxDaQnb2rb1K94qsLuE1umHf3ZJ1CUHGMLqYYk2Q2YAQUU5xKzqYOrSUs+w8rgcWEcXGRUoPaHt7rDbf8BEIhjaq7seYdkVxwHg2qCWwXKc5WLNtM98qG6evR6R5udeSOl0jTksT75uQ59ypLhFjbGjaQqsOr+z9BVRi4FsPAOwV2aackw8cT6//9EVty1hn0ZmFieVt8B4vD2FleDau1rE3pu9a9airkXjgdy3P1Ejc14Dr9tG/7+/3wNSFoqijDyaYIOb6SIu6RY85pTDFFX9rvEIRp3QbV0cUqbyWf/vIWYOC3GlUQGSd/etBrKTHxFS6Hta8sbiOtHpTirCMT3HeWbwPyDAATbaAyqwQ0aLo2XpMuLatMGbPo4XKN8F6BglDpVs05nPYoGLB17ExVQmrkze1c0LgP4dQlhu0ACdxkzt6I2sv2oPlkizKM3MqoZQIINiYJw+iU20G2/obrVZZShr2GOXquSUGT2pDI9YIUrRV8NlWf6v6ZGj5azMM6NPk6vt85pZGAhuYT72WnUnEnP1LHJTRuQXufqcGRHlWcHX6IsiZuQ+CYmwQwGbED7auRce4uTdWLht95t0utvWEHR76m09EpPibtzVREc+bLNbNnXUGUWYj/dqQvG6DfBroz03XQdcTaeKulPUmzXebB/9I9bmAGjAWpBKQDUa8q+cS5YCWlGjxWpPGgODOAGxQOZUm0SQyScfLg9jE/v0QQulucsD2BCnt/uKHkmH6NSyEXdbF7byTuLMKO+kXFsemrvIoZqYKjQt2ZTbDC6wrEu4OvnwUZM7YNaBUdr5D4fmKANZb23eVVGRygJAxV9wLKZ5mHnHMcwgabHywoIvym6+DHDFRhQpqzvfm3XLP4w9RfJGcz0GCjklZ74phtDDz0s9LnDSYjwnrOpnCE5sNpuvK1EEvqZLmWF0cZwRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015UAHzFVZWYny2HQpLZoFiB",
      "input": {
        "note": "The arm stalled short with the teddy over the safe's front edge; pitching the tool forward to gain reach and get the bear over the middle of the opening.",
        "targets": {
          "right_pitch": 0.45,
          "right_x": 0.46,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_015UAHzFVZWYny2HQpLZoFiB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8207, 0.6044, -0.4801, -0.1795, -0.0647, 0.9977, 0.8684, 2.014, 1.3861, 0.3519, 0.7696, -0.2581, 0.213]\nstate[eef_state]: left_x=0.2816 left_y=0.004 left_z=0.1549 left_yaw=0.06 left_pitch=-0.11 left_roll=0.0812 left_gripper=0.9977 right_x=0.4506 right_y=0.3477 right_z=0.2017 right_yaw=0.3379 right_pitch=0.3355 right_roll=-0.4714 right_gripper=0.213\nstate[joint_eff]: [-0.0615, -1.4838, 7.2, 1.7021, -0.0904, -0.0562, -0.0122, -0.841, -9.7436, 6.4342, 2.1026, 0.188, -0.0708, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adb67c5705613c0ad4e54a89919a591da4e7f65faf4ffcf9dbc5a009a982e1a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdec3f0cd404c72e41aee4c2dda7a45fcb4f70ab950620feaf9a0e8a5d992ecb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:351e83f04b4c88431b4a947cdd49443eebfeb05ee24b9c10b65e454b43ae351c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 39 attempt 0 · /messages · status 200 · 12.32 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8188, 0.6044, -0.4618, -0.1799, -0.0643, 0.9978, 0.9504, 1.9179, 1.7901, -0.598, 0.7528, 0.0635, 0.213]\nstate[eef_state]: left_x=0.2843 left_y=0.0038 left_z=0.1588 left_yaw=0.0598 left_pitch=-0.09 left_roll=0.0783 left_gripper=0.9978 right_x=0.3915 right_y=0.3463 right_z=0.2566 right_yaw=0.3122 right_pitch=0.03 right_roll=-0.4184 right_gripper=0.213\nstate[joint_eff]: [-0.0752, -1.4017, 6.9538, 1.6777, -0.1099, -0.022, -0.0171, -0.212, -11.0017, 9.9487, 1.8926, 0.5201, 0.1978, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8188, 0.6044, -0.4728, -0.1799, -0.0643, 0.9978, 0.952, 1.9305, 1.8088, -0.6121, 0.7662, 0.0711, 0.2131]\nstate[eef_state]: left_x=0.2826 left_y=0.004 left_z=0.1568 left_yaw=0.06 left_pitch=-0.1009 left_roll=0.0802 left_gripper=0.9978 right_x=0.3927 right_y=0.3465 right_z=0.2569 right_yaw=0.3002 right_pitch=0.0307 right_roll=-0.4239 right_gripper=0.2131\nstate[joint_eff]: [-0.0615, -1.347, 6.9402, 1.7167, -0.105, -0.0513, -0.0122, -0.2256, -10.865, 10.0581, 2.0, 0.4029, 0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8207, 0.6044, -0.4801, -0.1795, -0.0647, 0.9977, 0.8684, 2.014, 1.3861, 0.3519, 0.7696, -0.2581, 0.213]\nstate[eef_state]: left_x=0.2816 left_y=0.004 left_z=0.1549 left_yaw=0.06 left_pitch=-0.11 left_roll=0.0812 left_gripper=0.9977 right_x=0.4506 right_y=0.3477 right_z=0.2017 right_yaw=0.3379 right_pitch=0.3355 right_roll=-0.4714 right_gripper=0.213\nstate[joint_eff]: [-0.0615, -1.4838, 7.2, 1.7021, -0.0904, -0.0562, -0.0122, -0.841, -9.7436, 6.4342, 2.1026, 0.188, -0.0708, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adb67c5705613c0ad4e54a89919a591da4e7f65faf4ffcf9dbc5a009a982e1a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdec3f0cd404c72e41aee4c2dda7a45fcb4f70ab950620feaf9a0e8a5d992ecb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:351e83f04b4c88431b4a947cdd49443eebfeb05ee24b9c10b65e454b43ae351c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISoAIKjgEIEhgCKkD4tjkoyiCSdcuzfgWP3LEFPV9i6r3ksn8ck1fCVh3gIMT7ngfGv3qPy2RowSPxOS+Vy2K2kQ/IldDSedcrE0bOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbGozNUGEgyboq/GMfm6JJ/y0GYaDKZqFubLwoI4J3siByIwmv9kq0Mkl0ceINXW5LTjiyCg/5bsf/LeK00dUyYG+yWlCiQib6oxupT9C4pfpTEXKj/82BMa2IEuRZQL5nP94ClRzEL7gi6rqj26ljrH77thmAbfSJL6TtZI35ciBfBlaHUkYWZZ2ZsxdkS4cZcIPHgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GZVteDRwNQBSPGkmZ66jr7",
      "input": {
        "note": "Teddy is now over the red interior of the safe; opening the jaws to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01GZVteDRwNQBSPGkmZ66jr7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 0.8207, 0.6044, -0.4808, -0.1799, -0.0643, 0.9978, 0.8646, 2.0308, 1.372, 0.3222, 0.7658, -0.2657, 0.9947]\nstate[eef_state]: left_x=0.2815 left_y=0.0041 left_z=0.1548 left_yaw=0.0601 left_pitch=-0.1107 left_roll=0.0819 left_gripper=0.9978 right_x=0.4501 right_y=0.3445 right_z=0.181 right_yaw=0.351 right_pitch=0.2803 right_roll=-0.5096 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -1.3333, 6.9402, 1.6142, -0.1392, 0.0171, -0.0073, 0.212, -12.8205, 7.9521, 1.9805, 0.105, 0.0464, -0.2369]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1805e4702139703b9f5b23a109e8b27de11f368d7da2dcbdf57dee6b178fc38e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 399):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c1e48dfff100ec54fc8bbdb23e262f446763f3b13f14973816df56b3a752074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 399):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e0c55e71452489ba0e6ba4ea97b146104cc19e2e45e4f5da44d116e34a47ba6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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