adhoc

completed
2026-09-23T00:12:37.971443+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
230 s
total steps
174
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

overheat

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: an open red-lined safe/chest in the middle, a yellow lemon to its right, a small plush to its left, and a larger teddy bear near the bottom centre. Moving the right arm to hover near the lemon to line up a grasp.
move_to
right_x0.3800right_y0.1200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0303, 0.7929, 0.6048, -0.3878, -0.0193, -0.0338, 0.9993, -0.0212, 0.794, 0.6067, -0.4038, -0.0204, -0.0185, 0.9996] state[eef_state]: left_x=0.2938 left_y=-0.0019 left_z=0.179 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.001 right_z=0.1763 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [0.3214, -1.4291, 10.1949, 1.9463, -0.0806, 0.1587, -0.0904, -0.3077, -1.6205, 9.7709, 2.0049, -0.0122, 0.0757, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.12, "right_z": 0.15, "right_gripper": 1}, "note": "Scene: an open red-lined safe/chest in the middle, a yellow lemon to its right, a small plush to its left, and a larger teddy bear near the bottom centre. Moving the right arm to hover near the lemon to line up a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteRight wrist view shows the lemon slightly right of the jaw column and high in frame, so it is further out radially; advancing the gripper forward and a bit right.
move_to
right_x0.4200right_y0.1000right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.7967, 0.6067, -0.4057, -0.0189, -0.038, 0.9992, 0.4515, 1.3502, 0.7654, -0.149, 0.3302, 0.2226, 0.9996] state[eef_state]: left_x=0.2918 left_y=-0.0023 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3616 right_y=0.1157 right_z=0.1257 right_yaw=0.0479 right_pitch=-0.0953 right_roll=-0.0444 right_gripper=0.9996 state[joint_eff]: [-0.1983, -1.5111, 6.9538, 1.8584, -0.0611, 0.0073, -0.0171, 0.1299, -5.9145, 8.7726, 1.8486, 0.315, 0.2027, -0.0513] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.1, "right_z": 0.13}, "note": "Right wrist view shows the lemon slightly right of the jaw column and high in frame, so it is further out radially; advancing the gripper forward and a bit right."})
tool
executing move_to over 5 steps (0.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteLemon is now centred on the jaw column but still a few cm out; advancing 3 cm and lowering to just above the lemon before the final descent.
move_to
right_x0.4500right_y0.0900right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.7982, 0.6067, -0.4126, -0.0189, -0.0383, 0.9992, 0.3283, 1.5196, 0.889, -0.1463, 0.2501, 0.1471, 0.9996] state[eef_state]: left_x=0.2909 left_y=-0.0022 left_z=0.1734 left_yaw=0.001 left_pitch=-0.0286 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4028 right_y=0.0948 right_z=0.1107 right_yaw=0.0302 right_pitch=-0.1568 right_roll=-0.0647 right_gripper=0.9996 state[joint_eff]: [-0.0752, -1.3607, 7.2957, 1.7998, -0.0562, -0.022, -0.0122, -0.4718, -6.2564, 9.1145, 1.8779, 0.0952, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.09, "right_z": 0.06}, "note": "Lemon is now centred on the jaw column but still a few cm out; advancing 3 cm and lowering to just above the lemon before the final descent."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe arm tracked only part way last time (readback x=0.41, z=0.11), so re-commanding a forward-and-down target to bring the open jaws around the lemon.
move_to
right_x0.4600right_y0.0900right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.7986, 0.6067, -0.4259, -0.0189, -0.0387, 0.9992, 0.3202, 1.5318, 0.9081, -0.1394, 0.2268, 0.1307, 0.9996] state[eef_state]: left_x=0.2891 left_y=-0.0022 left_z=0.1706 left_yaw=0.0013 left_pitch=-0.0424 left_roll=-0.003 left_gripper=0.9992 right_x=0.4088 right_y=0.0975 right_z=0.1141 right_yaw=0.0511 right_pitch=-0.1486 right_roll=-0.0573 right_gripper=0.9996 state[joint_eff]: [-0.0342, -1.2786, 7.1726, 1.9121, -0.0562, -0.0269, -0.0122, -0.1573, -6.7897, 8.6769, 1.8584, 0.0855, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.09, "right_z": 0.03}, "note": "The arm tracked only part way last time (readback x=0.41, z=0.11), so re-commanding a forward-and-down target to bring the open jaws around the lemon."})
tool
executing move_to over 6 steps (0.6s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe right arm has stopped tracking entirely (identical joint readings twice), so I'm lifting it up to break out of the stalled pose before re-approaching the lemon.
move_to
right_x0.4200right_y0.0900right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.7986, 0.6067, -0.4351, -0.0189, -0.0387, 0.9992, 0.3202, 1.5318, 0.9081, -0.139, 0.2268, 0.131, 0.9996] state[eef_state]: left_x=0.2877 left_y=-0.0021 left_z=0.1687 left_yaw=0.0013 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4089 right_y=0.0975 right_z=0.1142 right_yaw=0.0509 right_pitch=-0.1482 right_roll=-0.0569 right_gripper=0.9996 state[joint_eff]: [-0.0205, -1.1692, 6.9949, 1.8046, -0.0757, -0.0464, -0.0122, -0.4034, -6.5983, 8.6769, 1.8779, 0.0757, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.09, "right_z": 0.2}, "note": "The right arm has stopped tracking entirely (identical joint readings twice), so I'm lifting it up to break out of the stalled pose before re-approaching the lemon."})
tool
executing move_to over 6 steps (0.6s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteLemon is centred on the jaw column just ahead of the fingertips in the right wrist view; descending to lemon mid-height to grasp.
move_to
right_x0.4400right_y0.0900right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.7994, 0.6067, -0.453, -0.0189, -0.0383, 0.9992, 0.2916, 1.5146, 1.1812, -0.4191, 0.202, 0.1043, 0.9996] state[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.165 left_yaw=0.0011 left_pitch=-0.0702 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4247 right_y=0.0942 right_z=0.1861 right_yaw=0.0581 right_pitch=-0.1433 right_roll=-0.0576 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.2923, 6.9812, 1.8828, -0.0122, -0.022, -0.0122, -0.6906, -7.5692, 7.3641, 1.2772, 0.1001, -0.0073, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.09, "right_z": 0.03}, "note": "Lemon is centred on the jaw column just ahead of the fingertips in the right wrist view; descending to lemon mid-height to grasp."})
tool
executing move_to over 11 steps (1.1s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteLemon fills the lower wrist view just ahead of the jaws; advancing ~3 cm so the fingertips straddle it.
move_to
right_x0.4650right_y0.0820right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.8021, 0.6067, -0.4583, -0.0189, -0.0383, 0.9992, 0.268, 1.7828, 0.8436, 0.1612, 0.1741, 0.0921, 0.9996] state[eef_state]: left_x=0.2845 left_y=-0.002 left_z=0.1632 left_yaw=0.0011 left_pitch=-0.0782 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4339 right_y=0.0911 right_z=0.0366 right_yaw=0.0635 right_pitch=-0.1728 right_roll=-0.0532 right_gripper=0.9996 state[joint_eff]: [-0.1436, -1.4701, 6.9949, 1.7265, -0.0366, 0.0073, -0.0122, -0.3897, -6.2701, 4.7111, 1.5507, 0.1978, -0.0806, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.082, "right_z": 0.03}, "note": "Lemon fills the lower wrist view just ahead of the jaws; advancing ~3 cm so the fingertips straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteLemon sits slightly right of the jaw column in the wrist view; shifting the gripper ~1.5 cm right to centre it before closing.
move_to
right_y0.0720
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.8032, 0.6067, -0.4606, -0.0189, -0.0387, 0.9992, 0.234, 1.8618, 0.9184, 0.1783, 0.1337, 0.07, 0.9996] state[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1625 left_yaw=0.0013 left_pitch=-0.0816 left_roll=-0.0017 left_gripper=0.9992 right_x=0.457 right_y=0.0884 right_z=0.0321 right_yaw=0.0762 right_pitch=-0.1656 right_roll=-0.039 right_gripper=0.9996 state[joint_eff]: [-0.3214, -1.265, 6.9538, 1.6825, -0.0806, -0.0611, -0.0122, -0.7179, -7.6923, 6.9675, 1.4383, 0.1441, -0.1197, -0.0171] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.072}, "note": "Lemon sits slightly right of the jaw column in the wrist view; shifting the gripper ~1.5 cm right to centre it before closing."})
tool
executing move_to over 2 steps (0.2s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteLemon is centred on the jaw column at the bottom of the wrist view; closing the gripper on it.
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]: [-0.0315, 0.8032, 0.6067, -0.4732, -0.0193, -0.0383, 0.9992, 0.2089, 1.8698, 0.9222, 0.1909, 0.104, 0.0532, 0.9996] state[eef_state]: left_x=0.2823 left_y=-0.0019 left_z=0.16 left_yaw=0.0015 left_pitch=-0.0942 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4612 right_y=0.0827 right_z=0.0318 right_yaw=0.0856 right_pitch=-0.1605 right_roll=-0.0296 right_gripper=0.9996 state[joint_eff]: [-0.2256, -1.1692, 7.1316, 1.7509, -0.0806, -0.0415, -0.0122, -1.3744, -10.3316, 4.6291, 1.4921, 0.2173, -0.1538, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Lemon is centred on the jaw column at the bottom of the wrist view; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe close came back empty (0.02) and the lemon rolled forward, now visible ahead of the jaws in the wrist view; reopening and advancing 3 cm to re-approach it.
move_to
right_gripper1.0000right_x0.4900right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.1936, 1.8568, 0.9096, 0.1955, 0.0566, 0.0124, 0.022] state[eef_state]: left_x=0.2812 left_y=-0.0019 left_z=0.1587 left_yaw=0.0014 left_pitch=-0.1011 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4589 right_y=0.0834 right_z=0.0333 right_yaw=0.1331 right_pitch=-0.159 right_roll=-0.0267 right_gripper=0.022 state[joint_eff]: [-0.2803, -1.0462, 7.1726, 1.7265, -0.0659, -0.0464, -0.0122, -0.841, -9.2513, 5.2034, 1.5897, 0.3834, 0.2125, 0.6716] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.49, "right_z": 0.05}, "note": "The close came back empty (0.02) and the lemon rolled forward, now visible ahead of the jaws in the wrist view; reopening and advancing 3 cm to re-approach it."})
tool
executing move_to over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe lemon now appears up and to the right of the jaws, just beyond the safe's right edge; shifting the gripper right and forward to line up on it again.
move_to
right_y0.0450right_x0.4900right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.8078, 0.6067, -0.4976, -0.0189, -0.0387, 0.9992, 0.1814, 1.9007, 1.0355, 0.0612, 0.0437, -0.0013, 0.9946] state[eef_state]: left_x=0.2787 left_y=-0.0018 left_z=0.1542 left_yaw=0.0015 left_pitch=-0.1232 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4741 right_y=0.0828 right_z=0.0368 right_yaw=0.1392 right_pitch=-0.2119 right_roll=-0.0302 right_gripper=0.9946 state[joint_eff]: [-0.1436, -1.5385, 7.0496, 1.8095, -0.0806, -0.0611, -0.0122, -0.5265, -8.253, 8.7316, 1.9658, -0.0269, 0.0073, -0.1929] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.045, "right_x": 0.49, "right_z": 0.04}, "note": "The lemon now appears up and to the right of the jaws, just beyond the safe's right edge; shifting the gripper right and forward to line up on it again."})
tool
executing move_to over 4 steps (0.4s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteLemon is on the jaw column but still well ahead of the fingertips; advancing ~4 cm toward it (testing how far the arm can reach at this low height).
move_to
right_x0.5300right_y0.0500right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.8078, 0.6067, -0.511, -0.0189, -0.0387, 0.9992, 0.0818, 1.9064, 1.0653, 0.0269, -0.0223, -0.0578, 0.9952] state[eef_state]: left_x=0.2765 left_y=-0.0018 left_z=0.1516 left_yaw=0.0015 left_pitch=-0.1365 left_roll=0.0001 left_gripper=0.9992 right_x=0.4821 right_y=0.0471 right_z=0.0394 right_yaw=0.1279 right_pitch=-0.2228 right_roll=-0.0212 right_gripper=0.9952 state[joint_eff]: [-0.0479, -1.2239, 6.9402, 1.7509, -0.0806, -0.022, -0.0122, -0.1983, -7.6923, 7.9932, 1.8095, 0.1001, 0.0415, 0.0611] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.53, "right_y": 0.05, "right_z": 0.04}, "note": "Lemon is on the jaw column but still well ahead of the fingertips; advancing ~4 cm toward it (testing how far the arm can reach at this low height)."})
tool
executing move_to over 4 steps (0.4s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteLemon is now large in the wrist view, slightly right of the jaw column; nudging 3 cm further forward and 1.5 cm right to straddle it.
move_to
right_x0.5550right_y0.0350right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.8097, 0.6067, -0.5198, -0.0189, -0.0383, 0.9992, 0.078, 2.0319, 1.2648, -0.0422, -0.0273, -0.075, 0.9953] state[eef_state]: left_x=0.2752 left_y=-0.0017 left_z=0.1495 left_yaw=0.0014 left_pitch=-0.1472 left_roll=0.0008 left_gripper=0.9992 right_x=0.5235 right_y=0.0493 right_z=0.0432 right_yaw=0.1381 right_pitch=-0.2178 right_roll=-0.0299 right_gripper=0.9953 state[joint_eff]: [-0.1846, -1.3744, 6.8991, 1.6679, -0.0855, -0.0171, -0.0122, 0.0615, -9.6205, 7.4735, 1.4237, -0.0024, 0.1343, -0.0024] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.555, "right_y": 0.035, "right_z": 0.035}, "note": "Lemon is now large in the wrist view, slightly right of the jaw column; nudging 3 cm further forward and 1.5 cm right to straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteLemon fills the lower wrist view right at the jaws; 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]: [-0.0315, 0.8116, 0.6067, -0.5255, -0.0189, -0.0383, 0.9992, 0.0513, 2.1117, 1.3842, -0.0723, -0.0639, -0.0952, 0.9954] state[eef_state]: left_x=0.2743 left_y=-0.0017 left_z=0.148 left_yaw=0.0014 left_pitch=-0.1548 left_roll=0.001 left_gripper=0.9992 right_x=0.5491 right_y=0.0431 right_z=0.0437 right_yaw=0.1538 right_pitch=-0.2064 right_roll=-0.0181 right_gripper=0.9954 state[joint_eff]: [-0.1846, -0.9368, 6.9402, 1.6142, -0.0806, -0.0317, -0.0122, -0.6359, -9.7573, 7.2137, 1.453, 0.1343, -0.105, -0.0073] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Lemon fills the lower wrist view right at the jaws; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe lemon is still just beyond the fingertips (it sits against the safe's right wall); reopening and advancing another 3 cm so the jaws straddle it.
move_to
right_gripper1.0000right_x0.5750right_y0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.8127, 0.6067, -0.5369, -0.0189, -0.0383, 0.9992, 0.0513, 2.1246, 1.3861, -0.0952, -0.0685, -0.0982, 0.0545] state[eef_state]: left_x=0.2725 left_y=-0.0017 left_z=0.1456 left_yaw=0.0015 left_pitch=-0.1674 left_roll=0.0014 left_gripper=0.9992 right_x=0.5445 right_y=0.0437 right_z=0.0337 right_yaw=0.1602 right_pitch=-0.2398 right_roll=-0.0132 right_gripper=0.0545 state[joint_eff]: [-0.1846, -1.3197, 6.8991, 1.707, -0.0464, -0.0366, -0.0122, -0.0889, -12.8479, 6.2974, 1.7118, 0.0073, -0.0171, 0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.575, "right_y": 0.04}, "note": "The lemon is still just beyond the fingertips (it sits against the safe's right wall); reopening and advancing another 3 cm so the jaws straddle it."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteLemon now fills the wrist view right between the jaws; closing fully to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.8154, 0.6067, -0.5484, -0.0189, -0.0383, 0.9992, 0.0433, 2.2127, 1.5215, -0.2073, -0.0689, -0.1181, 0.9947] state[eef_state]: left_x=0.2706 left_y=-0.0016 left_z=0.1429 left_yaw=0.0016 left_pitch=-0.1815 left_roll=0.0019 left_gripper=0.9992 right_x=0.5573 right_y=0.0399 right_z=0.0209 right_yaw=0.1661 right_pitch=-0.3043 right_roll=-0.0185 right_gripper=0.9947 state[joint_eff]: [-0.1162, -1.347, 6.8718, 1.6581, -0.0708, -0.0024, -0.0122, -0.2803, -11.1521, 9.3197, 1.8046, -0.1783, 0.0708, -0.1636] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Lemon now fills the wrist view right between the jaws; closing fully to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteAnother empty close (0.009) — the lemon is still just beyond the fingertips. Reopening and pushing 3 cm further forward at lemon mid-height.
move_to
right_gripper1.0000right_x0.5850right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.8154, 0.6067, -0.5621, -0.0189, -0.0383, 0.9992, 0.0437, 2.2192, 1.5257, -0.2306, -0.0715, -0.1242, 0.0087] state[eef_state]: left_x=0.2683 left_y=-0.0015 left_z=0.1404 left_yaw=0.0017 left_pitch=-0.1953 left_roll=0.0024 left_gripper=0.9992 right_x=0.5534 right_y=0.0404 right_z=0.0155 right_yaw=0.1735 right_pitch=-0.3295 right_roll=-0.0168 right_gripper=0.0087 state[joint_eff]: [-0.1299, -1.2239, 6.8991, 1.6874, -0.0269, -0.0122, -0.0122, -0.0752, -13.053, 5.8735, 1.5604, -0.0171, 0.0171, 0.6862] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.585, "right_z": 0.025}, "note": "Another empty close (0.009) \u2014 the lemon is still just beyond the fingertips. Reopening and pushing 3 cm further forward at lemon mid-height."})
tool
executing move_to over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe lemon now sits right down at the jaws in the wrist view; closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.8169, 0.6067, -0.5758, -0.0189, -0.0383, 0.9992, 0.0437, 2.3039, 1.7008, -0.3695, -0.0719, -0.1356, 0.9946] state[eef_state]: left_x=0.2659 left_y=-0.0014 left_z=0.1376 left_yaw=0.0018 left_pitch=-0.2105 left_roll=0.0029 left_gripper=0.9992 right_x=0.5699 right_y=0.0412 right_z=0.0153 right_yaw=0.183 right_pitch=-0.3775 right_roll=-0.0167 right_gripper=0.9946 state[joint_eff]: [-0.0615, -1.3333, 6.8855, 1.663, -0.0855, -0.0415, -0.0122, -0.3214, -11.9316, 9.347, 1.6044, -0.0464, 0.0708, -0.2125] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The lemon now sits right down at the jaws in the wrist view; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteEmpty again — I've been nudging the lemon forward with each close. Lifting straight up to look down on it from above so I can descend vertically onto it instead of pushing it.
move_to
right_gripper1.0000right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.8173, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 0.0437, 2.3089, 1.7016, -0.3874, -0.0719, -0.1394, 0.0085] state[eef_state]: left_x=0.2643 left_y=-0.0014 left_z=0.1359 left_yaw=0.0018 left_pitch=-0.22 left_roll=0.0032 left_gripper=0.9992 right_x=0.566 right_y=0.041 right_z=0.0104 right_yaw=0.1866 right_pitch=-0.3994 right_roll=-0.0157 right_gripper=0.0085 state[joint_eff]: [-0.0342, -1.2376, 6.9812, 1.5751, -0.0806, -0.0513, -0.0122, -0.3624, -13.641, 6.2838, 1.4383, -0.0415, 0.0317, 0.6618] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.13}, "note": "Empty again \u2014 I've been nudging the lemon forward with each close. Lifting straight up to look down on it from above so I can descend vertically onto it instead of pushing it."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe tool had drifted to pitch -0.46 (fingers pointing forward), which is why closes pushed the lemon instead of enclosing it; commanding pitch back to 0 so the jaws point straight down above the lemon.
move_to
right_pitch0.0000right_x0.5600right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0311, 0.8188, 0.6067, -0.5865, -0.0189, -0.0387, 0.9992, 0.0444, 2.2726, 2.0045, -0.7891, -0.0723, -0.1528, 0.9945] state[eef_state]: left_x=0.2641 left_y=-0.0013 left_z=0.1353 left_yaw=0.0024 left_pitch=-0.2231 left_roll=0.0031 left_gripper=0.9992 right_x=0.5623 right_y=0.0414 right_z=0.0922 right_yaw=0.2002 right_pitch=-0.4613 right_roll=-0.0127 right_gripper=0.9945 state[joint_eff]: [-0.0205, -1.2376, 7.1863, 1.5409, -0.0855, -0.0708, -0.0122, -0.4308, -16.5128, 8.8821, 1.4628, -0.0757, 0.1197, -0.0415] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_pitch": 0, "right_x": 0.56, "right_z": 0.13}, "note": "The tool had drifted to pitch -0.46 (fingers pointing forward), which is why closes pushed the lemon instead of enclosing it; commanding pitch back to 0 so the jaws point straight down above the lemon."})
tool
executing move_to over 16 steps (1.6s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteWith the tool now near-vertical the lemon sits on the jaw column a few cm ahead; moving forward 3 cm and descending to lemon mid-height for a top grasp.
move_to
right_x0.5750right_y0.0380right_z0.0300right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.8207, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.0273, 2.0048, 1.3773, -0.0902, -0.1326, -0.1318, 0.9953] state[eef_state]: left_x=0.263 left_y=-0.0014 left_z=0.1338 left_yaw=0.0021 left_pitch=-0.2311 left_roll=0.0033 left_gripper=0.9992 right_x=0.5484 right_y=0.0419 right_z=0.0951 right_yaw=0.2062 right_pitch=-0.1188 right_roll=-0.0094 right_gripper=0.9953 state[joint_eff]: [-0.1436, -1.1692, 6.8581, 1.5458, -0.0562, -0.0171, -0.0122, -0.5128, -13.7504, 7.2137, 2.044, -0.1538, 0.022, 0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.575, "right_y": 0.038, "right_z": 0.03, "right_pitch": 0}, "note": "With the tool now near-vertical the lemon sits on the jaw column a few cm ahead; moving forward 3 cm and descending to lemon mid-height for a top grasp."})
tool
executing move_to over 5 steps (0.5s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteLemon is centred but its base is still above the jaw wedges, i.e. ~2-3 cm beyond the fingertips; commanding further forward at a slightly higher z where the arm can extend.
move_to
right_x0.6000right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.8207, 0.6067, -0.5938, -0.0189, -0.0387, 0.9992, 0.0151, 2.1864, 1.2888, 0.1829, -0.1474, -0.131, 0.9953] state[eef_state]: left_x=0.2628 left_y=-0.0013 left_z=0.1336 left_yaw=0.0021 left_pitch=-0.2322 left_roll=0.0034 left_gripper=0.9992 right_x=0.5566 right_y=0.0379 right_z=0.0131 right_yaw=0.2058 right_pitch=-0.114 right_roll=0.0003 right_gripper=0.9953 state[joint_eff]: [-0.335, -1.2103, 6.9265, 1.5018, -0.0611, -0.022, -0.0122, -0.4581, -12.041, 6.1333, 2.2491, -0.1734, 0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.6, "right_z": 0.035}, "note": "Lemon is centred but its base is still above the jaw wedges, i.e. ~2-3 cm beyond the fingertips; commanding further forward at a slightly higher z where the arm can extend."})
tool
executing move_to over 4 steps (0.4s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteLemon fills the lower wrist view level with the jaws; closing to grasp it.
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]: [-0.0315, 0.8219, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 0.0135, 2.2616, 1.507, 0.0311, -0.1543, -0.139, 0.9953] state[eef_state]: left_x=0.2604 left_y=-0.0013 left_z=0.131 left_yaw=0.0023 left_pitch=-0.2471 left_roll=0.0039 left_gripper=0.9992 right_x=0.5908 right_y=0.0387 right_z=0.0296 right_yaw=0.2147 right_pitch=-0.1217 right_roll=0.0003 right_gripper=0.9953 state[joint_eff]: [-0.0889, -1.1556, 6.8171, 1.6386, -0.0317, -0.0366, -0.0122, -0.1709, -11.7128, 8.1573, 1.8877, 0.0122, 0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Lemon fills the lower wrist view level with the jaws; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe lemon has been nudged to the far edge of the workspace and keeps escaping the jaws, so I'm leaving it and moving on: bringing the right arm back over the large teddy bear near the table centre.
move_to
right_gripper1.0000right_x0.3200right_y0.2000right_z0.1600right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0315, 0.823, 0.6067, -0.6117, -0.0189, -0.0387, 0.9992, 0.0135, 2.2669, 1.5066, -0.0135, -0.152, -0.1421, 0.0089] state[eef_state]: left_x=0.2597 left_y=-0.0012 left_z=0.13 left_yaw=0.0023 left_pitch=-0.2524 left_roll=0.0041 left_gripper=0.9992 right_x=0.5828 right_y=0.0382 right_z=0.0184 right_yaw=0.216 right_pitch=-0.1713 right_roll=0.0067 right_gripper=0.0089 state[joint_eff]: [-0.0615, -1.306, 7.1453, 1.5067, -0.0659, -0.0659, -0.0122, -0.0752, -13.3265, 6.2838, 2.0147, -0.0904, 0.0317, 0.5983] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.32, "right_y": 0.2, "right_z": 0.16, "right_pitch": 0}, "note": "The lemon has been nudged to the far edge of the workspace and keeps escaping the jaws, so I'm leaving it and moving on: bringing the right arm back over the large teddy bear near the table centre."})
tool
executing move_to over 21 steps (2.1s)
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 · 14.89 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]: [-0.0303, 0.7929, 0.6048, -0.3878, -0.0193, -0.0338, 0.9993, -0.0212, 0.794, 0.6067, -0.4038, -0.0204, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=-0.0019 left_z=0.179 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.001 right_z=0.1763 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -1.4291, 10.1949, 1.9463, -0.0806, 0.1587, -0.0904, -0.3077, -1.6205, 9.7709, 2.0049, -0.0122, 0.0757, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed3a4aaeea224e1485a88084923960fcf7169c25623e0b3774a8dca0de04b657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6546dc5aa8dd659eaf13069e6fe1c44e47ee538901e90b1d90742f14ef8b1c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1cc9132dacdb7a30c785971dfa707a5861cff1204b65e152f2dad5a57784b0be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ed3a4aaeea22
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call 1 attempt 0 · /messages · status 200 · 4.816 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]: [-0.0303, 0.7929, 0.6048, -0.3878, -0.0193, -0.0338, 0.9993, -0.0212, 0.794, 0.6067, -0.4038, -0.0204, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=-0.0019 left_z=0.179 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.001 right_z=0.1763 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -1.4291, 10.1949, 1.9463, -0.0806, 0.1587, -0.0904, -0.3077, -1.6205, 9.7709, 2.0049, -0.0122, 0.0757, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed3a4aaeea224e1485a88084923960fcf7169c25623e0b3774a8dca0de04b657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6546dc5aa8dd659eaf13069e6fe1c44e47ee538901e90b1d90742f14ef8b1c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cc9132dacdb7a30c785971dfa707a5861cff1204b65e152f2dad5a57784b0be",
        "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_01Y71DpMKy9Gh321s939Lpkn",
      "input": {
        "note": "Scene: an open red-lined safe/chest in the middle, a yellow lemon to its right, a small plush to its left, and a larger teddy bear near the bottom centre. Moving the right arm to hover near the lemon to line up a grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.38,
          "right_y": 0.12,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Y71DpMKy9Gh321s939Lpkn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7967, 0.6067, -0.4057, -0.0189, -0.038, 0.9992, 0.4515, 1.3502, 0.7654, -0.149, 0.3302, 0.2226, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=-0.0023 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3616 right_y=0.1157 right_z=0.1257 right_yaw=0.0479 right_pitch=-0.0953 right_roll=-0.0444 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.5111, 6.9538, 1.8584, -0.0611, 0.0073, -0.0171, 0.1299, -5.9145, 8.7726, 1.8486, 0.315, 0.2027, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cffa5298074e7bba52412effce1e601d00d0d91f8e6664c0ca834f56307a4ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08708b8f6e69a6ad023fe1de34748b56031fd71491d6603f51286083af0bbf7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd6c3b5cc5f2e43a3a15eb4b792a9a6f5c35cf44b0b059184e4a721798210373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 6.068 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]: [-0.0303, 0.7929, 0.6048, -0.3878, -0.0193, -0.0338, 0.9993, -0.0212, 0.794, 0.6067, -0.4038, -0.0204, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=-0.0019 left_z=0.179 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.001 right_z=0.1763 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -1.4291, 10.1949, 1.9463, -0.0806, 0.1587, -0.0904, -0.3077, -1.6205, 9.7709, 2.0049, -0.0122, 0.0757, -0.0513]",
      "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]: [-0.0315, 0.7967, 0.6067, -0.4057, -0.0189, -0.038, 0.9992, 0.4515, 1.3502, 0.7654, -0.149, 0.3302, 0.2226, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=-0.0023 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3616 right_y=0.1157 right_z=0.1257 right_yaw=0.0479 right_pitch=-0.0953 right_roll=-0.0444 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.5111, 6.9538, 1.8584, -0.0611, 0.0073, -0.0171, 0.1299, -5.9145, 8.7726, 1.8486, 0.315, 0.2027, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cffa5298074e7bba52412effce1e601d00d0d91f8e6664c0ca834f56307a4ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08708b8f6e69a6ad023fe1de34748b56031fd71491d6603f51286083af0bbf7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd6c3b5cc5f2e43a3a15eb4b792a9a6f5c35cf44b0b059184e4a721798210373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISlgQKjgEIEhgCKkA+z6FGTbPgIgCcQ+cL0SAizVx3EOFiQewJv/+KucBsd2m39NaaS+gslftYcEpFkaoAy+fyCkgsnqlio+w70FB8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGzzNUGEgza2Lb6IFlVXfXyahoaDIPaipA3th9Xr+dw4yIwMvpUrQ3SVa0T9jbdjJeGql5K5FtqovQp2GzuKkdqItOPvkYiJ+bkky/WUuXF900EKrQCYvX058RSKLvJsUpkMPgL1bQ23PWSeuwvqhN5ITCNoqaLe4fGcR9fDtsVbEXJdhC4bTD0bNEmHTu1/aZtjRkP6U91Ity6bTM8jGWD570Vc3dEYhfvZrp3OUTReyg4JUVVtT33SNEkeKLBeLx7PH106cmJjuDUkKJi3k+NvnKXfqCF2WwUWuwckirhmSoMs00HG6UNWShfYrOSco156qX8OH+sso+nwWWJFej2kz8WFXsGy7iYOe8rj9g4W8q/7IlOgcvQFz5S/TQSwT1Pjs+/94/v6cvwbwbh6LlBSIbCbwSm1BHMUyvjkvlAU9OYSw8MxwapHoovlxF5KCV1MwBSu6vLmY999Dpd9F/U8Rzs0Dh1tMPOkfLK/3jNRPE955mrOxUEynilmbZv0xYPFlfITzpfqKEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KbthpLwvrRu6VUeHe5NX7T",
      "input": {
        "note": "Right wrist view shows the lemon slightly right of the jaw column and high in frame, so it is further out radially; advancing the gripper forward and a bit right.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.1,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KbthpLwvrRu6VUeHe5NX7T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7982, 0.6067, -0.4126, -0.0189, -0.0383, 0.9992, 0.3283, 1.5196, 0.889, -0.1463, 0.2501, 0.1471, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=-0.0022 left_z=0.1734 left_yaw=0.001 left_pitch=-0.0286 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4028 right_y=0.0948 right_z=0.1107 right_yaw=0.0302 right_pitch=-0.1568 right_roll=-0.0647 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.3607, 7.2957, 1.7998, -0.0562, -0.022, -0.0122, -0.4718, -6.2564, 9.1145, 1.8779, 0.0952, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54e12e149e98ba002384e37dfd4b76e0d8406b0fc25eb39ce765397849c2ff86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d7c2ffa838408e684f5b130aba4d48efe1f7e773e971550d65825aedadee69b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e956dacd642640aac302aefb2ef9d7dedc73e67c1e68bee0653603d43b24b50c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 10.3 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]: [-0.0303, 0.7929, 0.6048, -0.3878, -0.0193, -0.0338, 0.9993, -0.0212, 0.794, 0.6067, -0.4038, -0.0204, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=-0.0019 left_z=0.179 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.001 right_z=0.1763 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -1.4291, 10.1949, 1.9463, -0.0806, 0.1587, -0.0904, -0.3077, -1.6205, 9.7709, 2.0049, -0.0122, 0.0757, -0.0513]",
      "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]: [-0.0315, 0.7967, 0.6067, -0.4057, -0.0189, -0.038, 0.9992, 0.4515, 1.3502, 0.7654, -0.149, 0.3302, 0.2226, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=-0.0023 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3616 right_y=0.1157 right_z=0.1257 right_yaw=0.0479 right_pitch=-0.0953 right_roll=-0.0444 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.5111, 6.9538, 1.8584, -0.0611, 0.0073, -0.0171, 0.1299, -5.9145, 8.7726, 1.8486, 0.315, 0.2027, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7982, 0.6067, -0.4126, -0.0189, -0.0383, 0.9992, 0.3283, 1.5196, 0.889, -0.1463, 0.2501, 0.1471, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=-0.0022 left_z=0.1734 left_yaw=0.001 left_pitch=-0.0286 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4028 right_y=0.0948 right_z=0.1107 right_yaw=0.0302 right_pitch=-0.1568 right_roll=-0.0647 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.3607, 7.2957, 1.7998, -0.0562, -0.022, -0.0122, -0.4718, -6.2564, 9.1145, 1.8779, 0.0952, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54e12e149e98ba002384e37dfd4b76e0d8406b0fc25eb39ce765397849c2ff86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d7c2ffa838408e684f5b130aba4d48efe1f7e773e971550d65825aedadee69b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e956dacd642640aac302aefb2ef9d7dedc73e67c1e68bee0653603d43b24b50c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjgUKjgEIEhgCKkCB8L7PKzZIIv+SlWiw950EKOddtfpKMZ4QV7QRZI3uLwiE9PfLAtPS73vaeHr2fcCA9nNnIeXtDk9mEQxK+So8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZizzNUGEgzCuu7I0u+dRMeX0YYaDIpebQFh+7vweEVwVCIwsZrfCUMMWvm4hNMWGc1gXVOqK8RA2rwqRn4Xnt0oQEqOUZU6fHCSYSHEPSefiL81KqwDYBkXxgPEh8AYQIFqyycp7lU3m/jLs85AZMjBK1B+WJO5itFjLi088kZJLZ7/1uJ6cuN0fdi7rlpuxxFdsVE35EpSjIveX1HvD4JOR98Blj29kuZJzQlSCN4W1vPyX45HeTiOl4bwqw/YI2XAq7sclFfYFcyx6d9LJ1VW8qUiBcSrQCUvWvwCTTqFLl5eV3fCShv889nKhGJLo2tjp0Jmh3ygOJttNxsi617EGs4p0HcwEi4g6U5HA/bwRDzBkWbsQHMka+cojfxihTZd3hrk1eDjU4aJr14ZUv3SQKvyM8PuAPOagWSMLMiDuZSwvSZw0n9AOXiwNHeSfHoFR/7FZxx/wTgRLra8wMB7l+kPZZnKSkS0Xi9FiKwV7TI/HnfTRzdUsQEnFx1JUJXrJZLyJqsUDJU4nuxbi8hcxgeW1Fd4F/03+FAyJ9pQ++ZacABW8gBr1R9g1s5/aPkNkgNbaiyLldEdYOGkZzKUjN7VQgZj4EvhukwZc48ION7ShIJSQ4lorZtKpM009oO73mhaz/ODxHWJhz7Cj/upR6ZazgPR8yUyrGCKq+pRscEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xncqr9L3HjEjWQ5QQws8Vw",
      "input": {
        "note": "Lemon is now centred on the jaw column but still a few cm out; advancing 3 cm and lowering to just above the lemon before the final descent.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.09,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Xncqr9L3HjEjWQ5QQws8Vw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7986, 0.6067, -0.4259, -0.0189, -0.0387, 0.9992, 0.3202, 1.5318, 0.9081, -0.1394, 0.2268, 0.1307, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=-0.0022 left_z=0.1706 left_yaw=0.0013 left_pitch=-0.0424 left_roll=-0.003 left_gripper=0.9992 right_x=0.4088 right_y=0.0975 right_z=0.1141 right_yaw=0.0511 right_pitch=-0.1486 right_roll=-0.0573 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2786, 7.1726, 1.9121, -0.0562, -0.0269, -0.0122, -0.1573, -6.7897, 8.6769, 1.8584, 0.0855, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd0a10ac8df1fde51e58954bfd5587249bf022a83d1b2c247498eb4a72fd90c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec6eab4594361a82e06905aa4242a79759446cf61620d9122ddf3d567be27649",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9f4c4f048fe43581c154b09f13f12463440e9ad721a25a6dfdcf5907a4e4ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 8.497 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]: [-0.0315, 0.7967, 0.6067, -0.4057, -0.0189, -0.038, 0.9992, 0.4515, 1.3502, 0.7654, -0.149, 0.3302, 0.2226, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=-0.0023 left_z=0.1752 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3616 right_y=0.1157 right_z=0.1257 right_yaw=0.0479 right_pitch=-0.0953 right_roll=-0.0444 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.5111, 6.9538, 1.8584, -0.0611, 0.0073, -0.0171, 0.1299, -5.9145, 8.7726, 1.8486, 0.315, 0.2027, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7982, 0.6067, -0.4126, -0.0189, -0.0383, 0.9992, 0.3283, 1.5196, 0.889, -0.1463, 0.2501, 0.1471, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=-0.0022 left_z=0.1734 left_yaw=0.001 left_pitch=-0.0286 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4028 right_y=0.0948 right_z=0.1107 right_yaw=0.0302 right_pitch=-0.1568 right_roll=-0.0647 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.3607, 7.2957, 1.7998, -0.0562, -0.022, -0.0122, -0.4718, -6.2564, 9.1145, 1.8779, 0.0952, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7986, 0.6067, -0.4259, -0.0189, -0.0387, 0.9992, 0.3202, 1.5318, 0.9081, -0.1394, 0.2268, 0.1307, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=-0.0022 left_z=0.1706 left_yaw=0.0013 left_pitch=-0.0424 left_roll=-0.003 left_gripper=0.9992 right_x=0.4088 right_y=0.0975 right_z=0.1141 right_yaw=0.0511 right_pitch=-0.1486 right_roll=-0.0573 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2786, 7.1726, 1.9121, -0.0562, -0.0269, -0.0122, -0.1573, -6.7897, 8.6769, 1.8584, 0.0855, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd0a10ac8df1fde51e58954bfd5587249bf022a83d1b2c247498eb4a72fd90c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec6eab4594361a82e06905aa4242a79759446cf61620d9122ddf3d567be27649",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9f4c4f048fe43581c154b09f13f12463440e9ad721a25a6dfdcf5907a4e4ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISzgYKjgEIEhgCKkBmTU3YJjIGYqhlpFHXbVGsn7kiEgwH1AhlJVaSSsu8kqKjrCZKq617ctjcktxGF9u6Cvd3SYmlUTxbbbsW12jPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaKzzNUGEgzByWRqlUWdjXd6U5gaDFv0yai+tWucRvryqiIwdk59yy4UUsQnHaZJUMP8XR8fYJabdror+wzFF4bnlE6Lx4NU6y4Yn3tWQviTLP4RKuwEyOf9ZpUyCyK/XGQkXeAOwHZR390cjW+CmnRvBbf3b9McfXt88lAOg21efYIeKHUld/BkaGtCzX97axCDl0iAZIIs/ixYIYgivR/2kT6eFG28C3JviBEGBZawW+JD1AdV2ygdKshHroS0S1V1/gX0Im2Oo8k48dvMQhdMF8rhmb9zixOmtoGLqAkb9Qezwf77WNpn8792ITIMSgdbHlFxomHo46yXJ7Df2w8sv+sw6i/dMEqNBJOJWWxga7Xy++PnX5rfOMzurS97/gQ4+WqKe74JS6xr/9pQz7+Fyrgw5ZP1DH1d+207qcEi+pJ/p/BfNeSHWK1GMxqUViK/k2q7nvZPeWTKY8mgHYh1It91G27lSIGbUlUrh1QssbxAAKo0WrA0LHomUtbgwrDDtg/L2zPH59SqyuvToCLQlO4p0Gq9E5C9Agoq9tRgrtqM6hQ61NOsoenEE8Q42aN+zZIj3hCpKARQZzgzXZYIkoUgsq6dvKVNFnlppkkDaLHElQ7Cls3AyLtHaL2TgBPNxfOGH8uywfsjYFqIbDzkMN3aq8Fb5wteT+vGndyNIl3W68mrz6LZiGlTPF72bAwOCcF7BJVCvMXEKaT4TjWaRo60Dv7DclQ6lTXoAsjcPGZ3WlHOEXq/s+CHvd5GdIq7/ENS8fIol9mIDsVlnZafrbR49mEELY+jlf2zIf4Wt5DGRsK5RI4gjejKko1lHbVtu1kuexHFI8ocBZsKDewx20ezVpP5TvnWpGZZ/vtHHyGxBkavGOceAe4tgvSbP7dZXq6nx0m1yCq1cA/SajN4YOcnl1RxaFSTUP5cKn4pw34YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01596Awr1PLM3PSBJWMbuhs3",
      "input": {
        "note": "The arm tracked only part way last time (readback x=0.41, z=0.11), so re-commanding a forward-and-down target to bring the open jaws around the lemon.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.09,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01596Awr1PLM3PSBJWMbuhs3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7986, 0.6067, -0.4351, -0.0189, -0.0387, 0.9992, 0.3202, 1.5318, 0.9081, -0.139, 0.2268, 0.131, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=-0.0021 left_z=0.1687 left_yaw=0.0013 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4089 right_y=0.0975 right_z=0.1142 right_yaw=0.0509 right_pitch=-0.1482 right_roll=-0.0569 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1692, 6.9949, 1.8046, -0.0757, -0.0464, -0.0122, -0.4034, -6.5983, 8.6769, 1.8779, 0.0757, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a74b3a6a065b6ba8e40daf68cd3e8c12a676dde31031a1ce20b89ad189e9d230",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bfd32082ea579836199feb67d536e6c97580e1b4bce58d0afbe67965ff60249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:918c571c75ed19486a1252548ad0c009c0c6f3a7a509a147cff624e8f8895596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 6.55 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]: [-0.0315, 0.7982, 0.6067, -0.4126, -0.0189, -0.0383, 0.9992, 0.3283, 1.5196, 0.889, -0.1463, 0.2501, 0.1471, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=-0.0022 left_z=0.1734 left_yaw=0.001 left_pitch=-0.0286 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4028 right_y=0.0948 right_z=0.1107 right_yaw=0.0302 right_pitch=-0.1568 right_roll=-0.0647 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.3607, 7.2957, 1.7998, -0.0562, -0.022, -0.0122, -0.4718, -6.2564, 9.1145, 1.8779, 0.0952, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7986, 0.6067, -0.4259, -0.0189, -0.0387, 0.9992, 0.3202, 1.5318, 0.9081, -0.1394, 0.2268, 0.1307, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=-0.0022 left_z=0.1706 left_yaw=0.0013 left_pitch=-0.0424 left_roll=-0.003 left_gripper=0.9992 right_x=0.4088 right_y=0.0975 right_z=0.1141 right_yaw=0.0511 right_pitch=-0.1486 right_roll=-0.0573 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2786, 7.1726, 1.9121, -0.0562, -0.0269, -0.0122, -0.1573, -6.7897, 8.6769, 1.8584, 0.0855, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7986, 0.6067, -0.4351, -0.0189, -0.0387, 0.9992, 0.3202, 1.5318, 0.9081, -0.139, 0.2268, 0.131, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=-0.0021 left_z=0.1687 left_yaw=0.0013 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4089 right_y=0.0975 right_z=0.1142 right_yaw=0.0509 right_pitch=-0.1482 right_roll=-0.0569 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1692, 6.9949, 1.8046, -0.0757, -0.0464, -0.0122, -0.4034, -6.5983, 8.6769, 1.8779, 0.0757, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a74b3a6a065b6ba8e40daf68cd3e8c12a676dde31031a1ce20b89ad189e9d230",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bfd32082ea579836199feb67d536e6c97580e1b4bce58d0afbe67965ff60249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:918c571c75ed19486a1252548ad0c009c0c6f3a7a509a147cff624e8f8895596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS0wkKjgEIEhgCKkA2NHjVyYr47wgA7ODGI2HjqEzfROSb6Z4RxCPRIxmh4TaPiwXeeXmY87u4wwXXIK0thbmPm8U94/nJxwUDDnacMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAauzzNUGEgxCpfzVMCtJVnEzJ5MaDC0m05TiywqHB6iofSIwZWhOcsOkSN6iL6ajjEuydN5djvp4WFLJrCf7SP3tJCdT4U9ZTZr1C5/r5ollczMGKvEHbJqS9gRsuziMNcPFTubI7EG782hRA8lpzZ1qpitkAP51QruGoopzvS18ZRaFmenQcvNqC4yZ8uzVOJ8HHiHOmoJYAxHyaktKh34HkoV8vKqlWSL10mogIDkYN7IMOBZUf9fQA1Er10vOmJKCPiJwAGQNw+k53QRISPxPxL9w28pjld8lBkqpoWJvu9G3zM0Zk46ILM5vWfmPh0c0wzZwhvY7IyKVkhiUr5d5EnOYb93hz8viv0JHZzzRuDgRaGrWXGjrdZkD6+8/NWy5ztX1i9uHVPCrVHVo+1gXmEKi42jaSKQtpnO5d5LX/VqRIDYmHysSe0BhDIJaaI60FkXZluBvqIJFhqexYVpswqdmfZ3tfG+EnFctFwrnZ8UTzQCUBANyxg86latYKQ1k1Z4DGf+lugX/N0i8vVa8OkI7v1f5X39/A2aweWT4w6IlzcfB2/Ay//BZp98tgqcZ+N3DYXWceYIzUyit81R8DRqz4M7aCZBUCyTgpcl+ASto9asmPEoyhGNEHFX+2PEe7kkfcAV6Ybzz3FeDF2vU+/0XrTnGyQAbCruLWzdrOZismsgnCrKW0qS5E3TtpvpW3b9K2R49NRzZDJT89bEDiaUZbpfGRzYKnHDEdXxSLBC7mboQ289Y8hDj1jW+grkqEbX6c6ZqErs9JgQ15Jp+Sta7yyhMf5EOWc2ZF5ahjlnM7c4G6qTAYbzVItHXRyPKq6ohBQ468/jtnHFkPGAUzHE1ZC6yqDzkMRYsUkdt4wpVsZg7IwcZi6op4aEI3++NXRzQYFejjgCA6j36DiqJgM8J8kINDMrW2uF9si0UYBxNyQNu0Cl+e9S6rezneLeviuR5DXloE/xM+Z0y4hFMp7seqiZQ/wMmOL3ibgHVSLEDF7zC9usOPSQWV6CL2C2x5b2AqBHB2pml3bo1KvqaTB+lDSU8nASeMtbDBSjc7nI1TAw18d2seTVYRtxdG/ulA5QwhjHoTFE5XiXY0OxTTJ2Ym1Se+fvFK6GNAN4+/jiGSWmoanViy+SxK6apO06W/WrD0tvgTipqq88eYgIYRubmTk3T2QdVzM1dLmfzSmRD420Ua6b08we+TV3PBKnLGU6jp8tUYSWHksF8VYTUpNRcIOeLqoKpeSpD0J2tYCfZHG1b5q63QLoSVfakhG/scHiqXDt7EqO4CMsKOhvvnBEkxYdnwXPpdrawzb9OFpsHaStPXgiLJ2Me45hbCuMnqx9Fn0ubzWHYcf1Sjoti5UALgzFttURhtfbYWQy+dyuXNB2cjyNxMid8TJOVz6zfYUHT3KeGLQDSHciufsZQQFUH7Xiwuet1k9kWOxNzo/DdQuL+6RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014AFbdjCPAc6RUVcJN5Jejm",
      "input": {
        "note": "The right arm has stopped tracking entirely (identical joint readings twice), so I'm lifting it up to break out of the stalled pose before re-approaching the lemon.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.09,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014AFbdjCPAc6RUVcJN5Jejm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7994, 0.6067, -0.453, -0.0189, -0.0383, 0.9992, 0.2916, 1.5146, 1.1812, -0.4191, 0.202, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.165 left_yaw=0.0011 left_pitch=-0.0702 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4247 right_y=0.0942 right_z=0.1861 right_yaw=0.0581 right_pitch=-0.1433 right_roll=-0.0576 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2923, 6.9812, 1.8828, -0.0122, -0.022, -0.0122, -0.6906, -7.5692, 7.3641, 1.2772, 0.1001, -0.0073, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56bc7b378cd4111ac3d8a144de330555b6c53f1f2b2a75e77a2e5cc10b0b4b76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d90ddf42c007d49901b369764753eb60b8b87b804e42be8d5c529feeaa9e0e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f94cf8901522b70eb7f75dcb089bcc85d4b82b0ee630b340eba2ee837b200b86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 6.452 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]: [-0.0315, 0.7986, 0.6067, -0.4259, -0.0189, -0.0387, 0.9992, 0.3202, 1.5318, 0.9081, -0.1394, 0.2268, 0.1307, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=-0.0022 left_z=0.1706 left_yaw=0.0013 left_pitch=-0.0424 left_roll=-0.003 left_gripper=0.9992 right_x=0.4088 right_y=0.0975 right_z=0.1141 right_yaw=0.0511 right_pitch=-0.1486 right_roll=-0.0573 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2786, 7.1726, 1.9121, -0.0562, -0.0269, -0.0122, -0.1573, -6.7897, 8.6769, 1.8584, 0.0855, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7986, 0.6067, -0.4351, -0.0189, -0.0387, 0.9992, 0.3202, 1.5318, 0.9081, -0.139, 0.2268, 0.131, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=-0.0021 left_z=0.1687 left_yaw=0.0013 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4089 right_y=0.0975 right_z=0.1142 right_yaw=0.0509 right_pitch=-0.1482 right_roll=-0.0569 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1692, 6.9949, 1.8046, -0.0757, -0.0464, -0.0122, -0.4034, -6.5983, 8.6769, 1.8779, 0.0757, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7994, 0.6067, -0.453, -0.0189, -0.0383, 0.9992, 0.2916, 1.5146, 1.1812, -0.4191, 0.202, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.165 left_yaw=0.0011 left_pitch=-0.0702 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4247 right_y=0.0942 right_z=0.1861 right_yaw=0.0581 right_pitch=-0.1433 right_roll=-0.0576 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2923, 6.9812, 1.8828, -0.0122, -0.022, -0.0122, -0.6906, -7.5692, 7.3641, 1.2772, 0.1001, -0.0073, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56bc7b378cd4111ac3d8a144de330555b6c53f1f2b2a75e77a2e5cc10b0b4b76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d90ddf42c007d49901b369764753eb60b8b87b804e42be8d5c529feeaa9e0e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f94cf8901522b70eb7f75dcb089bcc85d4b82b0ee630b340eba2ee837b200b86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISuAUKjgEIEhgCKkAkIm1BqnxpWgDxBPv5VIWc3WFHDUh/WLwA/L6ChoMTGLIztvAnz+MIWsU0vFb1Dl895eHZd3cr2IN2X8EXmUawMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbKzzNUGEgx9EI4euf8DMtkaYZoaDBjaU9XwkRe9VpJI+iIwdSn12aY0lUraSsuyh5wh64cEaDMkoIaIdcmGatBZZqNf1JlIvcqt27Kh7r5qpe6HKtYDMv4EseYdzUxJsLpydZZUUkLWW1TJHxG5J+qaJ44/vyltT5Rpp+3qLZClHS5nhH8+HoF/hhD4BUlF2mexx24DIMtyfDlxOrf9qYSYA+5M0zXKoBkKkzoiz2hZhw/bVXt/yCwogpAPndd11asxfHbcjUOoDQaD3CApSEdJ75vsmmtdhzhJ+TlIJA3WHvc2WXtJFD3AsRH99dm7ZMRuhrTerGAqYD1WlK2KxEeO01F8sM91bsCZDyZu+bs5OB8ayxnHqD5uLfbkt+8uenm1V6GUN+in6F2Ul5KteRH6QPWjITKXDaW5/98M3cOKJjP/XWSHrguRRkEE/PyO1BZ6F0zyqTfoEx7MQDwooHJ2c7id+I0kFcdrw809eoBWaKStpLVCXZ0aKswlLGjgaRgKnreROxIIq0SrG6P7z5s9AVLKDXkhBNc1Mb1DE8Ba07sh2CgoNu/DEJmfxyD405MJnSMnvnKgpaGpJLXC8m9e2I1wMtiZ0rDBB8E3CnaUz0aEV0iZHMYAvxCzyT7P3Wa/gHhcojmimkGRki4PiiN7DB5FT+fu4QtYUblMuWZ5wCHSl8LG9FYrQ5gaeJYCp4b7jjZ0Z0pQ6pBm1xyjBy40NwpcddnAgvO7KUkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DzYxX1fkQ2Q8Ra864a5i7d",
      "input": {
        "note": "Lemon is centred on the jaw column just ahead of the fingertips in the right wrist view; descending to lemon mid-height to grasp.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.09,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01DzYxX1fkQ2Q8Ra864a5i7d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8021, 0.6067, -0.4583, -0.0189, -0.0383, 0.9992, 0.268, 1.7828, 0.8436, 0.1612, 0.1741, 0.0921, 0.9996]\nstate[eef_state]: left_x=0.2845 left_y=-0.002 left_z=0.1632 left_yaw=0.0011 left_pitch=-0.0782 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4339 right_y=0.0911 right_z=0.0366 right_yaw=0.0635 right_pitch=-0.1728 right_roll=-0.0532 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.4701, 6.9949, 1.7265, -0.0366, 0.0073, -0.0122, -0.3897, -6.2701, 4.7111, 1.5507, 0.1978, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2324c0768db6e313037e06a26399b1c0d5adef7d0614a1899daeeff341fedaaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ba43291c175e624ed19b2b7ecbcc58a7b5807313b11b7c2090827be4d3fe778",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5fb5ec78927a8a8d46f33ff48dc44d1878b29d778031230cfbc33832821f3817",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 6.517 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]: [-0.0315, 0.7986, 0.6067, -0.4351, -0.0189, -0.0387, 0.9992, 0.3202, 1.5318, 0.9081, -0.139, 0.2268, 0.131, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=-0.0021 left_z=0.1687 left_yaw=0.0013 left_pitch=-0.0515 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4089 right_y=0.0975 right_z=0.1142 right_yaw=0.0509 right_pitch=-0.1482 right_roll=-0.0569 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1692, 6.9949, 1.8046, -0.0757, -0.0464, -0.0122, -0.4034, -6.5983, 8.6769, 1.8779, 0.0757, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7994, 0.6067, -0.453, -0.0189, -0.0383, 0.9992, 0.2916, 1.5146, 1.1812, -0.4191, 0.202, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.165 left_yaw=0.0011 left_pitch=-0.0702 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4247 right_y=0.0942 right_z=0.1861 right_yaw=0.0581 right_pitch=-0.1433 right_roll=-0.0576 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2923, 6.9812, 1.8828, -0.0122, -0.022, -0.0122, -0.6906, -7.5692, 7.3641, 1.2772, 0.1001, -0.0073, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8021, 0.6067, -0.4583, -0.0189, -0.0383, 0.9992, 0.268, 1.7828, 0.8436, 0.1612, 0.1741, 0.0921, 0.9996]\nstate[eef_state]: left_x=0.2845 left_y=-0.002 left_z=0.1632 left_yaw=0.0011 left_pitch=-0.0782 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4339 right_y=0.0911 right_z=0.0366 right_yaw=0.0635 right_pitch=-0.1728 right_roll=-0.0532 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.4701, 6.9949, 1.7265, -0.0366, 0.0073, -0.0122, -0.3897, -6.2701, 4.7111, 1.5507, 0.1978, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2324c0768db6e313037e06a26399b1c0d5adef7d0614a1899daeeff341fedaaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ba43291c175e624ed19b2b7ecbcc58a7b5807313b11b7c2090827be4d3fe778",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fb5ec78927a8a8d46f33ff48dc44d1878b29d778031230cfbc33832821f3817",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQUKjgEIEhgCKkC9O1wQ9U+DNwPjiLfqvnmTeAEgnGsxxaZhHCUrt64t7gASiR5ClS9JhLdZPw2JXmQOrCsexfYM+5q9z8Y84cVxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbqzzNUGEgzwbJlQ4WOzRoNlE2saDPzUje4SWalysRv/ZiIwgk8w0UwXcubnM5HjIxHtrfQZm+2GHLXzE4U+klWlrCS3WV0/cNfYhjJvgw/RBcaVKrcDvpwZ3+oDQjhc4uycEGbGfoHlLIBWyXAVCEcal609l6mojJ6yO28tbWiUOaaUbHLB1FxeWTxt3Lg7cRO3R3LwRmdjJNMICLIfWM0qQ2KlEGAGP/4wIIepgAoE9T7bH/OivHfeq3fTFzmqyfoYv2qQpVD2Sg8OXryuZ2ZTpuCeYDnG42TdXwa4hFS2T7ph5sj6QoA0phXPu+B66eNQ6Y2lFTjNIn8djvCedHjk4X36bRYoDGYjx+M/57R0a0yhGVBnurJ9mRn6nrzozTYnv+E+EpjFj+8+shAE14HsLs8jksNaIwXM7J5sD3hfOc3qUSamB5/LfhqLxloMYMZS5A4CtrJz+GNOZaCsiTSZZ2HPdI42FmjO44rLjiYINu2v8XQyaIojNPGUmVhbq8E9yn2lD1vRXebJljS3vnYcYjn/Zy0mVkPHZUG5W+SizUpGdMYeT9bxEMviO/31/IUjcHhMXy5g2nkoS1TCBq0GHP8N700VQK/8y88DB9gBNmWRxBi8mq+5mmMe+ktX48be7DbaxEW2ZtK1VKrh1OFyrYWoEFs15Ta+J/Ou72fHHJF4I7nJVkj5++jIVRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T6hM8t7THNVQBBL8bc2R1D",
      "input": {
        "note": "Lemon fills the lower wrist view just ahead of the jaws; advancing ~3 cm so the fingertips straddle it.",
        "targets": {
          "right_x": 0.465,
          "right_y": 0.082,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01T6hM8t7THNVQBBL8bc2R1D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8032, 0.6067, -0.4606, -0.0189, -0.0387, 0.9992, 0.234, 1.8618, 0.9184, 0.1783, 0.1337, 0.07, 0.9996]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1625 left_yaw=0.0013 left_pitch=-0.0816 left_roll=-0.0017 left_gripper=0.9992 right_x=0.457 right_y=0.0884 right_z=0.0321 right_yaw=0.0762 right_pitch=-0.1656 right_roll=-0.039 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.265, 6.9538, 1.6825, -0.0806, -0.0611, -0.0122, -0.7179, -7.6923, 6.9675, 1.4383, 0.1441, -0.1197, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e63ace3fb807ce85b4fb23a137b8feec58c6f0ef7bda4e9549084494d3d658d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ca90511f4536f9e4a284c79aacff7bddebae18cfb6d70d0882bc2c3d0f8e6f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de17eff74665ce9e76861c830068d4eb7118649e4c618585bc1b1ee830011c66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 2.654 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]: [-0.0315, 0.7994, 0.6067, -0.453, -0.0189, -0.0383, 0.9992, 0.2916, 1.5146, 1.1812, -0.4191, 0.202, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.2851 left_y=-0.0021 left_z=0.165 left_yaw=0.0011 left_pitch=-0.0702 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4247 right_y=0.0942 right_z=0.1861 right_yaw=0.0581 right_pitch=-0.1433 right_roll=-0.0576 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2923, 6.9812, 1.8828, -0.0122, -0.022, -0.0122, -0.6906, -7.5692, 7.3641, 1.2772, 0.1001, -0.0073, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0315, 0.8021, 0.6067, -0.4583, -0.0189, -0.0383, 0.9992, 0.268, 1.7828, 0.8436, 0.1612, 0.1741, 0.0921, 0.9996]\nstate[eef_state]: left_x=0.2845 left_y=-0.002 left_z=0.1632 left_yaw=0.0011 left_pitch=-0.0782 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4339 right_y=0.0911 right_z=0.0366 right_yaw=0.0635 right_pitch=-0.1728 right_roll=-0.0532 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.4701, 6.9949, 1.7265, -0.0366, 0.0073, -0.0122, -0.3897, -6.2701, 4.7111, 1.5507, 0.1978, -0.0806, -0.0122]",
      "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]: [-0.0315, 0.8032, 0.6067, -0.4606, -0.0189, -0.0387, 0.9992, 0.234, 1.8618, 0.9184, 0.1783, 0.1337, 0.07, 0.9996]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1625 left_yaw=0.0013 left_pitch=-0.0816 left_roll=-0.0017 left_gripper=0.9992 right_x=0.457 right_y=0.0884 right_z=0.0321 right_yaw=0.0762 right_pitch=-0.1656 right_roll=-0.039 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.265, 6.9538, 1.6825, -0.0806, -0.0611, -0.0122, -0.7179, -7.6923, 6.9675, 1.4383, 0.1441, -0.1197, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e63ace3fb807ce85b4fb23a137b8feec58c6f0ef7bda4e9549084494d3d658d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ca90511f4536f9e4a284c79aacff7bddebae18cfb6d70d0882bc2c3d0f8e6f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de17eff74665ce9e76861c830068d4eb7118649e4c618585bc1b1ee830011c66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7QUKjgEIEhgCKkBVIZzrDLQmoeFe2vQZru0U6QwgnpoC5FEyfZaJ2vDfcXNgsxo1hoq7rPVd6DpqT+uFnKUG5vLAvoarcz4kMFpEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcGzzNUGEgxUP5N6NhJSMs5Bw38aDDN63eS12uZlV/SsnyIw5zQE6ZFGK8zhlQwk0HK9d4YJeOBGt6goY/7p6URgzB3WYJ6rX5vtTZyDN06IwIEIKosEFsWF+5Ee98+AyIemPCIDDRpGhzDzVNxL0R/fRwYanV0kBqFIzuZpct3YDbFCnSUYhryyFmQSEat6SJfnXdCXSZR93vjsjBsS7j+tdp6HNe4wB1nQfxHsm5jFxdR/QehhYtGJfPT6GPR/WlOcsE/cu+8UyPM1nVxhbEqhqnhm733psC7AeiMzwz0v6oKVEwl2XoR75Gl4ZAnhgMqx6yrm3ErBa2V2WX1XfDDeukql4tmC9gRelMgJYuzR/gxZ2c6BGZZcvprG6iFH10xVQuTyB5m1yj2fSBqwjkzL44DnyziYeUxyy8NwlRnJRybk8q1ro9fwftb5DornqA4kr/bptZ5nkb6F1SgyvEVmkOAiquEoPvSwlo8dOIfK+m6cDxwMJYhdtcfDaZEYdmenZMGs1Btg0PE8zxfKkJC6R4F2zki3/wXDDNv+6NYvypEpHiMPSkj+j7YpADYfQsZFZmgT9Dyzq/YTSkAAk32ZtPuo/gbnRlvGEIuPXSF1gV3E8vecdZzWzJBuYt/RTELFkh31nSHO4TTCrwYa4f/TqdEKFkk6EkxPhxKztgKAqJnMGCqgh6zR+3w14GRygLS2RZIlm7AW4DCzN16vaaqvpkfcdP1obMk3NpwitxiaV1UrSHCqsXW0djuQlU9WLekbJFsRRnpborMWTY+J22YuuhhYp/laMpRee5S2k+ZpSxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vh2BrGdt7N6e1DWTj3qvn4",
      "input": {
        "note": "Lemon sits slightly right of the jaw column in the wrist view; shifting the gripper ~1.5 cm right to centre it before closing.",
        "targets": {
          "right_y": 0.072
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Vh2BrGdt7N6e1DWTj3qvn4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8032, 0.6067, -0.4732, -0.0193, -0.0383, 0.9992, 0.2089, 1.8698, 0.9222, 0.1909, 0.104, 0.0532, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=-0.0019 left_z=0.16 left_yaw=0.0015 left_pitch=-0.0942 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4612 right_y=0.0827 right_z=0.0318 right_yaw=0.0856 right_pitch=-0.1605 right_roll=-0.0296 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.1692, 7.1316, 1.7509, -0.0806, -0.0415, -0.0122, -1.3744, -10.3316, 4.6291, 1.4921, 0.2173, -0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7852fec7ee8fc8bcf31877d0b0d51e09842a50162d6c73156a6adfa6d7236b97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4224a806994b3f750743435001cfa3ade2fffe13528b0bf0f08105b9a4396737",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86ed8701b979987485510e9e72117b9734915fbd4032f297620fea5402b02137",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 9.276 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]: [-0.0315, 0.8021, 0.6067, -0.4583, -0.0189, -0.0383, 0.9992, 0.268, 1.7828, 0.8436, 0.1612, 0.1741, 0.0921, 0.9996]\nstate[eef_state]: left_x=0.2845 left_y=-0.002 left_z=0.1632 left_yaw=0.0011 left_pitch=-0.0782 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4339 right_y=0.0911 right_z=0.0366 right_yaw=0.0635 right_pitch=-0.1728 right_roll=-0.0532 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.4701, 6.9949, 1.7265, -0.0366, 0.0073, -0.0122, -0.3897, -6.2701, 4.7111, 1.5507, 0.1978, -0.0806, -0.0122]",
      "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]: [-0.0315, 0.8032, 0.6067, -0.4606, -0.0189, -0.0387, 0.9992, 0.234, 1.8618, 0.9184, 0.1783, 0.1337, 0.07, 0.9996]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1625 left_yaw=0.0013 left_pitch=-0.0816 left_roll=-0.0017 left_gripper=0.9992 right_x=0.457 right_y=0.0884 right_z=0.0321 right_yaw=0.0762 right_pitch=-0.1656 right_roll=-0.039 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.265, 6.9538, 1.6825, -0.0806, -0.0611, -0.0122, -0.7179, -7.6923, 6.9675, 1.4383, 0.1441, -0.1197, -0.0171]",
      "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]: [-0.0315, 0.8032, 0.6067, -0.4732, -0.0193, -0.0383, 0.9992, 0.2089, 1.8698, 0.9222, 0.1909, 0.104, 0.0532, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=-0.0019 left_z=0.16 left_yaw=0.0015 left_pitch=-0.0942 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4612 right_y=0.0827 right_z=0.0318 right_yaw=0.0856 right_pitch=-0.1605 right_roll=-0.0296 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.1692, 7.1316, 1.7509, -0.0806, -0.0415, -0.0122, -1.3744, -10.3316, 4.6291, 1.4921, 0.2173, -0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7852fec7ee8fc8bcf31877d0b0d51e09842a50162d6c73156a6adfa6d7236b97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4224a806994b3f750743435001cfa3ade2fffe13528b0bf0f08105b9a4396737",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ed8701b979987485510e9e72117b9734915fbd4032f297620fea5402b02137",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoQIKjgEIEhgCKkDO6c1gfausfW38oGc8L2+8x9lSzJD4W0zyIkAUqLWHatCTRE1W3QVW1PLqBFHyGsh3OQunrY1CXxkNC+Fn5z1uMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcSzzNUGEgz3SCD97rYSk8sWQiMaDJAz5PpsZZUWtuknPyIw3R+9qtQXypO+faYQ9VqLaYuBj8mxws0IocGF7hQ+x6CL3vTdz4s49Rle3bQJ0zsqKkAAA/5mSntyzPNdtURdsfqhCWpONQSAsLTVqVB/D9QmFPSXebB2XsdNJjmXvcJVdp8892S72/LuuucRgyaTS2fvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UCTEEoRBBEpLtjz8SHDcAp",
      "input": {
        "note": "Lemon is centred on the jaw column at the bottom of the wrist view; closing the gripper on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UCTEEoRBBEpLtjz8SHDcAp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.1936, 1.8568, 0.9096, 0.1955, 0.0566, 0.0124, 0.022]\nstate[eef_state]: left_x=0.2812 left_y=-0.0019 left_z=0.1587 left_yaw=0.0014 left_pitch=-0.1011 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4589 right_y=0.0834 right_z=0.0333 right_yaw=0.1331 right_pitch=-0.159 right_roll=-0.0267 right_gripper=0.022\nstate[joint_eff]: [-0.2803, -1.0462, 7.1726, 1.7265, -0.0659, -0.0464, -0.0122, -0.841, -9.2513, 5.2034, 1.5897, 0.3834, 0.2125, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9749bcbec07ac0ca36d75a92056ae88d8e10163c03423f6adb661ea55ab6f9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7d4526143e447eaa31d625ebf6dedb0a67404afa9365d5c2e95942a0ccbb589",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d688813789e40494cc3605c5c6361dc88370aa15c4157673f3b85872eae549f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 10.26 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]: [-0.0315, 0.8032, 0.6067, -0.4606, -0.0189, -0.0387, 0.9992, 0.234, 1.8618, 0.9184, 0.1783, 0.1337, 0.07, 0.9996]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1625 left_yaw=0.0013 left_pitch=-0.0816 left_roll=-0.0017 left_gripper=0.9992 right_x=0.457 right_y=0.0884 right_z=0.0321 right_yaw=0.0762 right_pitch=-0.1656 right_roll=-0.039 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.265, 6.9538, 1.6825, -0.0806, -0.0611, -0.0122, -0.7179, -7.6923, 6.9675, 1.4383, 0.1441, -0.1197, -0.0171]",
      "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]: [-0.0315, 0.8032, 0.6067, -0.4732, -0.0193, -0.0383, 0.9992, 0.2089, 1.8698, 0.9222, 0.1909, 0.104, 0.0532, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=-0.0019 left_z=0.16 left_yaw=0.0015 left_pitch=-0.0942 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4612 right_y=0.0827 right_z=0.0318 right_yaw=0.0856 right_pitch=-0.1605 right_roll=-0.0296 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.1692, 7.1316, 1.7509, -0.0806, -0.0415, -0.0122, -1.3744, -10.3316, 4.6291, 1.4921, 0.2173, -0.1538, -0.0122]",
      "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]: [-0.0315, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.1936, 1.8568, 0.9096, 0.1955, 0.0566, 0.0124, 0.022]\nstate[eef_state]: left_x=0.2812 left_y=-0.0019 left_z=0.1587 left_yaw=0.0014 left_pitch=-0.1011 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4589 right_y=0.0834 right_z=0.0333 right_yaw=0.1331 right_pitch=-0.159 right_roll=-0.0267 right_gripper=0.022\nstate[joint_eff]: [-0.2803, -1.0462, 7.1726, 1.7265, -0.0659, -0.0464, -0.0122, -0.841, -9.2513, 5.2034, 1.5897, 0.3834, 0.2125, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9749bcbec07ac0ca36d75a92056ae88d8e10163c03423f6adb661ea55ab6f9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7d4526143e447eaa31d625ebf6dedb0a67404afa9365d5c2e95942a0ccbb589",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d688813789e40494cc3605c5c6361dc88370aa15c4157673f3b85872eae549f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QcKjgEIEhgCKkCjnOXQ0P2jtTHHw8wLpc+1i+95Q7+SOPfdspCyx860PfqsLhGlP77I1Ga7u2KzFTc1RB0RWi2PAS6ZCM6TKOV1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2zzNUGEgwM6S3gdaWm6uxrTtwaDMBDr3MnvWTOHAg1fSIwK1pRn/SlFPSf/dFFdPjMMYs0dn76TuMpprJY1bxRp3J6kB8H/rUkNizduJyV4GxSKvsFH+IGOv2fzyv/eXoegELArRf4w368e4MAfZ3SBF1mkF77TqIG9xaW67isPVdQWkY0Di8RXZU+LgULWkT3LCOBv8+xXw5Im0E2H2H3k+0DQLAQ8zlpGoE2zPnLHTEM5IpeYp+V/MQ0N+Kqiqo6vGdmvFcpgQZ+rFEjbTYiKDygohfCC8RMXjNnzBdVuqv4ETBqeXHdi1wBW97fsPPIFhfKhT/+Fk4mcbLPOUzrcOe07CXuEtrgS2z8B3E30IYX416EsvHPqYlSVYUS4oormWBRC8LdjWCu+IGA8RRFLIVeoj9rWilg7vu8seyvlfB6AB/lXMlmW2VvsPcJJWHH19Lvw1Muh7dfv5SiP5B5M+wBUmxkRGrAl/QfoENsfYrY9+WMA1aERobrsDqqsQ/GljR2gsvvPq2oKfsP41FCATHkYPfPukNeBrf4QveeIATd9Hc2Jpiueheh+B9VXISLpBj+DQf3BcUIEbpw/2LUkQKdZvPCUVhiQyPblWXPg2VEPbMf+9ps4dcfF1/uCwRW+BNBGpsmJCoFyV98ryRMa7sIK71+x8v92CT6gDDqfwczdep+AXUsOXmv351Drzjhxe/KdcSp/iLpKnK5lZ10INRvHg+n6iYdO6t/Fl/9MFCty/24tfj2XNDBwTDsh1NnjCNUbh7JhFyvz7hKMBq0OFqKuJFTUg+/5MmBR9ORNiuatmvSrwOtAAiHRn6GbaMLAgciu+TPWbmwRYlt9/0xOWtgQr8J/RpWu4t9uikFlFLfru1DudBzfBzNwZP9weY0pEdP1nOX1AuYpRjbcxg7fVQr6ml35jsXpt689RvO2+g1BBUthbVCYRjjgMD8/ibcLIhuAGJb1ekhJ2tRF5rVWz5x0lFq/Qzvs+eWr6K0K4QLGpLkk7kWdJYtxNCm7PSwy0DpOdSK40HOOmNUGbgVN5Npvds2UlS2IIGX2DSDd9YDwJZeoqPs9wfR7CYC3A/E7XSrxLl10bN0Mxq+3OosRz/S9TMK29gTgSTqajTvfRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kwj2a8ibLkGfZ6kJbvACTN",
      "input": {
        "note": "The close came back empty (0.02) and the lemon rolled forward, now visible ahead of the jaws in the wrist view; reopening and advancing 3 cm to re-approach it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.49,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Kwj2a8ibLkGfZ6kJbvACTN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8078, 0.6067, -0.4976, -0.0189, -0.0387, 0.9992, 0.1814, 1.9007, 1.0355, 0.0612, 0.0437, -0.0013, 0.9946]\nstate[eef_state]: left_x=0.2787 left_y=-0.0018 left_z=0.1542 left_yaw=0.0015 left_pitch=-0.1232 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4741 right_y=0.0828 right_z=0.0368 right_yaw=0.1392 right_pitch=-0.2119 right_roll=-0.0302 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.5385, 7.0496, 1.8095, -0.0806, -0.0611, -0.0122, -0.5265, -8.253, 8.7316, 1.9658, -0.0269, 0.0073, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32585a7c7dfc996e691134f63213dbf36de2fbe19d62c201dde0a85a79a09b86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5ef33e4790b95fa08261f1295ba51e74343ee36582a1b94958c9523167897df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d3e00f6af04e6f267e8ba0b93278bcf0edde9abb31fceb9f7874e0b3dcfdb80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 6.944 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]: [-0.0315, 0.8032, 0.6067, -0.4732, -0.0193, -0.0383, 0.9992, 0.2089, 1.8698, 0.9222, 0.1909, 0.104, 0.0532, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=-0.0019 left_z=0.16 left_yaw=0.0015 left_pitch=-0.0942 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4612 right_y=0.0827 right_z=0.0318 right_yaw=0.0856 right_pitch=-0.1605 right_roll=-0.0296 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.1692, 7.1316, 1.7509, -0.0806, -0.0415, -0.0122, -1.3744, -10.3316, 4.6291, 1.4921, 0.2173, -0.1538, -0.0122]",
      "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]: [-0.0315, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.1936, 1.8568, 0.9096, 0.1955, 0.0566, 0.0124, 0.022]\nstate[eef_state]: left_x=0.2812 left_y=-0.0019 left_z=0.1587 left_yaw=0.0014 left_pitch=-0.1011 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4589 right_y=0.0834 right_z=0.0333 right_yaw=0.1331 right_pitch=-0.159 right_roll=-0.0267 right_gripper=0.022\nstate[joint_eff]: [-0.2803, -1.0462, 7.1726, 1.7265, -0.0659, -0.0464, -0.0122, -0.841, -9.2513, 5.2034, 1.5897, 0.3834, 0.2125, 0.6716]",
      "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]: [-0.0315, 0.8078, 0.6067, -0.4976, -0.0189, -0.0387, 0.9992, 0.1814, 1.9007, 1.0355, 0.0612, 0.0437, -0.0013, 0.9946]\nstate[eef_state]: left_x=0.2787 left_y=-0.0018 left_z=0.1542 left_yaw=0.0015 left_pitch=-0.1232 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4741 right_y=0.0828 right_z=0.0368 right_yaw=0.1392 right_pitch=-0.2119 right_roll=-0.0302 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.5385, 7.0496, 1.8095, -0.0806, -0.0611, -0.0122, -0.5265, -8.253, 8.7316, 1.9658, -0.0269, 0.0073, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32585a7c7dfc996e691134f63213dbf36de2fbe19d62c201dde0a85a79a09b86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5ef33e4790b95fa08261f1295ba51e74343ee36582a1b94958c9523167897df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d3e00f6af04e6f267e8ba0b93278bcf0edde9abb31fceb9f7874e0b3dcfdb80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISxwoKjgEIEhgCKkD6fXSBecw8oM0SK7PPKqEeiqnBLjDjO8wK4v0bJ9mai11wmgr2UpKQ0hTEL7n0O1p/bCEDuHUMUc0Y7MsxG9xnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdizzNUGEgzCEf/wpTbzWrts/R0aDDGSgKtHsSlr6M6G9SIwdyXZuLDAw8aGYQiy9RvIA+XxIvT6zXKz/JXr1atAUKTW4gn2ATKd22A0KznYv/NtKuUIMYsLh6deUHi5fz0/qJ2C5+fzO8IedM71WTrjXQNxcu89G5Ytdpg3OsQKZt/j+Yrj5cBmXlORkR/hQiytPm8ypeptMxpIw5a+1Sqlutvp82S4Z2ja5+xDCJuo8QGHnArDkhU3rlaCMS3KuhXCSTn6PKFihmZ7RoReS0BFdrVtrkstSHOzHvfbPtUflejvN5zSNq7/3zxhcAl0ryb3gox4Ejk01hbS03izPEPYj3PrxJ9S701dVFeKIYnR9l6xrtyPedN3LXzXXYCVe7k/AcTQnNaPnbxOF/AmqyrMwkQkG1Clzanfyn1mxoekKxlu9IfE0tPQj88p2sHxV2wS9xXumjkbHY8M8Mod7dJjgJlOGNVSjDqaV3UTkFZLGluPyGrAwEdRRoljKwbS/zjdEUaxtarfkuOjZqLZIMS6F+syeCC6ilukMVP2dFdRYgY7BhDyEYVzJruVwQDKeCYL/uGSvxrvTnPM+ivxO5GNrOYxfI+4TV51u7jiRZ9EmQPBFW/wZOAP+7oDIXAv0TFEj5zRu6R8HjUFipTXn6uveds+4jA18QoCEaoJisJ9IVD9TJ6lOgv30z8+Sr4iPBdEOoYa2Uq/7Sepx5GqYoy8b+qWkEBlWot9dWc1LG2we7DCkKvyTgjNoSjMm0CswK+p0onOY62QIIZ/v357S7oO/jAc2mXJROXhfOmxezlMsKPkuJzML72C1Z29WGlIsY20U6pwOjrb5OmyEzl5Nwis5UeKeFIClamlpsrFa0fSdziZXtMfsVS+arMmI1HiDKelqVpPqzxdu1YTOdAZP7+yqh0ugPTbNI6LQIOKPPRYi+0QkbIAduIwFjwCjANIRFgXCXiYHqNSIlbhBPp7h51B1pvoZrKAbNoNf2gTALD8lWcQENJX4CVjjRjzylOpRqVJLSqJQ4GdV5+fx7I5z9lgRjNIVoU59FN37rAy67V7LGw2v6QhpO21HvJUY+k3LfmMSj9I4Io64Yi0jm5wbA4BAN0Vr/59WUgLMjmrrl5gxv/szyH2CPrdBEZX2XpCpQnGhL2cl1zo384OKMB0wH2tUSZ8+WL7K5buyZxRfvKH60EwFzcg+Pi3xwlrQ2HJr5L33co5pUaHUj2MZ6pXThM5bfgJNiaewityqXAx4L+moFIpTcRMK4Ryao+U6hs9d+rVwdACpqvKVdfYrTH72f2YytRZ+NmY7p9c91tjzihJ4TxJNxDaKeThum54a1DtE5GxerD8EUU6AFuDmhEC7hwbtfxtvWxyjPpA2u37Rv1WqbqpHWKHHZDzavEmhp3Kb4KR0cyksa4XoXPTvLX9ol2fq7TTnKVYHapYVPP+HODOgAdrNzpyn8fVMMofSvInct5jsZwxvl+76X4WG1Q6NKPmQCfKzrgLjcZHisLfWQaj3WT87W4yzqG8xgjTyq7d8ZP8ItlAD6+/jL3TXyWq4nidmB4GPMikIcEn+nWEGYyCBce5K/N8a5eC22dxje3dpt1F77UNASRVYzWkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RtCQmK7FDXiXrPR4kRUqmV",
      "input": {
        "note": "The lemon now appears up and to the right of the jaws, just beyond the safe's right edge; shifting the gripper right and forward to line up on it again.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.045,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RtCQmK7FDXiXrPR4kRUqmV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8078, 0.6067, -0.511, -0.0189, -0.0387, 0.9992, 0.0818, 1.9064, 1.0653, 0.0269, -0.0223, -0.0578, 0.9952]\nstate[eef_state]: left_x=0.2765 left_y=-0.0018 left_z=0.1516 left_yaw=0.0015 left_pitch=-0.1365 left_roll=0.0001 left_gripper=0.9992 right_x=0.4821 right_y=0.0471 right_z=0.0394 right_yaw=0.1279 right_pitch=-0.2228 right_roll=-0.0212 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.2239, 6.9402, 1.7509, -0.0806, -0.022, -0.0122, -0.1983, -7.6923, 7.9932, 1.8095, 0.1001, 0.0415, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc2e66ed8896e29ba818c7accb934b29be0803eb6c18be6044f45404e86dd74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b0e412e141fbe168672a3fe4eb3b65df2c6e3e375319129e4b479d335898e9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42dcadfdcb55bd316cc939158c92fffbcf2aa25cc8ed1ace774c20436c6c3e2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.591 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]: [-0.0315, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.1936, 1.8568, 0.9096, 0.1955, 0.0566, 0.0124, 0.022]\nstate[eef_state]: left_x=0.2812 left_y=-0.0019 left_z=0.1587 left_yaw=0.0014 left_pitch=-0.1011 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4589 right_y=0.0834 right_z=0.0333 right_yaw=0.1331 right_pitch=-0.159 right_roll=-0.0267 right_gripper=0.022\nstate[joint_eff]: [-0.2803, -1.0462, 7.1726, 1.7265, -0.0659, -0.0464, -0.0122, -0.841, -9.2513, 5.2034, 1.5897, 0.3834, 0.2125, 0.6716]",
      "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]: [-0.0315, 0.8078, 0.6067, -0.4976, -0.0189, -0.0387, 0.9992, 0.1814, 1.9007, 1.0355, 0.0612, 0.0437, -0.0013, 0.9946]\nstate[eef_state]: left_x=0.2787 left_y=-0.0018 left_z=0.1542 left_yaw=0.0015 left_pitch=-0.1232 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4741 right_y=0.0828 right_z=0.0368 right_yaw=0.1392 right_pitch=-0.2119 right_roll=-0.0302 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.5385, 7.0496, 1.8095, -0.0806, -0.0611, -0.0122, -0.5265, -8.253, 8.7316, 1.9658, -0.0269, 0.0073, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8078, 0.6067, -0.511, -0.0189, -0.0387, 0.9992, 0.0818, 1.9064, 1.0653, 0.0269, -0.0223, -0.0578, 0.9952]\nstate[eef_state]: left_x=0.2765 left_y=-0.0018 left_z=0.1516 left_yaw=0.0015 left_pitch=-0.1365 left_roll=0.0001 left_gripper=0.9992 right_x=0.4821 right_y=0.0471 right_z=0.0394 right_yaw=0.1279 right_pitch=-0.2228 right_roll=-0.0212 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.2239, 6.9402, 1.7509, -0.0806, -0.022, -0.0122, -0.1983, -7.6923, 7.9932, 1.8095, 0.1001, 0.0415, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc2e66ed8896e29ba818c7accb934b29be0803eb6c18be6044f45404e86dd74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b0e412e141fbe168672a3fe4eb3b65df2c6e3e375319129e4b479d335898e9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42dcadfdcb55bd316cc939158c92fffbcf2aa25cc8ed1ace774c20436c6c3e2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxwYKjgEIEhgCKkCE4ZUxra6oUqn+8VU/d/Jrt1idUE4B71FiVX38ZCxn6MWCTIQsbh9XpsI+3i7A77XzxTfY/l43A2gNEwM5a9O9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeCzzNUGEgyPatGnhSGi2f6aqd0aDE8GMCHD5vqOTyAkaCIwmsaUYyjGFghv2HakU9tTL8wdnOSGiH27mT6PgSITOWKXk8Vu/TFFJeKlACw01t42KuUEOd48BFyMLk5qxNUVCaveBjG2o58laDtWHClCzBt1bIzKol6Ye1IYWjx2w1cxjykL5E5XlGjVUQvWPlxR3hmGD0G1ubD9fqIWT7lItfuAsbhpsftD4HsmUQIrOevCeC/Q8PZvw6PCDFPHmn11vG+D8Ekiqe0LOOXlm+mqt2RhjaRdptWX0KWP4r3pwhiqcjxH6IrSKbvrFi1P2Ksixyh2/YvIHXaixIH5CI8Abz+27ZqlxZoYsD4OTMYQqtkENLfTnQ+IznH+iE5XFL68/iAdHvjp3Uyuslo+EtVfXtk7OMGjcn8QI/5O1xuGT7vuYvusxyfdymiVFUzG3r7k0hlgGHhvLm7vrLCICRjdk+SvkBOD4mqLKIL17Nb5UBFoDPJBp8JK5d+3MuedNRbUXz68MSRNJadzvd5d1DmqxNpea+V6FJ9MfNQID1V7X21+5MrBr0SNVjwCo9X3hf/SFPHflHpx9QiKH7Z11dJnxQqJkJgPQ72ePFVH1UdxbKSKTfB3Gx4zRgmlUL1MWClgow6vc1xfZpueqGpeUmd5UQBfoz3DM2S8Y79SipVs/s11TElGoZvKXn4pJ91ZPMnWMakuiC+aXN7cOyNR6LPhD9vxOt44BqZr5mCllDDT2z3bewmmGAtcXMgs26vF2cYmM23m8H1LlqNXIMOX3aBiQbRJlQEQg791CSpHlaU+YUBqz/iWcpTImmqAyU99LQcs1WqqQs6Zjs0IZpQGMvu4QXD974Ibn0bzQKSwocQsIx48ZKCWuixd44g+GmHQts613BDPSTzzlKr33xDfUPnRj0qaMOS7PdJWnRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TabpGc2xnikmR9m9oMm6xS",
      "input": {
        "note": "Lemon is on the jaw column but still well ahead of the fingertips; advancing ~4 cm toward it (testing how far the arm can reach at this low height).",
        "targets": {
          "right_x": 0.53,
          "right_y": 0.05,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TabpGc2xnikmR9m9oMm6xS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8097, 0.6067, -0.5198, -0.0189, -0.0383, 0.9992, 0.078, 2.0319, 1.2648, -0.0422, -0.0273, -0.075, 0.9953]\nstate[eef_state]: left_x=0.2752 left_y=-0.0017 left_z=0.1495 left_yaw=0.0014 left_pitch=-0.1472 left_roll=0.0008 left_gripper=0.9992 right_x=0.5235 right_y=0.0493 right_z=0.0432 right_yaw=0.1381 right_pitch=-0.2178 right_roll=-0.0299 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.3744, 6.8991, 1.6679, -0.0855, -0.0171, -0.0122, 0.0615, -9.6205, 7.4735, 1.4237, -0.0024, 0.1343, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5305b404ca7c097bad02222cf559dff237864e4a9748b718d0a387d20427c2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d46ae9051f8bb333a59f61d3eeb900c5699e03d2fae85cf3615134fbcced8a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c4de04366c592f0ce0225d6ded7b00cf4ffd9a20d232a0c7ac131142e70f313",
        "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 · 5.076 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]: [-0.0315, 0.8078, 0.6067, -0.4976, -0.0189, -0.0387, 0.9992, 0.1814, 1.9007, 1.0355, 0.0612, 0.0437, -0.0013, 0.9946]\nstate[eef_state]: left_x=0.2787 left_y=-0.0018 left_z=0.1542 left_yaw=0.0015 left_pitch=-0.1232 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4741 right_y=0.0828 right_z=0.0368 right_yaw=0.1392 right_pitch=-0.2119 right_roll=-0.0302 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.5385, 7.0496, 1.8095, -0.0806, -0.0611, -0.0122, -0.5265, -8.253, 8.7316, 1.9658, -0.0269, 0.0073, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8078, 0.6067, -0.511, -0.0189, -0.0387, 0.9992, 0.0818, 1.9064, 1.0653, 0.0269, -0.0223, -0.0578, 0.9952]\nstate[eef_state]: left_x=0.2765 left_y=-0.0018 left_z=0.1516 left_yaw=0.0015 left_pitch=-0.1365 left_roll=0.0001 left_gripper=0.9992 right_x=0.4821 right_y=0.0471 right_z=0.0394 right_yaw=0.1279 right_pitch=-0.2228 right_roll=-0.0212 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.2239, 6.9402, 1.7509, -0.0806, -0.022, -0.0122, -0.1983, -7.6923, 7.9932, 1.8095, 0.1001, 0.0415, 0.0611]",
      "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]: [-0.0315, 0.8097, 0.6067, -0.5198, -0.0189, -0.0383, 0.9992, 0.078, 2.0319, 1.2648, -0.0422, -0.0273, -0.075, 0.9953]\nstate[eef_state]: left_x=0.2752 left_y=-0.0017 left_z=0.1495 left_yaw=0.0014 left_pitch=-0.1472 left_roll=0.0008 left_gripper=0.9992 right_x=0.5235 right_y=0.0493 right_z=0.0432 right_yaw=0.1381 right_pitch=-0.2178 right_roll=-0.0299 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.3744, 6.8991, 1.6679, -0.0855, -0.0171, -0.0122, 0.0615, -9.6205, 7.4735, 1.4237, -0.0024, 0.1343, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5305b404ca7c097bad02222cf559dff237864e4a9748b718d0a387d20427c2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d46ae9051f8bb333a59f61d3eeb900c5699e03d2fae85cf3615134fbcced8a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c4de04366c592f0ce0225d6ded7b00cf4ffd9a20d232a0c7ac131142e70f313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS1AMKjgEIEhgCKkAqQiOvB+uN4uLA0sxRZq23BbpC6loDwZZuz4DCXaC1ysoKGo0H28ubcPL0c2LSBziGkE5bexUURog7Xc9O2x+2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeWzzNUGEgwNi4Xzimwuy1yYXxcaDPRgHOxhBJuySe6DFSIw1zOrGlRzogAgC7qG2FVCE10nyYAxiInwKIxve/AZSfa1F7BdYjYAxmvBfORv1KlkKvIBCIE0DIc5DJFaBauQxDLbtEEMc3mEla38NmkLcNMs5yT/c25NlDc1jkQ+gpxikLlPlFLKectH5cfKBlbpGYMnKuyR/lB5YtI2+zcSyQdw/u7ahEu9HODTis8GRKixHiT0vJ8i1NUVdc7nj1fh6FTeXREcfJh5S8Nzd55VnWxMbx1vNsPakg6ajXm/LPlPQh9tJqOIdTZiasqS7W2re1qGu1z9iClOXZhY4p6KxSN4LNmDyNLrInlxGDUT7HNMOK8FL1Em9ebewTSscyoDXQ8RCjULqD32TqsoekzzccDJKqBF6pN4YoVdI55I1TS5lxxeFV0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WivRUJVJwvUBwP7kWd2Q63",
      "input": {
        "note": "Lemon is now large in the wrist view, slightly right of the jaw column; nudging 3 cm further forward and 1.5 cm right to straddle it.",
        "targets": {
          "right_x": 0.555,
          "right_y": 0.035,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WivRUJVJwvUBwP7kWd2Q63",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8116, 0.6067, -0.5255, -0.0189, -0.0383, 0.9992, 0.0513, 2.1117, 1.3842, -0.0723, -0.0639, -0.0952, 0.9954]\nstate[eef_state]: left_x=0.2743 left_y=-0.0017 left_z=0.148 left_yaw=0.0014 left_pitch=-0.1548 left_roll=0.001 left_gripper=0.9992 right_x=0.5491 right_y=0.0431 right_z=0.0437 right_yaw=0.1538 right_pitch=-0.2064 right_roll=-0.0181 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -0.9368, 6.9402, 1.6142, -0.0806, -0.0317, -0.0122, -0.6359, -9.7573, 7.2137, 1.453, 0.1343, -0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19beeea4923f5f8a485bdd8a24bfcfd474bce1c62a59ec7acd33508a1f2d8a70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a24aafd1015ab950d6ad1ebefffcdd618ff5dedbb98ceb8ad9e52c8e47ca2874",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe867b080d03ee417cdfcbdc22259c532825f8c39d268a1ace1448c177158b75",
        "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 · 8.358 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]: [-0.0315, 0.8078, 0.6067, -0.511, -0.0189, -0.0387, 0.9992, 0.0818, 1.9064, 1.0653, 0.0269, -0.0223, -0.0578, 0.9952]\nstate[eef_state]: left_x=0.2765 left_y=-0.0018 left_z=0.1516 left_yaw=0.0015 left_pitch=-0.1365 left_roll=0.0001 left_gripper=0.9992 right_x=0.4821 right_y=0.0471 right_z=0.0394 right_yaw=0.1279 right_pitch=-0.2228 right_roll=-0.0212 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.2239, 6.9402, 1.7509, -0.0806, -0.022, -0.0122, -0.1983, -7.6923, 7.9932, 1.8095, 0.1001, 0.0415, 0.0611]",
      "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]: [-0.0315, 0.8097, 0.6067, -0.5198, -0.0189, -0.0383, 0.9992, 0.078, 2.0319, 1.2648, -0.0422, -0.0273, -0.075, 0.9953]\nstate[eef_state]: left_x=0.2752 left_y=-0.0017 left_z=0.1495 left_yaw=0.0014 left_pitch=-0.1472 left_roll=0.0008 left_gripper=0.9992 right_x=0.5235 right_y=0.0493 right_z=0.0432 right_yaw=0.1381 right_pitch=-0.2178 right_roll=-0.0299 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.3744, 6.8991, 1.6679, -0.0855, -0.0171, -0.0122, 0.0615, -9.6205, 7.4735, 1.4237, -0.0024, 0.1343, -0.0024]",
      "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]: [-0.0315, 0.8116, 0.6067, -0.5255, -0.0189, -0.0383, 0.9992, 0.0513, 2.1117, 1.3842, -0.0723, -0.0639, -0.0952, 0.9954]\nstate[eef_state]: left_x=0.2743 left_y=-0.0017 left_z=0.148 left_yaw=0.0014 left_pitch=-0.1548 left_roll=0.001 left_gripper=0.9992 right_x=0.5491 right_y=0.0431 right_z=0.0437 right_yaw=0.1538 right_pitch=-0.2064 right_roll=-0.0181 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -0.9368, 6.9402, 1.6142, -0.0806, -0.0317, -0.0122, -0.6359, -9.7573, 7.2137, 1.453, 0.1343, -0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19beeea4923f5f8a485bdd8a24bfcfd474bce1c62a59ec7acd33508a1f2d8a70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a24aafd1015ab950d6ad1ebefffcdd618ff5dedbb98ceb8ad9e52c8e47ca2874",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe867b080d03ee417cdfcbdc22259c532825f8c39d268a1ace1448c177158b75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6QQKjgEIEhgCKkAUm6idf04nGRV74rnwhL+K4iFIeYnIyPffd3omlYVb6G/Y4T7ddN8GX2fvbRHAicCk0FghiYYZMvHLNNI3I4sZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeqzzNUGEgz5mleBKmAaNslj8I0aDEP09AeVh6SV/3JmriIw47rP0QqX0XNhSaDq9iDpb+OUcICvDtgx04SgHsriIuPMS03fe/8x4lb4Ar12Cb64KocDtMEoEk8JBCKoErDkqVyhpmShJ4Go/Iu94+Q7WnCqpH7YZ+c+eZbaElTG8KRIuhIzpQqBNKRmY5OLwK5FPhhVUiWUumWH8szNgX3WRx9jGZBg0hUgED/dIioh4WVK+LY8/hINbyswDOm5DBJ0wj5si6OUmOXaPCgnrT4sjiNEa8TpaeNk96BntQI9GQIca4q+cW+4+Yg4qa5m4dxAdPy/NL7zGFPECM44Nj4lWiBct4iAJ1p8GdYzKCjPwlr688nZy7zO3Dhn/dSf4948HpBDJ3awNqng9sCbteJAFilK5ZZi8VaZClvX8ieoT60T7q+nHEu30cZaGJpK/pnjxzyv1P5n9SzfCqEUAWqg8SWfPmOG3KV75y7kDAIJ0E3pkGMvnhpanUGlCML/DRDo7/DTdIEibuvKM2Yi7DXiBnf8BbbZ0VLQFDyZekOlemJiPv84OcEAd7HHoqxf/qYlPFuALIP24lds4QncqvXfcmo84BP6TR5LxUyy/hNaCR2RWDRL6aNR0lFzKhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HKN1v75phDUaA2CLDP8HZE",
      "input": {
        "note": "Lemon fills the lower wrist view right at the jaws; 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_01HKN1v75phDUaA2CLDP8HZE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8127, 0.6067, -0.5369, -0.0189, -0.0383, 0.9992, 0.0513, 2.1246, 1.3861, -0.0952, -0.0685, -0.0982, 0.0545]\nstate[eef_state]: left_x=0.2725 left_y=-0.0017 left_z=0.1456 left_yaw=0.0015 left_pitch=-0.1674 left_roll=0.0014 left_gripper=0.9992 right_x=0.5445 right_y=0.0437 right_z=0.0337 right_yaw=0.1602 right_pitch=-0.2398 right_roll=-0.0132 right_gripper=0.0545\nstate[joint_eff]: [-0.1846, -1.3197, 6.8991, 1.707, -0.0464, -0.0366, -0.0122, -0.0889, -12.8479, 6.2974, 1.7118, 0.0073, -0.0171, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:196b609d0848d199683b06c15333afe5140c8c7c19e0652a30f40ed4a46ac6cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8ff9e28db735978df4835a4bb2cbee21ed182337b645c9b78e64aec9faab7a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbf1607912f52d8d0d774990cb14936b4dbc1386c9214cc35440c199fec26b05",
        "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 · 6.838 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]: [-0.0315, 0.8097, 0.6067, -0.5198, -0.0189, -0.0383, 0.9992, 0.078, 2.0319, 1.2648, -0.0422, -0.0273, -0.075, 0.9953]\nstate[eef_state]: left_x=0.2752 left_y=-0.0017 left_z=0.1495 left_yaw=0.0014 left_pitch=-0.1472 left_roll=0.0008 left_gripper=0.9992 right_x=0.5235 right_y=0.0493 right_z=0.0432 right_yaw=0.1381 right_pitch=-0.2178 right_roll=-0.0299 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.3744, 6.8991, 1.6679, -0.0855, -0.0171, -0.0122, 0.0615, -9.6205, 7.4735, 1.4237, -0.0024, 0.1343, -0.0024]",
      "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]: [-0.0315, 0.8116, 0.6067, -0.5255, -0.0189, -0.0383, 0.9992, 0.0513, 2.1117, 1.3842, -0.0723, -0.0639, -0.0952, 0.9954]\nstate[eef_state]: left_x=0.2743 left_y=-0.0017 left_z=0.148 left_yaw=0.0014 left_pitch=-0.1548 left_roll=0.001 left_gripper=0.9992 right_x=0.5491 right_y=0.0431 right_z=0.0437 right_yaw=0.1538 right_pitch=-0.2064 right_roll=-0.0181 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -0.9368, 6.9402, 1.6142, -0.0806, -0.0317, -0.0122, -0.6359, -9.7573, 7.2137, 1.453, 0.1343, -0.105, -0.0073]",
      "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]: [-0.0315, 0.8127, 0.6067, -0.5369, -0.0189, -0.0383, 0.9992, 0.0513, 2.1246, 1.3861, -0.0952, -0.0685, -0.0982, 0.0545]\nstate[eef_state]: left_x=0.2725 left_y=-0.0017 left_z=0.1456 left_yaw=0.0015 left_pitch=-0.1674 left_roll=0.0014 left_gripper=0.9992 right_x=0.5445 right_y=0.0437 right_z=0.0337 right_yaw=0.1602 right_pitch=-0.2398 right_roll=-0.0132 right_gripper=0.0545\nstate[joint_eff]: [-0.1846, -1.3197, 6.8991, 1.707, -0.0464, -0.0366, -0.0122, -0.0889, -12.8479, 6.2974, 1.7118, 0.0073, -0.0171, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:196b609d0848d199683b06c15333afe5140c8c7c19e0652a30f40ed4a46ac6cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8ff9e28db735978df4835a4bb2cbee21ed182337b645c9b78e64aec9faab7a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbf1607912f52d8d0d774990cb14936b4dbc1386c9214cc35440c199fec26b05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiwoKjgEIEhgCKkCKNYdhU5i+lDNGuBejZC/sORcz5dMuO9/okFmQllRjXZ91aIUDivBz4UlnKwcoVOAqatu9NKBzei/ksOsG2k5FMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfOzzNUGEgxJmay3qVi1bMqw+nAaDInMTSILducgokuf1CIwCXns3Niy2HhDDSSoazzZg1EdcUEs6yw+hXHst8ZYw+9hhZVG5OC/DoeODAriQiXPKqkIIzJJXQOphUL+6MqUtGHLRHB/uSSrWz08ka10rI2YZvgFsURGtJxGgV4C6C9AZWNmeQiE3aSMF0ezihHLtis97DE9bCq7yUqxX5A5PO2vFZOJ6AeH67eT0E0fftbUPFj0D7zidSNBr8mOpxOoLe6/evCvT0SVmVwQ5YDcqmaGryP7OBP0JGXZCHfvFgQN1TP64xbrXO5PCg+UV3LobhVpIh0q1a+tuX6mMvpo1+IHUz9LxnReejru95TG78hDlR9cgdB/GzSdpy82g5YO7IEjPB9Of62aHL+rTLbCVU+RbWvsqAJ/0o/3dCFr6S8oYfdi/HCkVDqb9y0HDRLtlgMeaLNGwi92pqR65TblBvZHQHmWDlPADigWo8c+3qnHCBc81jOAJNSmPXidoyL3cCBhDby32j5kYRTGWxLnbPamiYLYB/K3ynsiWYmP3XU6IgopZ7J4WU1A0DwOLuHMv7XWWEIgM+FbQ4d/aTqXuby6yhWPqGga3WTSyCmcf1k7tWRh3Q7n33QCfk1jNRGUC0CvdcUEHJhiEVElC6O9rH3rSqJ/bqJpxvW369boh7iarICERvmyuPxRuzituVtqBSw6t6xF+uUPDuApwiBFVlNjchyARVp9Lzg6zf+ziaRPrdTrwTndyoPr3baFHGe3rELb/37x1zXqa8mWSRXsJm+E8WGA87bN9LPalIcDF/gWCFWa9l5LNNy3/yI32W9lEFE4VVj8riqbYcCwoTL6c+rIEn6QbOM8Xc+juF7f6yhZF+WSghTzNNxfwciV5t2XY7DCgsSblpzONqwYRO8HN0OgXju7jNjSwdLw6wjPHAh/rMBSxuaP/9Gw9yok9E7BIaBo4RUh9FfSANcTQtS4RGeDF7oJ3pANhBJMG0hLK3fiD9ePgpWOSvgVhhlMGHn2+dnMRamH2CMcSE/tU3R1Y7DAqQA8zUz0Yk1dO2Jp5+GQuRtP5rZ3hGSfmtg1eIxy/glYmCt7ewOswJc78+4z1wQMt6/OANXYH7ITDX7wK2xGKkF4dZDPpFKZKwe5vL/cIrcmNm1nm7mLnO8JDJ3JGVF8Q9PY+FOpxeAhjvAPBXUu3tvyd/KkvzthyJhsRIoYylHXnSe8c1jZuEUrZRtgo9/YfYubMXUGwgloqvXSgjNoLzVWQI01WsF7K1X+FmHzhQtvXqmXocBhCpYtGf14ti9Z2X1ynkbfphlu4Cw4zx1evDbEalPV3WTM2VRV+r1BmzSVFJynimmDCG2I/tefXvMkIBjn2qnmybhOJWCLFw/hi58UK494RTYFsiH8GUxPVlgLl0y+an8HI2A2BLppY+qn68Hu/NQb4uT25K4xVDmm0zMCVnHwRNIUHtEr9lJIYCyorp2SblbuJSweEx5/+JiiFGr3fWlREE038gg0Eav0SHIxlSeZePeu7NqEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RTXknnVi8r8ygjvhaNw72A",
      "input": {
        "note": "The lemon is still just beyond the fingertips (it sits against the safe's right wall); reopening and advancing another 3 cm so the jaws straddle it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.575,
          "right_y": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RTXknnVi8r8ygjvhaNw72A",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8154, 0.6067, -0.5484, -0.0189, -0.0383, 0.9992, 0.0433, 2.2127, 1.5215, -0.2073, -0.0689, -0.1181, 0.9947]\nstate[eef_state]: left_x=0.2706 left_y=-0.0016 left_z=0.1429 left_yaw=0.0016 left_pitch=-0.1815 left_roll=0.0019 left_gripper=0.9992 right_x=0.5573 right_y=0.0399 right_z=0.0209 right_yaw=0.1661 right_pitch=-0.3043 right_roll=-0.0185 right_gripper=0.9947\nstate[joint_eff]: [-0.1162, -1.347, 6.8718, 1.6581, -0.0708, -0.0024, -0.0122, -0.2803, -11.1521, 9.3197, 1.8046, -0.1783, 0.0708, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:496ea666f9e719ede59e2a9e66078ab974ee9a54e4606deb10b1e296258513e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:196f2dc766909c629d51ba8ababb117ba53fb6f3e6da1b3e027d9918bed0eefb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41aa90512858b5cc119c55af0bb33688abf26cbb94403d8432f1b7ed298bcbae",
        "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 · 10.51 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8116, 0.6067, -0.5255, -0.0189, -0.0383, 0.9992, 0.0513, 2.1117, 1.3842, -0.0723, -0.0639, -0.0952, 0.9954]\nstate[eef_state]: left_x=0.2743 left_y=-0.0017 left_z=0.148 left_yaw=0.0014 left_pitch=-0.1548 left_roll=0.001 left_gripper=0.9992 right_x=0.5491 right_y=0.0431 right_z=0.0437 right_yaw=0.1538 right_pitch=-0.2064 right_roll=-0.0181 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -0.9368, 6.9402, 1.6142, -0.0806, -0.0317, -0.0122, -0.6359, -9.7573, 7.2137, 1.453, 0.1343, -0.105, -0.0073]",
      "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]: [-0.0315, 0.8127, 0.6067, -0.5369, -0.0189, -0.0383, 0.9992, 0.0513, 2.1246, 1.3861, -0.0952, -0.0685, -0.0982, 0.0545]\nstate[eef_state]: left_x=0.2725 left_y=-0.0017 left_z=0.1456 left_yaw=0.0015 left_pitch=-0.1674 left_roll=0.0014 left_gripper=0.9992 right_x=0.5445 right_y=0.0437 right_z=0.0337 right_yaw=0.1602 right_pitch=-0.2398 right_roll=-0.0132 right_gripper=0.0545\nstate[joint_eff]: [-0.1846, -1.3197, 6.8991, 1.707, -0.0464, -0.0366, -0.0122, -0.0889, -12.8479, 6.2974, 1.7118, 0.0073, -0.0171, 0.0122]",
      "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]: [-0.0315, 0.8154, 0.6067, -0.5484, -0.0189, -0.0383, 0.9992, 0.0433, 2.2127, 1.5215, -0.2073, -0.0689, -0.1181, 0.9947]\nstate[eef_state]: left_x=0.2706 left_y=-0.0016 left_z=0.1429 left_yaw=0.0016 left_pitch=-0.1815 left_roll=0.0019 left_gripper=0.9992 right_x=0.5573 right_y=0.0399 right_z=0.0209 right_yaw=0.1661 right_pitch=-0.3043 right_roll=-0.0185 right_gripper=0.9947\nstate[joint_eff]: [-0.1162, -1.347, 6.8718, 1.6581, -0.0708, -0.0024, -0.0122, -0.2803, -11.1521, 9.3197, 1.8046, -0.1783, 0.0708, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:496ea666f9e719ede59e2a9e66078ab974ee9a54e4606deb10b1e296258513e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:196f2dc766909c629d51ba8ababb117ba53fb6f3e6da1b3e027d9918bed0eefb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41aa90512858b5cc119c55af0bb33688abf26cbb94403d8432f1b7ed298bcbae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiQMKjgEIEhgCKkB1UA09tZQ86oA3tBQCgXbWNgp4Bqq38S3orY+cfA88keVDpZ6I6wNKjCfD9AQAIjvvKFm0JrmXeKZajGs0ZkveMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfyzzNUGEgxF1d/FhjaUN8cpmmwaDPfTA1C5c3Vx4AQ4FSIwbMl84d0zJq/wKs2Jj1W/+V6B57SAelUTXjGqkjdkMGrLspfNb/qvuUdtf4DhniBCKqcBq7Q3KoATc45sXfhwz79n62y+iFAwV5SldceGXa58rsySD4Qrjq2r1bjAaLmWQGlASiWwk+za9GjEopeU0p7J78FB6QFQb2Phx097SxIuIXEEPcyluxY0PjqfMfKGc1fcwL4gaHiIMHorSwxgL3C1PPemsvhd4/x7zvu2rTXfAqE8FvN4g/aqRlI4salnU/APuJQIuWc3WNa0RyVhX8Dh6kNj5vWCz38YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CRACiBAny7qady4AUAi8Bb",
      "input": {
        "note": "Lemon now fills the wrist view right between the jaws; closing fully to grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CRACiBAny7qady4AUAi8Bb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8154, 0.6067, -0.5621, -0.0189, -0.0383, 0.9992, 0.0437, 2.2192, 1.5257, -0.2306, -0.0715, -0.1242, 0.0087]\nstate[eef_state]: left_x=0.2683 left_y=-0.0015 left_z=0.1404 left_yaw=0.0017 left_pitch=-0.1953 left_roll=0.0024 left_gripper=0.9992 right_x=0.5534 right_y=0.0404 right_z=0.0155 right_yaw=0.1735 right_pitch=-0.3295 right_roll=-0.0168 right_gripper=0.0087\nstate[joint_eff]: [-0.1299, -1.2239, 6.8991, 1.6874, -0.0269, -0.0122, -0.0122, -0.0752, -13.053, 5.8735, 1.5604, -0.0171, 0.0171, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a626fb4997588416cf7a0a04118473a35e420c3c1b05c661319ba12f54b96a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d5dfe6e67991a9aa199eb2fce6cad538ea156d46ecd5111af7991741f6a00b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4777d03a67809067cbedf95973522ac6ff6568113130060f6b037d26715ba239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.729 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]: [-0.0315, 0.8127, 0.6067, -0.5369, -0.0189, -0.0383, 0.9992, 0.0513, 2.1246, 1.3861, -0.0952, -0.0685, -0.0982, 0.0545]\nstate[eef_state]: left_x=0.2725 left_y=-0.0017 left_z=0.1456 left_yaw=0.0015 left_pitch=-0.1674 left_roll=0.0014 left_gripper=0.9992 right_x=0.5445 right_y=0.0437 right_z=0.0337 right_yaw=0.1602 right_pitch=-0.2398 right_roll=-0.0132 right_gripper=0.0545\nstate[joint_eff]: [-0.1846, -1.3197, 6.8991, 1.707, -0.0464, -0.0366, -0.0122, -0.0889, -12.8479, 6.2974, 1.7118, 0.0073, -0.0171, 0.0122]",
      "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]: [-0.0315, 0.8154, 0.6067, -0.5484, -0.0189, -0.0383, 0.9992, 0.0433, 2.2127, 1.5215, -0.2073, -0.0689, -0.1181, 0.9947]\nstate[eef_state]: left_x=0.2706 left_y=-0.0016 left_z=0.1429 left_yaw=0.0016 left_pitch=-0.1815 left_roll=0.0019 left_gripper=0.9992 right_x=0.5573 right_y=0.0399 right_z=0.0209 right_yaw=0.1661 right_pitch=-0.3043 right_roll=-0.0185 right_gripper=0.9947\nstate[joint_eff]: [-0.1162, -1.347, 6.8718, 1.6581, -0.0708, -0.0024, -0.0122, -0.2803, -11.1521, 9.3197, 1.8046, -0.1783, 0.0708, -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]: [-0.0315, 0.8154, 0.6067, -0.5621, -0.0189, -0.0383, 0.9992, 0.0437, 2.2192, 1.5257, -0.2306, -0.0715, -0.1242, 0.0087]\nstate[eef_state]: left_x=0.2683 left_y=-0.0015 left_z=0.1404 left_yaw=0.0017 left_pitch=-0.1953 left_roll=0.0024 left_gripper=0.9992 right_x=0.5534 right_y=0.0404 right_z=0.0155 right_yaw=0.1735 right_pitch=-0.3295 right_roll=-0.0168 right_gripper=0.0087\nstate[joint_eff]: [-0.1299, -1.2239, 6.8991, 1.6874, -0.0269, -0.0122, -0.0122, -0.0752, -13.053, 5.8735, 1.5604, -0.0171, 0.0171, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a626fb4997588416cf7a0a04118473a35e420c3c1b05c661319ba12f54b96a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d5dfe6e67991a9aa199eb2fce6cad538ea156d46ecd5111af7991741f6a00b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4777d03a67809067cbedf95973522ac6ff6568113130060f6b037d26715ba239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QoKjgEIEhgCKkDbLlg7DKpJkJXw+lbdKTLrDDXJE4IgjCylKkj+9XscqxZ+0o4BbgiO6HA7vQ3Cd1vr4tAN4FImIXcZkKnY/YNGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYa0zNUGEgwGYI5jFLDyCpLLErIaDCxdOvz068/Cninm1SIwzpynjDb9FpCzIE9iAN+bq16m84auFt4nNHTXI7TODn7ELSXoHleE73v0ajGNgWSMKpMJaV6wTxjEAJPYhYGjEz9EVcG9g1M4L78xAP2BPM9IWNhpffv5D/fnjE/Uao+CN6RzS6pSFqmdAk6h+c7rKeDGMgySSSrfG45LS8J7kWW6hp9FBqw6LKoMaOq+NrqwskOG+Mdnyq/EMwh+OI+q6zUXinx8ddVlD7xYhZJ9IrQwAQu/iVlADLAznhkQDxYAS4yUx2Mvy4oaUrxBRWFCXw06xW2HyDtuRmOlUbA5Tt0AVKeXexcKsRcaIFImTNJZEwi9KGLXaw37iViDmPluOomEgVP15jN1DNeX+S+baWr3PLAvkC7WUqP/qGyBTP608Uo0hq7kvBGZrnLomyfJo0rlt5LZ1KqrJ/S16Ec79sXYhd/pXvDD3FKVS0XGx2cpJdUJIJLdfiCQPqC0U6ECfQkYiWhhFExQMrwSVXQR80kCIL+T942iiKpVdJSHaQ734rGDENAqlStZ3/b81EFdhvtlJEFNA3JxO+gF+c45U3BVlJklThjB6E3m08bzJMPWop+pMxudg9G15a1eGPtN3M4fgoxBQmPJisXIMgBiiBSgqrJ/pB2fv/zeBR81OaqFaJStWR8zOh9PALn0Wyd+6NVstQMfR4Az8xhfdoHoDAeaa123M99airPg0ItMGls6rnAGUZVNLW/8vIm1LfeiyiIIHX14z2tGKTpCIACokuLnaUhrjBOhXzAnkpjBhpRfD2nJdkyJDZTsLsNjNW9SCV6K9W+bAsPVdshRRAAQfZNUZmq263Mp6LdyA0Fj01wm4tQfHlnSV4n6Aaf8L9LMQP/2WxUx/OIlHEiFUq1E1+xKON1x9MopJByQA8YRdpuoQDoK7x6hFDASUGpuxZYT1N4rd393m04DgUGIgpGKzS7AJydnk1UX/tjoE14ngtRMerKXzMAbkj7lDXJIK+V8akgMY3Si2GJ/8nj/3xRvfwHFBBG9xDTb99Vg7BbL1vfyR1zzqFJB35fYEODEPns8A5c6ixwHboOIo5ofdY3Z3iooo3DCwQ/xWEDqXlxLacvqlozQFyDDuLORoJqJjo9Tnft0mbdGJEx+V3RXvbODPt7EP9JYgLF6DOHJfjZsN16ok929gf6P5cjKEXSRF+K5ACQ0mz5+fR+B6XxccIi5TrJqxiwcchYWtMV5c1wSPkADyZntSjwFpxwIlfhc4syCrIDuq6ev9uTdTNLkU77PS4yVNomDqRp2oi/7NWIwPDRrXw9OOgw8N8klTsEqQLAKaDs4P6Qt6ZbuJAW8TTMKI+8BFn9+pcGCXi9qJ3+67gr0j6JEHJ9dYiB5kYjTyinfZ7o/ZuF2Q8dfHMEerOkqet6Ycj6W+uzjtNUNvq5cVlYgQZe4ZciLijUajtQlzCB71nxiat/MeGvDf/Hime8kzJpyRRTen8tYlHfmoqHQavWqVMaoakG8rCoY5HNXq14hlvsyvv29Tw3zWk03YNqp2l8tfhyO8OGP/SylNzHC1q2CS7bzA+PTBZxPf4eV3XwrKeOrH7Ury7/Ernzi5AZwAolXwDTrNcinEsm0jbAr9k5j4+OXrgfy0DR7Ptvi/ZqUnn5OR7RWTBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015uuCdr3mYM6trz5sKLKT74",
      "input": {
        "note": "Another empty close (0.009) — the lemon is still just beyond the fingertips. Reopening and pushing 3 cm further forward at lemon mid-height.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.585,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015uuCdr3mYM6trz5sKLKT74",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8169, 0.6067, -0.5758, -0.0189, -0.0383, 0.9992, 0.0437, 2.3039, 1.7008, -0.3695, -0.0719, -0.1356, 0.9946]\nstate[eef_state]: left_x=0.2659 left_y=-0.0014 left_z=0.1376 left_yaw=0.0018 left_pitch=-0.2105 left_roll=0.0029 left_gripper=0.9992 right_x=0.5699 right_y=0.0412 right_z=0.0153 right_yaw=0.183 right_pitch=-0.3775 right_roll=-0.0167 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -1.3333, 6.8855, 1.663, -0.0855, -0.0415, -0.0122, -0.3214, -11.9316, 9.347, 1.6044, -0.0464, 0.0708, -0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:629b20695965475ed650928681a9fbccaf3ce94838deb2b40cebefccf38019d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7af2c4f4e79e08ccf55306decd98e91e35b9206eb298e532c3dc2d0aaceb439a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dda76610a141d03a9b04a99ebbd1d188ab95f37a9f38a9622cee5bd03c5cea84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 15.07 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]: [-0.0315, 0.8154, 0.6067, -0.5484, -0.0189, -0.0383, 0.9992, 0.0433, 2.2127, 1.5215, -0.2073, -0.0689, -0.1181, 0.9947]\nstate[eef_state]: left_x=0.2706 left_y=-0.0016 left_z=0.1429 left_yaw=0.0016 left_pitch=-0.1815 left_roll=0.0019 left_gripper=0.9992 right_x=0.5573 right_y=0.0399 right_z=0.0209 right_yaw=0.1661 right_pitch=-0.3043 right_roll=-0.0185 right_gripper=0.9947\nstate[joint_eff]: [-0.1162, -1.347, 6.8718, 1.6581, -0.0708, -0.0024, -0.0122, -0.2803, -11.1521, 9.3197, 1.8046, -0.1783, 0.0708, -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]: [-0.0315, 0.8154, 0.6067, -0.5621, -0.0189, -0.0383, 0.9992, 0.0437, 2.2192, 1.5257, -0.2306, -0.0715, -0.1242, 0.0087]\nstate[eef_state]: left_x=0.2683 left_y=-0.0015 left_z=0.1404 left_yaw=0.0017 left_pitch=-0.1953 left_roll=0.0024 left_gripper=0.9992 right_x=0.5534 right_y=0.0404 right_z=0.0155 right_yaw=0.1735 right_pitch=-0.3295 right_roll=-0.0168 right_gripper=0.0087\nstate[joint_eff]: [-0.1299, -1.2239, 6.8991, 1.6874, -0.0269, -0.0122, -0.0122, -0.0752, -13.053, 5.8735, 1.5604, -0.0171, 0.0171, 0.6862]\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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8169, 0.6067, -0.5758, -0.0189, -0.0383, 0.9992, 0.0437, 2.3039, 1.7008, -0.3695, -0.0719, -0.1356, 0.9946]\nstate[eef_state]: left_x=0.2659 left_y=-0.0014 left_z=0.1376 left_yaw=0.0018 left_pitch=-0.2105 left_roll=0.0029 left_gripper=0.9992 right_x=0.5699 right_y=0.0412 right_z=0.0153 right_yaw=0.183 right_pitch=-0.3775 right_roll=-0.0167 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -1.3333, 6.8855, 1.663, -0.0855, -0.0415, -0.0122, -0.3214, -11.9316, 9.347, 1.6044, -0.0464, 0.0708, -0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:629b20695965475ed650928681a9fbccaf3ce94838deb2b40cebefccf38019d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7af2c4f4e79e08ccf55306decd98e91e35b9206eb298e532c3dc2d0aaceb439a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dda76610a141d03a9b04a99ebbd1d188ab95f37a9f38a9622cee5bd03c5cea84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugQKjgEIEhgCKkDSm3LKlYhsygKxON2fpANYLQXPfY8TenbUGCl7Obk7vM2QK0yrCJexADG+W+kSKG+pQ/M7TuYzrfYmbHqXubzHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY20zNUGEgxNdWhSOIVM3Ihs28waDBFIKZLsPGbImZ5ruSIwC5DvUQX5qqW3tP4VHTWeAwNRumalH3ZS7Klm4dN5LuTPw6v97//DvUGyByz8jdpBKtgCRxkSQ53P0mvIiIjo7ZV8b14OeZRazdGI/B20HyhKGXIHCUKnG76HrJ6n5JEwOU+ey/jd+Oyx+ZyJxdhJq02uZWyA7E548eMcRJpR8iF2rWv/noLsrzlTjulI53s9SkfXL9+1nenMBEPpGBJsvTomAc/oGf9++GVkEqGvEiTXptfqyw3yD7g0XcWfnfGLsIJ5Y54VhgAN0O3eBtLOtfK/rSAT9U1HbP5q+ct1IUv6H3Sd21gxWV/Jy3be8T9zK137JFWY4lIh/WKe4XL/8W+fZI1xAbzUUsI4Dib9vPQMBU2nRllubiKmyL9NO4+n3PqzIn+imonUHHKQMyxQicfTRxYcYTSQPHM3TR3gvadGRVI9PyyLl9NhV6rzFcHGVifVEnFtNheaBsgPN/NV04ZA8uF3oPYKCc/9q7vN6lspcmJWUBGWGKtPUZ6DgQ5sldtk3SNunyIg2gQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WH3ptanGCFab59iecDAAFi",
      "input": {
        "note": "The lemon now sits right down at the jaws in the wrist view; closing to grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WH3ptanGCFab59iecDAAFi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8173, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 0.0437, 2.3089, 1.7016, -0.3874, -0.0719, -0.1394, 0.0085]\nstate[eef_state]: left_x=0.2643 left_y=-0.0014 left_z=0.1359 left_yaw=0.0018 left_pitch=-0.22 left_roll=0.0032 left_gripper=0.9992 right_x=0.566 right_y=0.041 right_z=0.0104 right_yaw=0.1866 right_pitch=-0.3994 right_roll=-0.0157 right_gripper=0.0085\nstate[joint_eff]: [-0.0342, -1.2376, 6.9812, 1.5751, -0.0806, -0.0513, -0.0122, -0.3624, -13.641, 6.2838, 1.4383, -0.0415, 0.0317, 0.6618]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5f11b69e7d647bd375cafc93a737bce01c05f2befe366ec10d9f67015bf43e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3208ee2e5a428db30ba18c2309a64b2e27ce76ee620781123918be12f0f751fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:685892a554fbbf11b1f77d4bb530c15669eded161e425fd3e72533e3a05feb2f",
        "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 · 11.39 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]: [-0.0315, 0.8154, 0.6067, -0.5621, -0.0189, -0.0383, 0.9992, 0.0437, 2.2192, 1.5257, -0.2306, -0.0715, -0.1242, 0.0087]\nstate[eef_state]: left_x=0.2683 left_y=-0.0015 left_z=0.1404 left_yaw=0.0017 left_pitch=-0.1953 left_roll=0.0024 left_gripper=0.9992 right_x=0.5534 right_y=0.0404 right_z=0.0155 right_yaw=0.1735 right_pitch=-0.3295 right_roll=-0.0168 right_gripper=0.0087\nstate[joint_eff]: [-0.1299, -1.2239, 6.8991, 1.6874, -0.0269, -0.0122, -0.0122, -0.0752, -13.053, 5.8735, 1.5604, -0.0171, 0.0171, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0315, 0.8169, 0.6067, -0.5758, -0.0189, -0.0383, 0.9992, 0.0437, 2.3039, 1.7008, -0.3695, -0.0719, -0.1356, 0.9946]\nstate[eef_state]: left_x=0.2659 left_y=-0.0014 left_z=0.1376 left_yaw=0.0018 left_pitch=-0.2105 left_roll=0.0029 left_gripper=0.9992 right_x=0.5699 right_y=0.0412 right_z=0.0153 right_yaw=0.183 right_pitch=-0.3775 right_roll=-0.0167 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -1.3333, 6.8855, 1.663, -0.0855, -0.0415, -0.0122, -0.3214, -11.9316, 9.347, 1.6044, -0.0464, 0.0708, -0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8173, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 0.0437, 2.3089, 1.7016, -0.3874, -0.0719, -0.1394, 0.0085]\nstate[eef_state]: left_x=0.2643 left_y=-0.0014 left_z=0.1359 left_yaw=0.0018 left_pitch=-0.22 left_roll=0.0032 left_gripper=0.9992 right_x=0.566 right_y=0.041 right_z=0.0104 right_yaw=0.1866 right_pitch=-0.3994 right_roll=-0.0157 right_gripper=0.0085\nstate[joint_eff]: [-0.0342, -1.2376, 6.9812, 1.5751, -0.0806, -0.0513, -0.0122, -0.3624, -13.641, 6.2838, 1.4383, -0.0415, 0.0317, 0.6618]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5f11b69e7d647bd375cafc93a737bce01c05f2befe366ec10d9f67015bf43e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3208ee2e5a428db30ba18c2309a64b2e27ce76ee620781123918be12f0f751fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:685892a554fbbf11b1f77d4bb530c15669eded161e425fd3e72533e3a05feb2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014RM2nA1gFZBp1DD6tjP6tW",
      "input": {
        "note": "Empty again — I've been nudging the lemon forward with each close. Lifting straight up to look down on it from above so I can descend vertically onto it instead of pushing it.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014RM2nA1gFZBp1DD6tjP6tW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0311, 0.8188, 0.6067, -0.5865, -0.0189, -0.0387, 0.9992, 0.0444, 2.2726, 2.0045, -0.7891, -0.0723, -0.1528, 0.9945]\nstate[eef_state]: left_x=0.2641 left_y=-0.0013 left_z=0.1353 left_yaw=0.0024 left_pitch=-0.2231 left_roll=0.0031 left_gripper=0.9992 right_x=0.5623 right_y=0.0414 right_z=0.0922 right_yaw=0.2002 right_pitch=-0.4613 right_roll=-0.0127 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.2376, 7.1863, 1.5409, -0.0855, -0.0708, -0.0122, -0.4308, -16.5128, 8.8821, 1.4628, -0.0757, 0.1197, -0.0415]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6010381b3e835e89012efea3df0a041122ea3d755b41c02de9e5d61f96edcf09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5429a2caf574e272f9e3679f034a03d85750ce12dbed971aad8580ba43c6ecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7070a2d25cc55ee76771b3ae786903fb288f6133460fb904472574404af74f61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 5.478 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]: [-0.0315, 0.8169, 0.6067, -0.5758, -0.0189, -0.0383, 0.9992, 0.0437, 2.3039, 1.7008, -0.3695, -0.0719, -0.1356, 0.9946]\nstate[eef_state]: left_x=0.2659 left_y=-0.0014 left_z=0.1376 left_yaw=0.0018 left_pitch=-0.2105 left_roll=0.0029 left_gripper=0.9992 right_x=0.5699 right_y=0.0412 right_z=0.0153 right_yaw=0.183 right_pitch=-0.3775 right_roll=-0.0167 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -1.3333, 6.8855, 1.663, -0.0855, -0.0415, -0.0122, -0.3214, -11.9316, 9.347, 1.6044, -0.0464, 0.0708, -0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0315, 0.8173, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 0.0437, 2.3089, 1.7016, -0.3874, -0.0719, -0.1394, 0.0085]\nstate[eef_state]: left_x=0.2643 left_y=-0.0014 left_z=0.1359 left_yaw=0.0018 left_pitch=-0.22 left_roll=0.0032 left_gripper=0.9992 right_x=0.566 right_y=0.041 right_z=0.0104 right_yaw=0.1866 right_pitch=-0.3994 right_roll=-0.0157 right_gripper=0.0085\nstate[joint_eff]: [-0.0342, -1.2376, 6.9812, 1.5751, -0.0806, -0.0513, -0.0122, -0.3624, -13.641, 6.2838, 1.4383, -0.0415, 0.0317, 0.6618]\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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0311, 0.8188, 0.6067, -0.5865, -0.0189, -0.0387, 0.9992, 0.0444, 2.2726, 2.0045, -0.7891, -0.0723, -0.1528, 0.9945]\nstate[eef_state]: left_x=0.2641 left_y=-0.0013 left_z=0.1353 left_yaw=0.0024 left_pitch=-0.2231 left_roll=0.0031 left_gripper=0.9992 right_x=0.5623 right_y=0.0414 right_z=0.0922 right_yaw=0.2002 right_pitch=-0.4613 right_roll=-0.0127 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.2376, 7.1863, 1.5409, -0.0855, -0.0708, -0.0122, -0.4308, -16.5128, 8.8821, 1.4628, -0.0757, 0.1197, -0.0415]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6010381b3e835e89012efea3df0a041122ea3d755b41c02de9e5d61f96edcf09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5429a2caf574e272f9e3679f034a03d85750ce12dbed971aad8580ba43c6ecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7070a2d25cc55ee76771b3ae786903fb288f6133460fb904472574404af74f61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7gkKjgEIEhgCKkCGhHuHIe9l0ioz27dSakjucwy8RbNc6CqVA3HKX7xEOtLhsMmfqElv8rBXtvoansUuHNVpxFGHJ1s6uNCHl6SEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAai0zNUGEgw/af1OaLnNDyXU5YQaDEUyxYE8xjOQq4RhaSIwit/BKyPeVZs75spaYk0sGu7Sh0pNtaNp/0JMptAv/WaKvpjd0Y/NajQmmdngd+csKowIG/H5RqDZtcRM5csRQp86NBjKWZXdbOG6LA1qP/V8WvaPoadtOeWI9YcIgLaKOIsY+Jb4ZtoPqBd2YzTyyF5XLicL4nk986iZiWWrez9zEdKJOFUOt772f3a5grDfpr82o2i7iLvsbsU0PgCAPd8BpTmxfj+dxFH6MqximI3317mWNkYxHTRHaIl0SeAg+B6j8eD1G35JJBRiPaLTV7ZJdYlyhU25gEBEAmwin6F0PQhwMENU1V7F/3F0ySaxjbKLEdCyh8xKtsFtyU/ntIDRJJD+WP/uYAVTq4E3KbFTGW75uOaqvNyRH49EBXmRv1R30flnLZmCtuB4zrNoZkPlPv0f1uoZpr81xjZXI9y+vV7dsDi4PBw8cKNyCNtWdcAOmNyVgsPRzg2qfwbOm+Thxppdbh4h1WpZ/mumjImjfyWe/fNyK0BF1tT05Ll9Sr2Mj4D7a52v0y5T1vRtdrtqrkIuv8Cil2vCf0M4uS3JKTHA3mrUxhdyPgPtaC8ij/2fR4cMUNGTCzomrQ633HP976giVW107ch8IpppV+EdfbhAr7oJLwAJNeXegyvD2tTVXHcvDrmwxBPXVJTWckXQAkDQJ/r47q6uhrfVlTx1vwWsyTdR/Az/ykic7hpZv/zCzxdqazr0u949TZE2VXgcPKpXMtXCJ21PFqJF4LMP7hRFHBm9axJU0k69rAoR3gKWyCx0A2kpsmkp2aoFA7V0mH+uCgc16b9db/G1936cfc5DouSk6RZzvrOVCruyUacR8zUfjAPJKSUEWQGvMrb3TWTT1FrdnSMGdzutrIoObNlgC6OoCfkD64erhzvgaiTws60TTKf6XcZwsJkd5xI4P6GsSd40ajNvxjRIRf3HYbJJN613HyMJNTOUAgXRIElNMl3gPAOaigarwRLfzwwQj4XxFq8VGf2z/cqLP+UZubc9j9PiO3lBlBuBX6Q1nW8IIpDPzsbxWj9MiHgiW1u+/0i+7Dt3onwfpUneA4F99A+64RA1Qs36vc+QqIul+mAWLDT8FE9Yi1Z2bqJYOBTh814JE7Ur+fR0RS3S7+ppBKpzlOkTrs7baxTRTpsjlQoKQ8lcwNkuPySUVyepgA0sauNBxbM/kSkM+vTQMTPJcDH/Ha7U345kaN5EHYPdqC/TCGspaJDH1zco2AYOsfh1Gu5Nl6RhMXjnIBpQp+I7QovcHgZdMrOP+xHY3veTfttB7NE9fU5EILV44JgBuV/cKxYiOC7mFGTB1IPPMS7vGZcX9/JJ9pTCPFSjBxtdg4dRR/hfVb5+xoLSetHr8ulklXkmCaNBghwcfOVOY6jaL6N79MUKapBQ1+BVbz5r0DZ4LZfcY5U/Yf8ea6V3qjMu8U1+vaz4iCGVqYwXXRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015M4g2mKFeDZCutEpQJZz4v",
      "input": {
        "note": "The tool had drifted to pitch -0.46 (fingers pointing forward), which is why closes pushed the lemon instead of enclosing it; commanding pitch back to 0 so the jaws point straight down above the lemon.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.56,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_015M4g2mKFeDZCutEpQJZz4v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8207, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.0273, 2.0048, 1.3773, -0.0902, -0.1326, -0.1318, 0.9953]\nstate[eef_state]: left_x=0.263 left_y=-0.0014 left_z=0.1338 left_yaw=0.0021 left_pitch=-0.2311 left_roll=0.0033 left_gripper=0.9992 right_x=0.5484 right_y=0.0419 right_z=0.0951 right_yaw=0.2062 right_pitch=-0.1188 right_roll=-0.0094 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.1692, 6.8581, 1.5458, -0.0562, -0.0171, -0.0122, -0.5128, -13.7504, 7.2137, 2.044, -0.1538, 0.022, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9bb91481327e955b5c646be9fb3fa576fee80e18a57ef232297c1682df26ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd0630cecd656764b701842796f4c86c6472190beea90580960d06916acf2d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7896cef16fdfcaaa01df5e75e975defa831d5aa9b93ef0553de9e4399e3b0a54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 7.743 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]: [-0.0315, 0.8173, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 0.0437, 2.3089, 1.7016, -0.3874, -0.0719, -0.1394, 0.0085]\nstate[eef_state]: left_x=0.2643 left_y=-0.0014 left_z=0.1359 left_yaw=0.0018 left_pitch=-0.22 left_roll=0.0032 left_gripper=0.9992 right_x=0.566 right_y=0.041 right_z=0.0104 right_yaw=0.1866 right_pitch=-0.3994 right_roll=-0.0157 right_gripper=0.0085\nstate[joint_eff]: [-0.0342, -1.2376, 6.9812, 1.5751, -0.0806, -0.0513, -0.0122, -0.3624, -13.641, 6.2838, 1.4383, -0.0415, 0.0317, 0.6618]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0311, 0.8188, 0.6067, -0.5865, -0.0189, -0.0387, 0.9992, 0.0444, 2.2726, 2.0045, -0.7891, -0.0723, -0.1528, 0.9945]\nstate[eef_state]: left_x=0.2641 left_y=-0.0013 left_z=0.1353 left_yaw=0.0024 left_pitch=-0.2231 left_roll=0.0031 left_gripper=0.9992 right_x=0.5623 right_y=0.0414 right_z=0.0922 right_yaw=0.2002 right_pitch=-0.4613 right_roll=-0.0127 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.2376, 7.1863, 1.5409, -0.0855, -0.0708, -0.0122, -0.4308, -16.5128, 8.8821, 1.4628, -0.0757, 0.1197, -0.0415]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8207, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.0273, 2.0048, 1.3773, -0.0902, -0.1326, -0.1318, 0.9953]\nstate[eef_state]: left_x=0.263 left_y=-0.0014 left_z=0.1338 left_yaw=0.0021 left_pitch=-0.2311 left_roll=0.0033 left_gripper=0.9992 right_x=0.5484 right_y=0.0419 right_z=0.0951 right_yaw=0.2062 right_pitch=-0.1188 right_roll=-0.0094 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.1692, 6.8581, 1.5458, -0.0562, -0.0171, -0.0122, -0.5128, -13.7504, 7.2137, 2.044, -0.1538, 0.022, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9bb91481327e955b5c646be9fb3fa576fee80e18a57ef232297c1682df26ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd0630cecd656764b701842796f4c86c6472190beea90580960d06916acf2d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7896cef16fdfcaaa01df5e75e975defa831d5aa9b93ef0553de9e4399e3b0a54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4gQKjgEIEhgCKkD4y8taqpTC1FXwN7se0Z1RSxSriHm80moDJm1aRIrTK0MvNZL3Ov/Jx3JMadPGWsMVxDc7moOgBn0O/7kavyqnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+0zNUGEgwjeUuy9GcmnjZ4mmAaDGspK7b3yaJ5HKHELCIwYEWRDVf+P/qvVrrm28MAseWEC1iADIUYHdK8JuHdKxhyStWRN+nmoy+FuH7xZ+INKoAD53oddiovr6aM71ESypPfx064cBF3EVC43I6OFjy1QSoKePagT667/QvLIM2/RpJsAMpZvfpjfzGKg7S+Jmgek4qg/fwtG+R+x6Jotn61OSCQwfARYP7iZNWBaq2U+Ju91MruyNKSp1Sz3cHbqaYze+HZJ7Na5SMRiC07KyTeGuMBXpgbgn0UDUs0NKmY0rkTrhidGYQiUVukdCArn0YblC1+eWgVWMEnffMfCAcwCbUfyJE3WqccUr3MJIw3M10SADqKSBDg8HJFsEJwRKsyCRubmq98hZDrPhytBWBZwiASqfZ9PApQnPm8iBFWUC7dsBd4fwRa4LWlCzreq770eCNEivFuLRAv1ewJHXxBO5VHY9+VL3RToG5+FPkECkn1r2nmcEdan4jFcKkbGFUhWLctiYUixyISl6kKYAeojy/3hb2mqZTDzt6ArgY7CMPq5/93LxuCclTptRdQ3nC7eiHa3LRf45OZM8Ngqisd76OSxzX3uDIptoFoyqvNwkDYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TdNQpdWFCfgzxAUDN3Y5xU",
      "input": {
        "note": "With the tool now near-vertical the lemon sits on the jaw column a few cm ahead; moving forward 3 cm and descending to lemon mid-height for a top grasp.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.575,
          "right_y": 0.038,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TdNQpdWFCfgzxAUDN3Y5xU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8207, 0.6067, -0.5938, -0.0189, -0.0387, 0.9992, 0.0151, 2.1864, 1.2888, 0.1829, -0.1474, -0.131, 0.9953]\nstate[eef_state]: left_x=0.2628 left_y=-0.0013 left_z=0.1336 left_yaw=0.0021 left_pitch=-0.2322 left_roll=0.0034 left_gripper=0.9992 right_x=0.5566 right_y=0.0379 right_z=0.0131 right_yaw=0.2058 right_pitch=-0.114 right_roll=0.0003 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -1.2103, 6.9265, 1.5018, -0.0611, -0.022, -0.0122, -0.4581, -12.041, 6.1333, 2.2491, -0.1734, 0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6478ace086895e34226daa4d5a94ad321e5e971c97a266b9347f4ef4816ce50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d6093289a4c660e624fc64a04ed0500fc6fd691541fe093c629fd4b1ee33406",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62dd9ece1b8ad938e59aa24a3270a5bbffcc59b85bcfda14e6521fe15da35e0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 3.361 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]: [-0.0311, 0.8188, 0.6067, -0.5865, -0.0189, -0.0387, 0.9992, 0.0444, 2.2726, 2.0045, -0.7891, -0.0723, -0.1528, 0.9945]\nstate[eef_state]: left_x=0.2641 left_y=-0.0013 left_z=0.1353 left_yaw=0.0024 left_pitch=-0.2231 left_roll=0.0031 left_gripper=0.9992 right_x=0.5623 right_y=0.0414 right_z=0.0922 right_yaw=0.2002 right_pitch=-0.4613 right_roll=-0.0127 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.2376, 7.1863, 1.5409, -0.0855, -0.0708, -0.0122, -0.4308, -16.5128, 8.8821, 1.4628, -0.0757, 0.1197, -0.0415]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0315, 0.8207, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.0273, 2.0048, 1.3773, -0.0902, -0.1326, -0.1318, 0.9953]\nstate[eef_state]: left_x=0.263 left_y=-0.0014 left_z=0.1338 left_yaw=0.0021 left_pitch=-0.2311 left_roll=0.0033 left_gripper=0.9992 right_x=0.5484 right_y=0.0419 right_z=0.0951 right_yaw=0.2062 right_pitch=-0.1188 right_roll=-0.0094 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.1692, 6.8581, 1.5458, -0.0562, -0.0171, -0.0122, -0.5128, -13.7504, 7.2137, 2.044, -0.1538, 0.022, 0.0708]\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]: [-0.0315, 0.8207, 0.6067, -0.5938, -0.0189, -0.0387, 0.9992, 0.0151, 2.1864, 1.2888, 0.1829, -0.1474, -0.131, 0.9953]\nstate[eef_state]: left_x=0.2628 left_y=-0.0013 left_z=0.1336 left_yaw=0.0021 left_pitch=-0.2322 left_roll=0.0034 left_gripper=0.9992 right_x=0.5566 right_y=0.0379 right_z=0.0131 right_yaw=0.2058 right_pitch=-0.114 right_roll=0.0003 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -1.2103, 6.9265, 1.5018, -0.0611, -0.022, -0.0122, -0.4581, -12.041, 6.1333, 2.2491, -0.1734, 0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6478ace086895e34226daa4d5a94ad321e5e971c97a266b9347f4ef4816ce50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d6093289a4c660e624fc64a04ed0500fc6fd691541fe093c629fd4b1ee33406",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62dd9ece1b8ad938e59aa24a3270a5bbffcc59b85bcfda14e6521fe15da35e0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAYKjgEIEhgCKkBTJf35ibuii1dNEIPbiLOv1oijIaTFVrXfqy+ppRtTYgxwwHqri2/EKArPUym6ry8UJ3IUiJJYGliPNIepGb3LMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbe0zNUGEgz7LAiP9mahobR3CVQaDCQROMB4p5ilvWfvaCIwVwFwnO0U8xo1ScEMTPMv/Fe6/eZvy/oD/VANOn0/gTqZZUegOOvmlL8YQN4DqHM8KsYEgdF3Qxy/X+aWSyVomoCwZqSHtl6xOSDHg3t0c1KgppqpPDYbn/6WcGikZ/268m8cMSk2GuK6yX3ECfbdwMIXNPocihmgwihrqMpR5ZMoZ/OJwTNYcG4nfJ75zC0CyfzAHnz4ZHn1Kc4FA0nnV00GCm3emXnISzUm1qL2/Vy+yVr3l6K5PEn2+2YBcBpie90hnWFRarZSLoof462kCFOwtBiN6sLLRz6TT/Qxza/rDSHYiJFzIJvJQJnjOXIp5ppNvxj71cuT/uW6AGSJX0xcxcq75xfanjgKjIvgppFUBoO/tB1IVY/GUOncf5kxrIXefDylhH2/hSq5bFrtzpGTF4bx1V6j8OqEQq1tN+7SKluqaPAre3NZ3WWMKPYDcpkvePOKXb6aQ18k2ESvGnpzTqA8ne8BDMKtK+R1uHBKXhFoonE2SBeCZkcdzV+vNdaCog4lHGOSgXZDUNuz6Cd6Ui4WZ0rxGloFOE3L9nTxNk8NKsI8nJ6TiXssCP1+a9hQzYaEGgIFtxyuaHqyCo0q+5KsUtladdvfAuQUJ/f9Vaql0P4cHy4c/40st4Z3XJJz7LNmp0MEMftuCv5YwrmjRmPyQUpjXWkG5QskUhPJZd02PsIxzwAB/bi411dC7+fgpcmjhNugBnmwALsJTpveXlB0l+PqLkPvAdL1DNOPE5bFrHidLrlEl9+1UJZyYm0wUjpq68SXcWXBhU+QJO0w9gk/2QC2WOKT01dcuaNaoqTbe1HlY8W2TUBBekf5mKMwnO6fQVkEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TaBqtDLPZhXDKyaXqBjvSB",
      "input": {
        "note": "Lemon is centred but its base is still above the jaw wedges, i.e. ~2-3 cm beyond the fingertips; commanding further forward at a slightly higher z where the arm can extend.",
        "targets": {
          "right_x": 0.6,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TaBqtDLPZhXDKyaXqBjvSB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8219, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 0.0135, 2.2616, 1.507, 0.0311, -0.1543, -0.139, 0.9953]\nstate[eef_state]: left_x=0.2604 left_y=-0.0013 left_z=0.131 left_yaw=0.0023 left_pitch=-0.2471 left_roll=0.0039 left_gripper=0.9992 right_x=0.5908 right_y=0.0387 right_z=0.0296 right_yaw=0.2147 right_pitch=-0.1217 right_roll=0.0003 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.1556, 6.8171, 1.6386, -0.0317, -0.0366, -0.0122, -0.1709, -11.7128, 8.1573, 1.8877, 0.0122, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46fb18ffd06828636a72bed3f8ddd99a15717b11289fb9c76aecc2b6304e46b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fca78471a1486c01c73f8118cd6313e446fb1b64278ccd742715bcb59a5ba56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:564f20aa8135c66544a0634ba2f22e65c66576f79a654008626bd4d7b64882ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 26.96 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]: [-0.0315, 0.8207, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 0.0273, 2.0048, 1.3773, -0.0902, -0.1326, -0.1318, 0.9953]\nstate[eef_state]: left_x=0.263 left_y=-0.0014 left_z=0.1338 left_yaw=0.0021 left_pitch=-0.2311 left_roll=0.0033 left_gripper=0.9992 right_x=0.5484 right_y=0.0419 right_z=0.0951 right_yaw=0.2062 right_pitch=-0.1188 right_roll=-0.0094 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.1692, 6.8581, 1.5458, -0.0562, -0.0171, -0.0122, -0.5128, -13.7504, 7.2137, 2.044, -0.1538, 0.022, 0.0708]\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]: [-0.0315, 0.8207, 0.6067, -0.5938, -0.0189, -0.0387, 0.9992, 0.0151, 2.1864, 1.2888, 0.1829, -0.1474, -0.131, 0.9953]\nstate[eef_state]: left_x=0.2628 left_y=-0.0013 left_z=0.1336 left_yaw=0.0021 left_pitch=-0.2322 left_roll=0.0034 left_gripper=0.9992 right_x=0.5566 right_y=0.0379 right_z=0.0131 right_yaw=0.2058 right_pitch=-0.114 right_roll=0.0003 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -1.2103, 6.9265, 1.5018, -0.0611, -0.022, -0.0122, -0.4581, -12.041, 6.1333, 2.2491, -0.1734, 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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.8219, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 0.0135, 2.2616, 1.507, 0.0311, -0.1543, -0.139, 0.9953]\nstate[eef_state]: left_x=0.2604 left_y=-0.0013 left_z=0.131 left_yaw=0.0023 left_pitch=-0.2471 left_roll=0.0039 left_gripper=0.9992 right_x=0.5908 right_y=0.0387 right_z=0.0296 right_yaw=0.2147 right_pitch=-0.1217 right_roll=0.0003 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.1556, 6.8171, 1.6386, -0.0317, -0.0366, -0.0122, -0.1709, -11.7128, 8.1573, 1.8877, 0.0122, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46fb18ffd06828636a72bed3f8ddd99a15717b11289fb9c76aecc2b6304e46b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fca78471a1486c01c73f8118cd6313e446fb1b64278ccd742715bcb59a5ba56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:564f20aa8135c66544a0634ba2f22e65c66576f79a654008626bd4d7b64882ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgQMKjgEIEhgCKkDq29M09nNQm4hX1gzh2YUuo0JMRG5zfW2rcpcPenV+J2JD4N7iA+C+PcZLVQG6DEqb8A5IBP9EFzqWhF0hgcc3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAby0zNUGEgx3meaSC4Ao/u1fRfAaDDUP7rDYyEdKMACt4SIwzTo1Wax4WI3hVbhuYrgt3a1YQRBYgFSshYnDRz9ppWvWPUwgMXHWF49D8aI6VwUEKp8BBHq6v+oVv0EsBE0yUtMIbdatPB4y02YAcEMB487xQxaKe180ou1iT1Y6CWu881LZgTq05G1BgnOhmvtMq5JEJnPNj3zX599v/GGkR3b6h8h1HM21s9K7qqJLSlBuVPFu0x361R2J9McOEMRljrM3ER2qp+jwyCA3wu6AISFvt3I4k2AxhdJz2v5H/m94oIkA/cnfLPltRl4aRoybg8g7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0162BZYdrEGJstSLuCN7n2CW",
      "input": {
        "note": "Lemon fills the lower wrist view level with the jaws; closing to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0162BZYdrEGJstSLuCN7n2CW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.823, 0.6067, -0.6117, -0.0189, -0.0387, 0.9992, 0.0135, 2.2669, 1.5066, -0.0135, -0.152, -0.1421, 0.0089]\nstate[eef_state]: left_x=0.2597 left_y=-0.0012 left_z=0.13 left_yaw=0.0023 left_pitch=-0.2524 left_roll=0.0041 left_gripper=0.9992 right_x=0.5828 right_y=0.0382 right_z=0.0184 right_yaw=0.216 right_pitch=-0.1713 right_roll=0.0067 right_gripper=0.0089\nstate[joint_eff]: [-0.0615, -1.306, 7.1453, 1.5067, -0.0659, -0.0659, -0.0122, -0.0752, -13.3265, 6.2838, 2.0147, -0.0904, 0.0317, 0.5983]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7101dec24ea0e3c12f7c6a2255101fafc148dcf69fc8c919348942666fe10bd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81a1ef27cbb2762f9998d74bd8e6f1ba3f396986a3b370b6c9647aec6fd86bde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98bc590bf397c358c6c450a330371f87bfe754575d509ed15f1ce4e170f54966",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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