adhoc

completed
2026-09-22T22:35:24.549026+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
402.8 s
total steps
403
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Place all the objects into the safe, then close the safe.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: an open red-lined case (the "safe") in the middle, with a yellow lemon to its right, a teddy bear in front, and a small white object to the left. I'm moving the right arm above the lemon to inspect it in the wrist camera before grasping.
move_to
right_x0.3700right_y0.1500right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7929, 0.6041, -0.3916, -0.0193, -0.0341, 0.9992, -0.0212, 0.7944, 0.6075, -0.3958, -0.02, -0.033, 0.9996] state[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1779 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9992 right_x=0.2931 right_y=0.0009 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4855, -1.3744, 10.2769, 1.9853, -0.0757, 0.1636, -0.0952, -0.2803, -1.4838, 9.7299, 1.9121, -0.0904, 0.2076, -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": 0.37, "right_y": 0.15, "right_z": 0.15, "right_gripper": 1}, "note": "Scene: an open red-lined case (the \"safe\") in the middle, with a yellow lemon to its right, a teddy bear in front, and a small white object to the left. I'm moving the right arm above the lemon to inspect it in the wrist camera before grasping."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe right wrist camera shows the lemon just right of the jaw column and above it, meaning it is a few cm further out; advancing radially and shifting slightly right while descending.
move_to
right_x0.4000right_y0.1300right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7982, 0.6067, -0.4061, -0.0193, -0.0383, 0.9991, 0.5709, 1.3808, 0.7898, -0.152, 0.4332, 0.2871, 0.9996] state[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1747 left_yaw=0.0019 left_pitch=-0.0179 left_roll=-0.0031 left_gripper=0.9991 right_x=0.3552 right_y=0.1442 right_z=0.1289 right_yaw=0.0411 right_pitch=-0.0792 right_roll=-0.0486 right_gripper=0.9996 state[joint_eff]: [-0.0342, -1.6889, 6.8034, 1.9072, -0.0562, 0.0073, -0.022, 0.212, -5.8188, 8.8821, 1.8046, 0.3394, 0.149, -0.0513] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.13, "right_z": 0.1}, "note": "The right wrist camera shows the lemon just right of the jaw column and above it, meaning it is a few cm further out; advancing radially and shifting slightly right while descending."})
tool
executing move_to over 4 steps (0.4s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteLemon is now centered on the jaw column in the wrist view but still a bit further out; advancing ~3 cm and descending to lemon mid-height to grasp.
move_to
right_x0.4200right_y0.1250right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8021, 0.6067, -0.4091, -0.0193, -0.0383, 0.9991, 0.4534, 1.5425, 0.7937, -0.0483, 0.366, 0.2226, 0.9996] state[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.173 left_yaw=0.0023 left_pitch=-0.0248 left_roll=-0.003 left_gripper=0.9991 right_x=0.3831 right_y=0.1203 right_z=0.0851 right_yaw=0.0093 right_pitch=-0.1511 right_roll=-0.0823 right_gripper=0.9996 state[joint_eff]: [-0.0342, -1.5795, 7.0085, 1.7314, -0.0806, -0.0659, -0.0122, -0.2256, -6.6256, 7.8017, 1.9072, 0.2466, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.125, "right_z": 0.03}, "note": "Lemon is now centered on the jaw column in the wrist view but still a bit further out; advancing ~3 cm and descending to lemon mid-height to grasp."})
tool
executing move_to over 4 steps (0.4s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe arm only moved a couple of millimetres last call, so I'm re-sending the descent onto the lemon with a slight forward pitch to help the wrist reach down and out.
move_to
right_x0.4200right_y0.1250right_z0.0300right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4133, -0.0193, -0.0387, 0.9991, 0.4454, 1.5635, 0.7937, -0.0051, 0.3389, 0.1905, 0.9996] state[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1721 left_yaw=0.0025 left_pitch=-0.0294 left_roll=-0.0032 left_gripper=0.9991 right_x=0.3892 right_y=0.1247 right_z=0.0831 right_yaw=0.0421 right_pitch=-0.1401 right_roll=-0.0796 right_gripper=0.9996 state[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7607, -0.0513, -0.0757, -0.0122, -0.2256, -7.3094, 7.8974, 1.8926, 0.0904, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.125, "right_z": 0.03, "right_pitch": 0.3}, "note": "The arm only moved a couple of millimetres last call, so I'm re-sending the descent onto the lemon with a slight forward pitch to help the wrist reach down and out."})
tool
executing move_to over 15 steps (1.5s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteLemon is between the jaws but slightly right of the jaw column; nudging 1.5 cm right and down to mid-lemon height before closing.
move_to
right_y0.1150right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4286, -0.0189, -0.0387, 0.9991, 0.4522, 2.0205, 0.5362, 1.1809, 0.4107, 0.0742, 0.9994] state[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1686 left_yaw=0.0022 left_pitch=-0.0461 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4226 right_y=0.1309 right_z=0.0417 right_yaw=0.0388 right_pitch=0.3049 right_roll=-0.0297 right_gripper=0.9994 state[joint_eff]: [0.0068, -1.4154, 7.0632, 1.8291, -0.0611, 0.0073, -0.0122, -0.335, -5.6137, 2.6325, 0.9646, 0.2466, -0.4615, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.115, "right_z": 0.03}, "note": "Lemon is between the jaws but slightly right of the jaw column; nudging 1.5 cm right and down to mid-lemon height before closing."})
tool
executing move_to over 2 steps (0.2s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteLemon sits between the two jaw wedges in 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]: [-0.0189, 0.804, 0.6067, -0.4316, -0.0189, -0.0387, 0.9991, 0.4263, 2.0464, 0.5232, 1.2594, 0.3805, 0.0555, 0.9994] state[eef_state]: left_x=0.2885 left_y=0.0015 left_z=0.168 left_yaw=0.0022 left_pitch=-0.0492 left_roll=-0.003 left_gripper=0.9991 right_x=0.4251 right_y=0.1249 right_z=0.044 right_yaw=0.0449 right_pitch=0.338 right_roll=-0.0244 right_gripper=0.9994 state[joint_eff]: [-0.0615, -0.9094, 6.9949, 1.7167, -0.0611, -0.0415, -0.0122, -0.6632, -6.0103, 2.7829, 1.7802, 0.1148, -0.0122, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Lemon sits between the two jaw wedges in the wrist view; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteGripper closed to a near-zero reading which usually means empty, but the wrist view still shows yellow at the jaws; lifting 7 cm to check in the overhead view whether the lemon came up.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4511, -0.0189, -0.0387, 0.9991, 0.4, 2.0537, 0.5159, 1.29, 0.3542, 0.0525, 0.0088] state[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1641 left_yaw=0.0022 left_pitch=-0.0686 left_roll=-0.0026 left_gripper=0.9991 right_x=0.4272 right_y=0.118 right_z=0.0453 right_yaw=0.0415 right_pitch=0.3505 right_roll=-0.0148 right_gripper=0.0088 state[joint_eff]: [0.0068, -1.265, 6.9812, 1.873, -0.0562, -0.0562, -0.0122, 0.0068, -6.5983, 2.6735, 1.6679, 0.0952, 0.022, 0.7253] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper closed to a near-zero reading which usually means empty, but the wrist view still shows yellow at the jaws; lifting 7 cm to check in the overhead view whether the lemon came up."})
tool
executing move_to over 5 steps (0.5s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe close was empty — the lemon is still on the table next to the case. Opening the gripper and backing off 4 cm to re-locate it in the wrist view.
move_to
right_gripper1.0000right_x0.3900right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0387, 0.9991, 0.3996, 1.7329, 0.5335, 0.9588, 0.3466, 0.0517, 0.0102] state[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0023 left_pitch=-0.0793 left_roll=-0.0024 left_gripper=0.9991 right_x=0.4246 right_y=0.1181 right_z=0.11 right_yaw=0.0474 right_pitch=0.3566 right_roll=-0.011 right_gripper=0.0102 state[joint_eff]: [0.0068, -1.388, 6.9812, 1.7314, -0.0611, -0.0366, -0.0122, -0.3214, -7.8291, 7.2547, 2.1368, 0.1148, -0.0269, 0.1294] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.39, "right_z": 0.14}, "note": "The close was empty \u2014 the lemon is still on the table next to the case. Opening the gripper and backing off 4 cm to re-locate it in the wrist view."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe lemon now sits centered between the jaw wedges, low in the wrist frame, so it is right under the fingertips; descending to lemon mid-height.
move_to
right_x0.4000right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4732, -0.0189, -0.0391, 0.9991, 0.4526, 1.5146, 0.4652, 0.7773, 0.3832, 0.0555, 0.9949] state[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1588 left_yaw=0.0025 left_pitch=-0.0946 left_roll=-0.0023 left_gripper=0.9991 right_x=0.3913 right_y=0.1209 right_z=0.1304 right_yaw=0.0699 right_pitch=0.3304 right_roll=-0.0284 right_gripper=0.9949 state[joint_eff]: [-0.1299, -1.0735, 7.0085, 1.7949, -0.0317, -0.0611, -0.0122, 0.2393, -7.0222, 5.2718, 1.9707, 0.1245, 0.0415, -0.2271] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_z": 0.03}, "note": "The lemon now sits centered between the jaw wedges, low in the wrist frame, so it is right under the fingertips; descending to lemon mid-height."})
tool
executing move_to over 7 steps (0.7s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteLemon is centered but a few cm beyond the fingertips; straightening the tool to vertical for a clean top-down grasp and advancing over the lemon.
move_to
right_pitch0.0000right_x0.4250right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8131, 0.6067, -0.4858, -0.0189, -0.0391, 0.9991, 0.4423, 2.0293, 0.4156, 1.3418, 0.3687, 0.0605, 0.9966] state[eef_state]: left_x=0.2808 left_y=0.0016 left_z=0.155 left_yaw=0.0025 left_pitch=-0.1125 left_roll=-0.002 left_gripper=0.9991 right_x=0.3988 right_y=0.1224 right_z=0.0386 right_yaw=0.0694 right_pitch=0.3294 right_roll=-0.0193 right_gripper=0.9966 state[joint_eff]: [-0.0615, -1.7162, 7.2, 1.7607, -0.0317, -0.0708, -0.0122, -0.4444, -5.559, 3.2342, 0.7253, 0.0659, -0.1343, 0.1636] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_pitch": 0.0, "right_x": 0.425, "right_z": 0.06}, "note": "Lemon is centered but a few cm beyond the fingertips; straightening the tool to vertical for a clean top-down grasp and advancing over the lemon."})
tool
executing move_to over 11 steps (1.1s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteWith the tool vertical the lemon is centered on the jaw column but still ~2 cm beyond the fingertips; advancing and dropping to mid-lemon height.
move_to
right_x0.4400right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5022, -0.0189, -0.0387, 0.9991, 0.3824, 1.7576, 0.6804, 0.4629, 0.2695, 0.1135, 0.9968] state[eef_state]: left_x=0.2782 left_y=0.0017 left_z=0.1516 left_yaw=0.0024 left_pitch=-0.13 left_roll=-0.0013 left_gripper=0.9991 right_x=0.4193 right_y=0.1218 right_z=0.0457 right_yaw=0.0824 right_pitch=-0.0071 right_roll=-0.0436 right_gripper=0.9968 state[joint_eff]: [-0.0615, -1.3744, 7.0496, 1.7949, -0.0708, -0.0317, -0.0122, -0.5128, -9.935, 7.2137, 1.956, 0.0122, 0.2027, 0.0073] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_z": 0.035}, "note": "With the tool vertical the lemon is centered on the jaw column but still ~2 cm beyond the fingertips; advancing and dropping to mid-lemon height."})
tool
executing move_to over 2 steps (0.2s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteLemon fills the space between the jaw wedges at the bottom of the wrist view; closing the gripper partially to pinch it without squeezing it out.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5064, -0.0189, -0.0383, 0.9991, 0.3691, 1.8091, 0.7212, 0.4187, 0.2562, 0.1081, 0.9968] state[eef_state]: left_x=0.2775 left_y=0.0017 left_z=0.1508 left_yaw=0.0022 left_pitch=-0.1342 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4237 right_y=0.1197 right_z=0.0301 right_yaw=0.0824 right_pitch=-0.0621 right_roll=-0.0562 right_gripper=0.9968 state[joint_eff]: [-0.0479, -1.2239, 7.2821, 1.6581, -0.0659, -0.0073, -0.0122, -0.6222, -7.4462, 6.5573, 1.9609, 0.1001, 0.0708, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "Lemon fills the space between the jaw wedges at the bottom of the wrist view; closing the gripper partially to pinch it without squeezing it out."})
tool
executing move_to over 9 steps (0.9s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe gripper stopped at 0.45 (≈4.3 cm), so the lemon is held; lifting and moving left over the open case interior before releasing.
move_to
right_z0.2000right_x0.4500right_y0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8173, 0.6067, -0.5179, -0.0189, -0.0387, 0.9991, 0.3725, 1.829, 0.7273, 0.4225, 0.2462, 0.0929, 0.4515] state[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1479 left_yaw=0.0024 left_pitch=-0.1487 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4238 right_y=0.1232 right_z=0.0244 right_yaw=0.1022 right_pitch=-0.0738 right_roll=-0.0651 right_gripper=0.4515 state[joint_eff]: [-0.1709, -1.2513, 6.9128, 1.6874, -0.0415, -0.0611, -0.0122, -0.6496, -9.7709, 4.6154, 1.5751, 0.1734, 0.1197, 0.9939] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.45, "right_y": 0.24}, "note": "The gripper stopped at 0.45 (\u22484.3 cm), so the lemon is held; lifting and moving left over the open case interior before releasing."})
tool
executing move_to over 12 steps (1.2s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe wrist view shows a lemon still sitting on the table to the right, which would mean my gripper is empty, yet the jaws report 0.45; commanding a full close to test whether anything is actually held.
move_to
right_gripper0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5327, -0.0193, -0.0387, 0.9991, 0.6296, 1.8053, 1.4631, -0.4397, 0.4145, 0.2298, 0.4527] state[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1448 left_yaw=0.0028 left_pitch=-0.1651 left_roll=-0.0003 left_gripper=0.9991 right_x=0.4413 right_y=0.238 right_z=0.1799 right_yaw=0.1441 right_pitch=-0.1217 right_roll=-0.1009 right_gripper=0.4527 state[joint_eff]: [-0.0615, -1.265, 6.8991, 1.7314, -0.0562, -0.0415, -0.0122, -0.2803, -8.5402, 8.1846, 1.3309, 0.3004, 0.149, 0.1197] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.02}, "note": "The wrist view shows a lemon still sitting on the table to the right, which would mean my gripper is empty, yet the jaws report 0.45; commanding a full close to test whether anything is actually held."})
tool
executing move_to over 5 steps (0.5s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteGripper came back empty, so the lemon was lost somewhere; retracting the right arm out of the way to get a clear overhead view of where everything is.
move_to
right_x0.3000right_y0.0500right_z0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5404, -0.0189, -0.0383, 0.9991, 0.6327, 1.8107, 1.4551, -0.4774, 0.408, 0.2287, 0.024] state[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1434 left_yaw=0.0023 left_pitch=-0.1728 left_roll=-0.0001 left_gripper=0.9991 right_x=0.4341 right_y=0.2359 right_z=0.1677 right_yaw=0.1494 right_pitch=-0.1692 right_roll=-0.1216 right_gripper=0.024 state[joint_eff]: [-0.0205, -1.2513, 6.8855, 1.6239, -0.0317, -0.0073, -0.0122, -0.4718, -10.0718, 7.4325, 1.8388, 0.2222, -0.0073, -0.022] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.25, "right_gripper": 1}, "note": "Gripper came back empty, so the lemon was lost somewhere; retracting the right arm out of the way to get a clear overhead view of where everything is."})
tool
executing move_to over 16 steps (1.6s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe lemon is no longer on the table (it appears to have ended up in the case). Now approaching the brown teddy bear, which sits in front of and right of the case, with the right arm.
move_to
right_x0.3000right_y0.2400right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5591, -0.0193, -0.0391, 0.9991, 0.2382, 1.0576, 1.1065, -0.815, 0.157, -0.0383, 0.9961] state[eef_state]: left_x=0.2689 left_y=0.0019 left_z=0.14 left_yaw=0.0031 left_pitch=-0.1918 left_roll=0.0 left_gripper=0.9991 right_x=0.3054 right_y=0.0494 right_z=0.2445 right_yaw=0.1127 right_pitch=-0.1772 right_roll=-0.1245 right_gripper=0.9961 state[joint_eff]: [-0.0615, -0.759, 6.8855, 1.79, -0.0562, -0.0659, -0.0122, -0.1846, -3.0974, 7.2, 1.7558, -0.0708, 0.022, -0.1245] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.24, "right_z": 0.15}, "note": "The lemon is no longer on the table (it appears to have ended up in the case). Now approaching the brown teddy bear, which sits in front of and right of the case, with the right arm."})
tool
executing move_to over 16 steps (1.6s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe teddy bear is just below the jaws and slightly left in the wrist view; shifting 3 cm left and descending onto its body to grasp.
move_to
right_y0.2600right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5701, -0.0189, -0.0387, 0.9991, 0.9241, 1.5078, 1.0599, -0.6086, 0.5789, 0.4911, 0.9973] state[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1377 left_yaw=0.0026 left_pitch=-0.2044 left_roll=0.0003 left_gripper=0.9991 right_x=0.2896 right_y=0.2292 right_z=0.1338 right_yaw=0.1411 right_pitch=-0.2463 right_roll=-0.1821 right_gripper=0.9973 state[joint_eff]: [-0.0479, -1.4017, 6.8581, 1.6874, -0.0562, -0.0513, -0.0122, 0.1983, -6.8034, 9.0462, 1.2625, 0.4615, 0.1099, 0.1099] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.26, "right_z": 0.04}, "note": "The teddy bear is just below the jaws and slightly left in the wrist view; shifting 3 cm left and descending onto its body to grasp."})
tool
executing move_to over 7 steps (0.7s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe teddy is directly between the jaws at the bottom of the wrist view; closing on its body.
move_to
right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5846, -0.0193, -0.0387, 0.9991, 0.9771, 1.7336, 0.9348, -0.3359, 0.59, 0.5331, 0.9974] state[eef_state]: left_x=0.2645 left_y=0.002 left_z=0.1342 left_yaw=0.003 left_pitch=-0.2227 left_roll=0.001 left_gripper=0.9991 right_x=0.2845 right_y=0.2523 right_z=0.0424 right_yaw=0.1482 right_pitch=-0.2889 right_roll=-0.2188 right_gripper=0.9974 state[joint_eff]: [-0.1983, -1.5658, 6.8308, 1.6386, -0.0855, -0.0366, -0.0122, 0.5538, -7.2547, 5.1897, 1.1746, 0.4274, 0.1929, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "The teddy is directly between the jaws at the bottom of the wrist view; closing on its body."})
tool
executing move_to over 9 steps (0.9s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteJaws are closed on the teddy's fur (reading 0.10); lifting straight up to confirm the bear comes with it.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.5854, -0.0189, -0.0387, 0.9991, 0.9779, 1.7538, 0.9218, -0.3393, 0.5869, 0.5251, 0.1048] state[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.134 left_yaw=0.0027 left_pitch=-0.2239 left_roll=0.0008 left_gripper=0.9991 right_x=0.2803 right_y=0.2474 right_z=0.0309 right_yaw=0.1469 right_pitch=-0.3167 right_roll=-0.2505 right_gripper=0.1048 state[joint_eff]: [-0.0479, -1.0051, 6.8855, 1.4921, -0.0611, -0.0073, -0.0122, -0.1436, -9.4564, 6.694, 0.9841, 0.315, 0.0806, 0.0806] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Jaws are closed on the teddy's fur (reading 0.10); lifting straight up to confirm the bear comes with it."})
tool
executing move_to over 13 steps (1.3s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteCarrying whatever is in the jaws toward the open case; moving to hover above the red interior at 24 cm.
move_to
right_x0.4200right_y0.3200right_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.5888, -0.0193, -0.0387, 0.9991, 0.9791, 1.6127, 1.4956, -1.0588, 0.58, 0.5236, 0.1051] state[eef_state]: left_x=0.2638 left_y=0.002 left_z=0.1334 left_yaw=0.0031 left_pitch=-0.2273 left_roll=0.0011 left_gripper=0.9991 right_x=0.281 right_y=0.251 right_z=0.2058 right_yaw=0.1518 right_pitch=-0.3247 right_roll=-0.2506 right_gripper=0.1051 state[joint_eff]: [-0.1846, -0.8, 7.0359, 1.5311, -0.0904, -0.0757, -0.0122, -0.1299, -7.9248, 7.8427, 1.0379, 0.3736, 0.0024, 0.0171] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.32, "right_z": 0.24}, "note": "Carrying whatever is in the jaws toward the open case; moving to hover above the red interior at 24 cm."})
tool
executing move_to over 11 steps (1.1s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe teddy did not come with the gripper — the jaws only caught fur. The arm is now confirmed above the case interior at (0.42, 0.32). Returning over the bear with jaws open to line up a deeper grasp.
move_to
right_x0.3000right_y0.2500right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.5972, -0.0193, -0.0387, 0.9991, 0.8154, 2.2883, 2.5454, -1.3464, 0.5034, 0.347, 0.1051] state[eef_state]: left_x=0.2624 left_y=0.002 left_z=0.1309 left_yaw=0.0031 left_pitch=-0.2403 left_roll=0.0014 left_gripper=0.9991 right_x=0.4155 right_y=0.3221 right_z=0.2321 right_yaw=0.1578 right_pitch=-0.3315 right_roll=-0.25 right_gripper=0.1051 state[joint_eff]: [-0.0342, -1.6068, 6.8171, 1.5849, -0.0659, -0.0562, -0.0122, -0.6222, -11.3436, 6.1333, 0.3687, 0.2808, 0.0757, -0.0122] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.25, "right_z": 0.12, "right_gripper": 1}, "note": "The teddy did not come with the gripper \u2014 the jaws only caught fur. The arm is now confirmed above the case interior at (0.42, 0.32). Returning over the bear with jaws open to line up a deeper grasp."})
tool
executing move_to over 9 steps (0.9s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteWrist view shows the bear just left of the jaw column and very close; shifting 3 cm left and dropping to table level so the jaws straddle its torso rather than skimming fur.
move_to
right_y0.2700right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6106, -0.0189, -0.0387, 0.9991, 0.9176, 1.7, 1.2201, -0.7773, 0.5274, 0.432, 0.9949] state[eef_state]: left_x=0.26 left_y=0.002 left_z=0.128 left_yaw=0.0029 left_pitch=-0.2563 left_roll=0.0015 left_gripper=0.9991 right_x=0.2912 right_y=0.2401 right_z=0.1022 right_yaw=0.1514 right_pitch=-0.4311 right_roll=-0.3332 right_gripper=0.9949 state[joint_eff]: [-0.3214, -0.9504, 6.8171, 1.663, -0.0317, -0.0562, -0.0122, 0.1846, -9.1966, 7.4598, 1.5263, 0.4762, 0.1929, -0.2027] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.27, "right_z": 0.0}, "note": "Wrist view shows the bear just left of the jaw column and very close; shifting 3 cm left and dropping to table level so the jaws straddle its torso rather than skimming fur."})
tool
executing move_to over 7 steps (0.7s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe bear's body is centered between both jaw wedges at table level; closing fully to compress the fur and get a real grip.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6147, -0.0189, -0.0387, 0.9991, 0.9653, 1.9133, 1.1141, -0.4988, 0.543, 0.4747, 0.9953] state[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0029 left_pitch=-0.2605 left_roll=0.0016 left_gripper=0.9991 right_x=0.2895 right_y=0.2642 right_z=0.0139 right_yaw=0.1516 right_pitch=-0.4414 right_roll=-0.3515 right_gripper=0.9953 state[joint_eff]: [-0.0479, -1.1419, 7.0085, 1.5116, -0.0269, -0.0562, -0.0122, 0.253, -5.9556, 4.547, 0.5543, 0.0757, 0.0415, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The bear's body is centered between both jaw wedges at table level; closing fully to compress the fur and get a real grip."})
tool
executing move_to over 10 steps (1.0s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteJaws are fully closed on the plush fur (reading ~0, as fur compresses); lifting to see in the top view whether the brown object came up.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6151, -0.0189, -0.0387, 0.9991, 0.9676, 1.9244, 1.1122, -0.4992, 0.5381, 0.4713, 0.0087] state[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0029 left_pitch=-0.2609 left_roll=0.0016 left_gripper=0.9991 right_x=0.2873 right_y=0.2639 right_z=0.0089 right_yaw=0.1541 right_pitch=-0.4547 right_roll=-0.3606 right_gripper=0.0087 state[joint_eff]: [-0.1573, -1.2239, 6.8308, 1.4872, -0.0708, -0.0513, -0.0122, -0.2803, -10.1402, 5.4632, 0.7595, 0.3492, 0.0024, 0.7399] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "Jaws are fully closed on the plush fur (reading ~0, as fur compresses); lifting to see in the top view whether the brown object came up."})
tool
executing move_to over 12 steps (1.2s)
step 219
top_cam
camera top_cam step 219
assistant
agent noteStill empty — the plush monkey now sits left of the jaw column in the wrist view (it has been nudged). Opening the jaws and shifting ~4 cm left over its torso before descending again.
move_to
right_y0.3100right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6159, -0.0189, -0.0387, 0.9991, 0.9676, 1.7893, 1.5803, -1.1156, 0.5274, 0.4679, 0.0101] state[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1271 left_yaw=0.0029 left_pitch=-0.2616 left_roll=0.0016 left_gripper=0.9991 right_x=0.2878 right_y=0.2674 right_z=0.1617 right_yaw=0.1575 right_pitch=-0.472 right_roll=-0.3655 right_gripper=0.0101 state[joint_eff]: [-0.1709, -1.1966, 6.8034, 1.4676, -0.0317, -0.0562, -0.0122, -0.335, -10.1128, 7.8427, 0.7839, 0.3492, -0.0171, 0.1294] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.31, "right_z": 0.03, "right_gripper": 1}, "note": "Still empty \u2014 the plush monkey now sits left of the jaw column in the wrist view (it has been nudged). Opening the jaws and shifting ~4 cm left over its torso before descending again."})
tool
executing move_to over 10 steps (1.0s)
step 229
assistant
agent noteThe plush has shifted to the right of the jaws in the wrist view; moving back 3.5 cm right and down to table level to straddle its body.
move_to
right_y0.2750right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6334, -0.0189, -0.0387, 0.9991, 1.0248, 2.0098, 1.38, -0.762, 0.5297, 0.5217, 0.9947] state[eef_state]: left_x=0.2558 left_y=0.0021 left_z=0.1234 left_yaw=0.0031 left_pitch=-0.283 left_roll=0.0021 left_gripper=0.9991 right_x=0.2835 right_y=0.3017 right_z=0.0363 right_yaw=0.1557 right_pitch=-0.5044 right_roll=-0.3935 right_gripper=0.9947 state[joint_eff]: [-0.0479, -1.5795, 6.8855, 1.5849, -0.0611, -0.0513, -0.0122, 0.5265, -9.4154, 5.4359, 0.7741, 0.3443, 0.1343, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.275, "right_z": 0.0}, "note": "The plush has shifted to the right of the jaws in the wrist view; moving back 3.5 cm right and down to table level to straddle its body."})
tool
executing move_to over 3 steps (0.3s)
step 232
assistant
agent noteSwitching to the left arm for the tan bunny, which the left wrist camera sees clearly ahead-right; moving to hover just above it at 12 cm.
move_to
left_x0.3600left_y-0.2100left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8364, 0.6067, -0.6365, -0.0189, -0.0383, 0.9991, 0.9997, 1.9789, 1.2289, -0.6056, 0.5304, 0.5014, 0.9953] state[eef_state]: left_x=0.2552 left_y=0.0021 left_z=0.1228 left_yaw=0.0029 left_pitch=-0.2864 left_roll=0.0024 left_gripper=0.9991 right_x=0.2843 right_y=0.2837 right_z=0.0141 right_yaw=0.1566 right_pitch=-0.4842 right_roll=-0.3743 right_gripper=0.9953 state[joint_eff]: [-0.1436, -0.9778, 6.9675, 1.4628, -0.0708, -0.0464, -0.0122, -0.7453, -7.8427, 3.9863, 0.4664, 0.2076, -0.1294, 0.0464] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.21, "left_z": 0.12, "left_gripper": 1}, "note": "Switching to the left arm for the tan bunny, which the left wrist camera sees clearly ahead-right; moving to hover just above it at 12 cm."})
tool
executing move_to over 19 steps (1.9s)
step 251
assistant
agent noteLeft wrist view shows the bunny slightly left of the jaw column and a few cm beyond the fingertips; advancing 3 cm, shifting 2.5 cm left and descending to its body height.
move_to
left_x0.3800left_y-0.1520left_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6815, 1.6421, 1.1107, -0.5835, -0.4614, -0.6006, 0.9992, 0.989, 1.9686, 1.2179, -0.6098, 0.5396, 0.5064, 0.9953] state[eef_state]: left_x=0.3476 left_y=-0.1761 left_z=0.0981 left_yaw=0.0679 left_pitch=-0.3591 left_roll=0.0986 left_gripper=0.9992 right_x=0.2863 right_y=0.2766 right_z=0.0155 right_yaw=0.136 right_pitch=-0.4797 right_roll=-0.3823 right_gripper=0.9953 state[joint_eff]: [-3.3299, -7.4462, 9.265, 1.7167, 0.2369, -0.0952, -0.1001, 0.6906, -8.9504, 6.4068, 0.7643, 0.1392, -0.5055, -0.0122] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.152, "left_z": 0.05}, "note": "Left wrist view shows the bunny slightly left of the jaw column and a few cm beyond the fingertips; advancing 3 cm, shifting 2.5 cm left and descending to its body height."})
tool
executing move_to over 4 steps (0.4s)
step 255
assistant
agent noteThe bunny is centered between the left jaws at body height; closing fully to compress the fur and grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5678, 1.7374, 1.0336, -0.4191, -0.4236, -0.5262, 0.9991, 0.9871, 1.9686, 1.2186, -0.6117, 0.5423, 0.5125, 0.9953] state[eef_state]: left_x=0.3693 left_y=-0.1452 left_z=0.0514 left_yaw=0.1136 left_pitch=-0.3922 left_roll=0.1229 left_gripper=0.9991 right_x=0.2871 right_y=0.2757 right_z=0.0159 right_yaw=0.1287 right_pitch=-0.4773 right_roll=-0.3817 right_gripper=0.9953 state[joint_eff]: [-0.6085, -8.1573, 5.8735, 1.3407, -0.2076, 0.1148, -0.0171, -0.1436, -9.4017, 5.4359, 0.6178, 0.2173, -0.105, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The bunny is centered between the left jaws at body height; closing fully to compress the fur and grip it."})
tool
executing move_to over 10 steps (1.0s)
step 265
assistant
agent noteJaws closed on the bunny's fur; lifting to 20 cm to see whether it comes up with the gripper.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5613, 1.7596, 1.0187, -0.3588, -0.408, -0.4934, 0.0097, 0.9871, 1.9686, 1.2186, -0.6106, 0.5423, 0.5091, 0.9953] state[eef_state]: left_x=0.3746 left_y=-0.1485 left_z=0.0435 left_yaw=0.0835 left_pitch=-0.3848 left_roll=0.1157 left_gripper=0.0097 right_x=0.2872 right_y=0.2759 right_z=0.0159 right_yaw=0.1311 right_pitch=-0.4772 right_roll=-0.3827 right_gripper=0.9953 state[joint_eff]: [0.0479, -8.9641, 6.2017, 1.2869, -0.1783, 0.1001, 0.7302, -0.1436, -9.7299, 5.4222, 0.6081, 0.2857, 0.0073, -0.0073] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Jaws closed on the bunny's fur; lifting to 20 cm to see whether it comes up with the gripper."})
tool
executing move_to over 11 steps (1.1s)
step 276
assistant
agent noteBunny still on the table — the jaws must be landing just short of it, toward the base. Opening up and advancing 3 cm further out before closing again.
move_to
left_x0.4050left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5613, 1.6684, 1.4845, -0.9371, -0.4049, -0.5026, 0.0122, 0.9867, 1.9686, 1.2186, -0.6102, 0.5419, 0.5087, 0.9953] state[eef_state]: left_x=0.3764 left_y=-0.1502 left_z=0.1798 left_yaw=0.092 left_pitch=-0.4028 left_roll=0.1217 left_gripper=0.0122 right_x=0.2873 right_y=0.2759 right_z=0.0159 right_yaw=0.1313 right_pitch=-0.4773 right_roll=-0.3824 right_gripper=0.9953 state[joint_eff]: [-0.1983, -9.4154, 8.6906, 1.0769, -0.2662, 0.0562, 0.2418, -0.1436, -9.7026, 5.5726, 0.6569, 0.2711, -0.0269, -0.0073] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_z": 0.04, "left_gripper": 1}, "note": "Bunny still on the table \u2014 the jaws must be landing just short of it, toward the base. Opening up and advancing 3 cm further out before closing again."})
tool
executing move_to over 10 steps (1.0s)
step 286
assistant
agent noteNow the bunny sits squarely between both jaw wedges at the bottom of the left wrist view; closing fully.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5236, 1.8519, 1.1595, -0.4671, -0.3862, -0.4721, 0.9953, 0.9867, 1.9686, 1.2186, -0.6106, 0.5423, 0.5087, 0.9953] state[eef_state]: left_x=0.3932 left_y=-0.146 left_z=0.0413 left_yaw=0.1081 left_pitch=-0.4462 left_roll=0.1502 left_gripper=0.9953 right_x=0.2873 right_y=0.2758 right_z=0.0159 right_yaw=0.131 right_pitch=-0.4773 right_roll=-0.383 right_gripper=0.9953 state[joint_eff]: [0.5949, -8.4855, 5.9692, 1.2967, -0.2662, 0.0611, -0.105, -0.1299, -9.7299, 5.4496, 0.6178, 0.2613, -0.0562, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Now the bunny sits squarely between both jaw wedges at the bottom of the left wrist view; closing fully."})
tool
executing move_to over 10 steps (1.0s)
step 296
assistant
agent noteThe bunny has vanished from the left wrist view, which means it is now held in the jaws; lifting and carrying it over the open case interior.
move_to
left_z0.2500left_x0.4200left_y-0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5224, 1.8721, 1.1473, -0.453, -0.3908, -0.4889, 0.0196, 0.9867, 1.9686, 1.2186, -0.6117, 0.5407, 0.5083, 0.9953] state[eef_state]: left_x=0.3914 left_y=-0.1436 left_z=0.0311 left_yaw=0.128 left_pitch=-0.4569 left_roll=0.1565 left_gripper=0.0196 right_x=0.287 right_y=0.2757 right_z=0.0157 right_yaw=0.1316 right_pitch=-0.4793 right_roll=-0.383 right_gripper=0.9953 state[joint_eff]: [-0.212, -10.6598, 6.8718, 0.7057, -0.0952, 0.1734, 0.8669, -0.1709, -9.6342, 5.4906, 0.7106, 0.2711, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25, "left_x": 0.42, "left_y": -0.3}, "note": "The bunny has vanished from the left wrist view, which means it is now held in the jaws; lifting and carrying it over the open case interior."})
tool
executing move_to over 15 steps (1.5s)
step 311
assistant
agent noteThe bunny is still on the table (visible in the left wrist view) and the case interior is empty. Going back down onto the bunny, this time pressing to table level so the jaws straddle its base.
move_to
left_x0.4000left_y-0.1450left_z-0.0100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7654, 2.3341, 2.5912, -1.536, -0.4549, -0.7372, 0.0194, 0.9867, 1.9663, 1.2182, -0.6121, 0.5377, 0.5053, 0.9954] state[eef_state]: left_x=0.4095 left_y=-0.2809 left_z=0.2042 left_yaw=0.1135 left_pitch=-0.467 left_roll=0.1426 left_gripper=0.0194 right_x=0.2866 right_y=0.2761 right_z=0.0162 right_yaw=0.1356 right_pitch=-0.4811 right_roll=-0.3813 right_gripper=0.9954 state[joint_eff]: [-0.6359, -14.188, 7.1043, 0.6716, -0.4811, -0.0415, -0.0366, -0.1436, -9.5385, 5.5726, 0.652, 0.2906, -0.022, -0.0073] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.145, "left_z": -0.01, "left_gripper": 1}, "note": "The bunny is still on the table (visible in the left wrist view) and the case interior is empty. Going back down onto the bunny, this time pressing to table level so the jaws straddle its base."})
tool
executing move_to over 14 steps (1.4s)
step 325
assistant
agent noteThe last combined move didn't track (the arm drifted up and out). Repositioning in a smaller step to hover 8 cm above the bunny.
move_to
left_x0.4000left_y-0.1500left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5636, 2.1185, 2.2749, -1.346, -0.3744, -0.5766, 0.9966, 0.9867, 1.9663, 1.2182, -0.6117, 0.5373, 0.5053, 0.9954] state[eef_state]: left_x=0.4399 left_y=-0.1974 left_z=0.2173 left_yaw=0.1316 left_pitch=-0.4692 left_roll=0.1018 left_gripper=0.9966 right_x=0.2866 right_y=0.2762 right_z=0.0162 right_yaw=0.1359 right_pitch=-0.4812 right_roll=-0.3807 right_gripper=0.9954 state[joint_eff]: [-1.9624, -16.3214, 7.788, 1.6337, -0.1294, 0.2613, 0.0317, -0.1846, -9.6889, 5.4359, 0.696, 0.232, -0.0513, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.15, "left_z": 0.08}, "note": "The last combined move didn't track (the arm drifted up and out). Repositioning in a smaller step to hover 8 cm above the bunny."})
tool
executing move_to over 9 steps (0.9s)
step 334
assistant
agent noteThe bunny's face is clearly between the jaw wedges but ~3 cm to the image-left; shifting 2.5 cm left and descending to table level for the grasp.
move_to
left_y-0.1250left_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.519, 1.8385, 1.3399, -0.7223, -0.3546, -0.5385, 0.997, 0.9867, 1.9663, 1.2182, -0.6117, 0.5346, 0.5056, 0.9954] state[eef_state]: left_x=0.3921 left_y=-0.1492 left_z=0.0808 left_yaw=0.1485 left_pitch=-0.5077 left_roll=0.1287 left_gripper=0.997 right_x=0.2863 right_y=0.2764 right_z=0.016 right_yaw=0.1372 right_pitch=-0.483 right_roll=-0.3785 right_gripper=0.9954 state[joint_eff]: [0.6359, -9.894, 7.3094, 1.3211, -0.2418, 0.0855, 0.0269, -0.1846, -9.6889, 5.4632, 0.6374, 0.2369, 0.0024, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.125, "left_z": 0.0}, "note": "The bunny's face is clearly between the jaw wedges but ~3 cm to the image-left; shifting 2.5 cm left and descending to table level for the grasp."})
tool
executing move_to over 6 steps (0.6s)
step 340
assistant
agent noteThe descent stalled at z=0.07 with the wrist tilted; commanding the wrist back to level pitch/roll and pressing down to table level over the bunny.
move_to
left_pitch0.0000left_roll0.0000left_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5144, 1.842, 1.3003, -0.6769, -0.3519, -0.5354, 0.9971, 0.9871, 1.9663, 1.2182, -0.6113, 0.5346, 0.5053, 0.9954] state[eef_state]: left_x=0.3912 left_y=-0.147 left_z=0.0702 left_yaw=0.1483 left_pitch=-0.5076 left_roll=0.1264 left_gripper=0.9971 right_x=0.2863 right_y=0.2766 right_z=0.016 right_yaw=0.1379 right_pitch=-0.4829 right_roll=-0.3784 right_gripper=0.9954 state[joint_eff]: [0.1846, -9.0462, 5.4906, 1.0427, -0.2466, 0.0024, -0.0073, -0.1026, -9.7026, 5.6547, 0.6374, 0.232, -0.0708, -0.0122] camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_pitch": 0, "left_roll": 0, "left_z": 0.0}, "note": "The descent stalled at z=0.07 with the wrist tilted; commanding the wrist back to level pitch/roll and pressing down to table level over the bunny."})
tool
executing move_to over 17 steps (1.7s)
step 357
assistant
agent noteWrist is now level and at table height with the bunny filling the space between the jaws; closing to grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6064, 1.9049, 0.6941, 0.4171, -0.6342, -0.5079, 0.9971, 0.9871, 1.9663, 1.2182, -0.6113, 0.5346, 0.5053, 0.9954] state[eef_state]: left_x=0.3888 left_y=-0.1379 left_z=0.002 left_yaw=0.1682 left_pitch=-0.0331 left_roll=0.0456 left_gripper=0.9971 right_x=0.2863 right_y=0.2766 right_z=0.016 right_yaw=0.1379 right_pitch=-0.4829 right_roll=-0.3784 right_gripper=0.9954 state[joint_eff]: [-1.0188, -6.1197, 3.8496, 1.5702, 0.1587, -0.1245, -0.0122, -0.0752, -9.6615, 5.4769, 0.6325, 0.2711, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Wrist is now level and at table height with the bunny filling the space between the jaws; closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 367
assistant
agent noteThe jaws settled at 0.22 (≈2 cm of compressed plush) — the bunny is finally held. Lifting and carrying it over the open case interior.
move_to
left_z0.2200left_x0.4200left_y-0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6083, 1.9045, 0.688, 0.4442, -0.6674, -0.5018, 0.2156, 0.9871, 1.9663, 1.2182, -0.6117, 0.5343, 0.5053, 0.9954] state[eef_state]: left_x=0.3907 left_y=-0.1344 left_z=0.0069 left_yaw=0.1865 left_pitch=-0.0016 left_roll=0.0521 left_gripper=0.2156 right_x=0.2862 right_y=0.2766 right_z=0.0159 right_yaw=0.138 right_pitch=-0.4834 right_roll=-0.3784 right_gripper=0.9954 state[joint_eff]: [-0.1299, -8.1436, 4.9026, 1.1893, 0.0415, -0.1343, 1.0183, -0.0752, -9.5248, 5.5316, 0.6471, 0.232, -0.0024, -0.0122] camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22, "left_x": 0.42, "left_y": -0.3}, "note": "The jaws settled at 0.22 (\u22482 cm of compressed plush) \u2014 the bunny is finally held. Lifting and carrying it over the open case interior."})
tool
executing move_to over 15 steps (1.5s)
step 382
assistant
agent noteThe two arms have collided (very high joint efforts); pulling the right arm back to home while carrying the bunny left toward the open case.
move_to
right_x0.2500right_y0.0000right_z0.2500left_x0.4300left_y-0.2800left_z0.2000left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6643, 2.0666, 1.6863, -0.9455, -0.7689, -0.7879, 0.2179, 0.7479, 1.8072, 1.2613, -0.5137, 0.5171, 0.498, 0.9954] state[eef_state]: left_x=0.4268 left_y=-0.1736 left_z=0.118 left_yaw=0.4046 left_pitch=-0.235 left_roll=0.3318 left_gripper=0.2179 right_x=0.3735 right_y=0.2323 right_z=0.0978 right_yaw=0.0014 right_pitch=-0.2852 right_roll=-0.1393 right_gripper=0.9954 state[joint_eff]: [-18.1265, -13.135, 20.8342, 2.5031, -1.2039, 0.0024, 0.5885, 20.2462, 3.8359, 2.4547, -0.3883, 0.3932, 0.0122, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.0, "right_z": 0.25, "left_x": 0.43, "left_y": -0.28, "left_z": 0.2, "left_gripper": 0.2}, "note": "The two arms have collided (very high joint efforts); pulling the right arm back to home while carrying the bunny left toward the open case."})
tool
executing move_to over 20 steps (2.0s)
step 402
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.807, 2.4268, 2.5252, -1.5566, -0.775, -0.9813, 0.2055, 0.099, 0.9581, 1.1191, -1.0752, 0.1699, -0.0216, 0.9953] state[eef_state]: left_x=0.4233 left_y=-0.2581 left_z=0.174 left_yaw=0.3967 left_pitch=-0.2507 left_roll=0.3212 left_gripper=0.2055 right_x=0.2508 right_y=-0.0015 right_z=0.2332 right_yaw=-0.0524 right_pitch=-0.3213 right_roll=-0.1437 right_gripper=0.9953 state[joint_eff]: [-0.7316, -13.5179, 6.2427, 0.3443, -0.6422, -0.0708, 1.033, -0.253, -2.2769, 8.8957, 1.7509, 0.0122, -0.0171, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 402): [image omitted: streamed camera frame] camera 'left_cam' (step 402): [image omitted: streamed camera frame] camera 'right_cam' (step 402): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 28.24 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6041, -0.3916, -0.0193, -0.0341, 0.9992, -0.0212, 0.7944, 0.6075, -0.3958, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1779 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9992 right_x=0.2931 right_y=0.0009 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3744, 10.2769, 1.9853, -0.0757, 0.1636, -0.0952, -0.2803, -1.4838, 9.7299, 1.9121, -0.0904, 0.2076, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32facf5b43940949991a3949cc6d8232c078a583628921414aefc6eecd64bf69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8def3865b3777f31d9143a16765026d0c2983b4738e27fe74a6ecaa5ad8867ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0095f70599181bd393febb27b872e66d16539626fc035f1a62b4b8f6c14a561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 6.775 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6041, -0.3916, -0.0193, -0.0341, 0.9992, -0.0212, 0.7944, 0.6075, -0.3958, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1779 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9992 right_x=0.2931 right_y=0.0009 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3744, 10.2769, 1.9853, -0.0757, 0.1636, -0.0952, -0.2803, -1.4838, 9.7299, 1.9121, -0.0904, 0.2076, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32facf5b43940949991a3949cc6d8232c078a583628921414aefc6eecd64bf69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8def3865b3777f31d9143a16765026d0c2983b4738e27fe74a6ecaa5ad8867ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0095f70599181bd393febb27b872e66d16539626fc035f1a62b4b8f6c14a561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
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      "signature": 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2XmZDOUiI0kfFBdhjBNtXn0+kF+1yy5hSblihXqPeTKBxZ/wn32+Qfsk19NUwthcQGPJ69+lwP7FllMRnp5PSoeSoi6MHsBy8+wygm6hMjZTP/tEJoIsEU7Fw2C3gQ0ZCjpV2RDb4wgM7MiRtp0CSXvBbm+TPJhA8ti3v7STideVmkkEv+usHkY/wu+bNpV9ra7oFk8oiI+wgVISlofGVdjG8vsilg7sIqTpF1YZOpHJvBQGFk2Dfw5kxOw3iHjJmHhG5R20QGWh4UvA/3LpNlHWzDC+p2Wl2PSktUV/w+s76XN1HsdBBraziiYWToF6p8zYWlVqmJUGPONo5b+wo/ivvGVz9SnT8KaiB42fvH7gGBr1oNo1YZcSXhkKDmvza+56wIaJIaDY6lSK0MTJSw7WxO2Wna3Cu8o2hsLUn10uMNetGt6yInUrdH3fYOyn+MPIogGSIMR8tlEOrzhnqe4Ghl9Ir6gW2rOEo/3vj3J5gUwd2OKgc++zPr5rT7QmE89qthFR7HB9Rns6goY2QR5PjM9vb08gLTyc7UO63t6nHlAK/Tp9sc1u6eExPn9W83hpMbgiHBb+lo0o0WJFtI7dNoKoeWYYjc34q/YPMQg5lRtE7SqS/+827t4fiIhNIm9XV0Rcw3Y3qPT7H7iigf1XVZ0Ap/z/fUob50YUOetozWgb3nTZpexgMaWIxWDSiI2F+mH3tDFRTknZQIz0jd1uDbf/pbbPTkYyODeKZqomXxi3mUMJG1FqUeIJm9ET5gO656R5rtIWIuRPtt6hWM09g3tdlKvebAYHi5QkkR21slRu/DLiPmL6lvjtaMINCeFI6Nw/VoD/PCdO/LEao6D0ipFWogeBz1O6JHHjDpkK8P+b//4dquKWb24H8ZT4hETdFeKNNwL4nK5ZCphuhfRMC4F7SqjjbL00QodjmCdTSwI97n2a1Mox95O29WlI0+UBKHWRB0Zg0XUQ2ttgv+hVhLNMUuCupm1drEAITT4w2ZWEstCMNXCtMhPwTJBGa0px+t9p/k6869+lXU7+DXUQM2W77bYwnfkHBxFiz1a0NO35J77amJbAXfP2cFhY1pkxjoRfoHIfiEsZjFKGRwFD4WfZxuNfj/iq6OLdfUh3TCEZe7ejHk95Txd9+n9WT+Rw88Jnb0SRzjgilIxZqRITnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013RB47bG1AFXgDY1gnML1rb",
      "input": {
        "note": "Scene: an open red-lined case (the \"safe\") in the middle, with a yellow lemon to its right, a teddy bear in front, and a small white object to the left. I'm moving the right arm above the lemon to inspect it in the wrist camera before grasping.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.37,
          "right_y": 0.15,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_013RB47bG1AFXgDY1gnML1rb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7982, 0.6067, -0.4061, -0.0193, -0.0383, 0.9991, 0.5709, 1.3808, 0.7898, -0.152, 0.4332, 0.2871, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1747 left_yaw=0.0019 left_pitch=-0.0179 left_roll=-0.0031 left_gripper=0.9991 right_x=0.3552 right_y=0.1442 right_z=0.1289 right_yaw=0.0411 right_pitch=-0.0792 right_roll=-0.0486 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.6889, 6.8034, 1.9072, -0.0562, 0.0073, -0.022, 0.212, -5.8188, 8.8821, 1.8046, 0.3394, 0.149, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dc36e157b35bcb350f8df824b243088f1ad9e2bf973e09e691d4fb4ff27e335",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75a87e8146a8662082336b3d6f82f1e5796d954554c87580380dab07dc0e1e07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af7570e0833937deca12fa63de3b3a834e375dd1fd28c42958ed7c4c9918db1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 5.485 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6041, -0.3916, -0.0193, -0.0341, 0.9992, -0.0212, 0.7944, 0.6075, -0.3958, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1779 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9992 right_x=0.2931 right_y=0.0009 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3744, 10.2769, 1.9853, -0.0757, 0.1636, -0.0952, -0.2803, -1.4838, 9.7299, 1.9121, -0.0904, 0.2076, -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]: [-0.0193, 0.7982, 0.6067, -0.4061, -0.0193, -0.0383, 0.9991, 0.5709, 1.3808, 0.7898, -0.152, 0.4332, 0.2871, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1747 left_yaw=0.0019 left_pitch=-0.0179 left_roll=-0.0031 left_gripper=0.9991 right_x=0.3552 right_y=0.1442 right_z=0.1289 right_yaw=0.0411 right_pitch=-0.0792 right_roll=-0.0486 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.6889, 6.8034, 1.9072, -0.0562, 0.0073, -0.022, 0.212, -5.8188, 8.8821, 1.8046, 0.3394, 0.149, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dc36e157b35bcb350f8df824b243088f1ad9e2bf973e09e691d4fb4ff27e335",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75a87e8146a8662082336b3d6f82f1e5796d954554c87580380dab07dc0e1e07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af7570e0833937deca12fa63de3b3a834e375dd1fd28c42958ed7c4c9918db1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QYKjgEIEhgCKkCIxGWWbYugYfRxYxgLapRkeZFEjS5SgydrriOnClT86dnrnjIDWsxNhx89Kn2SKVwrzl4rddJB1syY8YXRC4V6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdeFzNUGEgxAqLMHwe3H5tNkjy4aDPIuC3/ly4ndYujFpyIw6RM6PGmGb/GZk3kAb8l8mhNwcPiv8RIK4mwmO57n2gkDD7r9zlpcvuHfas0OMrdGKpMFHpDLyTi/qsjweTrzb3Lhz+0Bc3j0gZquzwxCkmLjHIfkg6/hOc81jVvwcm2XTm/UtIg7Y4CPhjdAvt8Fk+BQekbSbLk9Cc66uZAkTIyCGDjkFpQ8S6XzefCz/r89UvloLufrgxq/Y+k/sTMPmJWD9+NNv/9x/fyZeYh4OeVGltbE2tzxzaYUFvRM0GtTohKN69lI+CznDjpfLARqQDe9cyPlES3PuI4Zy+BhVewQ4iIEBuTbg8xNsV6UWn/3HlokOLPAqF55+keOsbCU2/v0zQsXszwH1OaROklZhvQ2KjrugWUQoWFwiYV+rTs1fxcgK1SHK4/zE2X5nJ/8dqj+u5aUWmid3AUUfJfzLusRLBajiE8KIvzoaiRZ7exKfmDZZscSrPSM4jUJrjuamxXzd5mA4sj13QRB+YepPpIyFW+0gnQUGCvg8lncdlQDynf+8H+XrY9fFyKY7JKYzNtTAyKYZKzXXSjiRWcrmD+LRCrtfrRBOI9UcEWU8Tk+pAR26Szy+4U4QEA37lp5+EJAyBM8I6gK/rV56USTLskWz3WHa+TVwCDOeuDIiFkO7fIL7H+v+Fmxey/jXpDLsgb9m5FXbrdYKragN7DlcW9V+mf4Kl1mPjePXV5LB8urG+hnD64mtNhO8mk/9Lr3KpEuLPS5+0oOqJELQDblibMxV0FevsDjPbQ7nf8ZaBZfLptTytKUGVKfA06ux2hzaZTo8Vj+cmKmh32zm30Pb+6Z8vXgE6+oZwuZtjYUtgzEhLXMsT34B9hPI55nkzNDp6PhZ0N09aDLub7hLoAobB1YVdSmi1xFm0UWzCoTFwEnsikRK1CGRpNCmmqNwJ7ktXkO0cPknTPYZeB8dGLUiI3oNW5shtQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EBu39usmtjMGhp6TaTGpS5",
      "input": {
        "note": "The right wrist camera shows the lemon just right of the jaw column and above it, meaning it is a few cm further out; advancing radially and shifting slightly right while descending.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.13,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EBu39usmtjMGhp6TaTGpS5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8021, 0.6067, -0.4091, -0.0193, -0.0383, 0.9991, 0.4534, 1.5425, 0.7937, -0.0483, 0.366, 0.2226, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.173 left_yaw=0.0023 left_pitch=-0.0248 left_roll=-0.003 left_gripper=0.9991 right_x=0.3831 right_y=0.1203 right_z=0.0851 right_yaw=0.0093 right_pitch=-0.1511 right_roll=-0.0823 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.5795, 7.0085, 1.7314, -0.0806, -0.0659, -0.0122, -0.2256, -6.6256, 7.8017, 1.9072, 0.2466, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82679f15d3177175b0e845123598ce3b4e7d5205918840b57c29c41282083d53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87a7183c45e62ff158d3b964fbc2ae818afda6216344de5590c40ef7d2247fce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d24b711507598244307206ac5310a9248a7cf5b7c547abf9c24229391b1d275",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 11.8 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6041, -0.3916, -0.0193, -0.0341, 0.9992, -0.0212, 0.7944, 0.6075, -0.3958, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1779 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9992 right_x=0.2931 right_y=0.0009 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3744, 10.2769, 1.9853, -0.0757, 0.1636, -0.0952, -0.2803, -1.4838, 9.7299, 1.9121, -0.0904, 0.2076, -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]: [-0.0193, 0.7982, 0.6067, -0.4061, -0.0193, -0.0383, 0.9991, 0.5709, 1.3808, 0.7898, -0.152, 0.4332, 0.2871, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1747 left_yaw=0.0019 left_pitch=-0.0179 left_roll=-0.0031 left_gripper=0.9991 right_x=0.3552 right_y=0.1442 right_z=0.1289 right_yaw=0.0411 right_pitch=-0.0792 right_roll=-0.0486 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.6889, 6.8034, 1.9072, -0.0562, 0.0073, -0.022, 0.212, -5.8188, 8.8821, 1.8046, 0.3394, 0.149, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8021, 0.6067, -0.4091, -0.0193, -0.0383, 0.9991, 0.4534, 1.5425, 0.7937, -0.0483, 0.366, 0.2226, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.173 left_yaw=0.0023 left_pitch=-0.0248 left_roll=-0.003 left_gripper=0.9991 right_x=0.3831 right_y=0.1203 right_z=0.0851 right_yaw=0.0093 right_pitch=-0.1511 right_roll=-0.0823 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.5795, 7.0085, 1.7314, -0.0806, -0.0659, -0.0122, -0.2256, -6.6256, 7.8017, 1.9072, 0.2466, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82679f15d3177175b0e845123598ce3b4e7d5205918840b57c29c41282083d53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87a7183c45e62ff158d3b964fbc2ae818afda6216344de5590c40ef7d2247fce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d24b711507598244307206ac5310a9248a7cf5b7c547abf9c24229391b1d275",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAQKjgEIEhgCKkD1DuFR49bJHWOs6v0AEEg+PSCKBqntxzAUz9smaM7vBIK9VM4q6PzCmtsQPhkmXDrYoPboFZWaVur+rkvrM4+OMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2FzNUGEgxL/sUSRPj6Gpya4McaDGnC7WfC9FqD1iVpLiIwmRcIz0sZVSIfA7YOUYjXEEqNC9BHGaVWzeKCyd3xei0odYD3DU9Agqt7rp++gsMCKtICGqY3wqqTEOSWuT+/Uw+/BPIHColyPKvm/+vFSd51HF+72HZCkOtEZ1M823gPynGIZUr5/RwDru1Sk8+Mr08v/TceoWVH0SuH+/GHtaB+Q8OwGaMZRyMVq2r14FHS2VIo4lRCoIAW4MV4uRiMhNZq8mvGHRufeE2iLAI6kERGl38MkQgqGaOiP66WvAkrcPw7xH6WvEUvuhg9MgXgrVA5mm8LcsCPEXOdZaHz2qOdMMI3tPlh4RQWSccmS7o0Y1BOVAcl5mYuk2ulpsgU2Ek849ilSx6sctyIYVGGZHSlIh0cp5ezc0cV3H02z7BKWtcgaigHQIgxcPeZRB/3kNjpVHMwQUZWU3S9jL6kweBQoPkp3aUJFRSTuVyOr6zBWNep6mYEQLtaY02I7SSZEwOoHw7+QQd7TZMfHe6Dw/MKMTjkxdXaplZFwo/HLwEL/buXecAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fe1BH3vCVri8gfxyLn8LQp",
      "input": {
        "note": "Lemon is now centered on the jaw column in the wrist view but still a bit further out; advancing ~3 cm and descending to lemon mid-height to grasp.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.125,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Fe1BH3vCVri8gfxyLn8LQp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4133, -0.0193, -0.0387, 0.9991, 0.4454, 1.5635, 0.7937, -0.0051, 0.3389, 0.1905, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1721 left_yaw=0.0025 left_pitch=-0.0294 left_roll=-0.0032 left_gripper=0.9991 right_x=0.3892 right_y=0.1247 right_z=0.0831 right_yaw=0.0421 right_pitch=-0.1401 right_roll=-0.0796 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7607, -0.0513, -0.0757, -0.0122, -0.2256, -7.3094, 7.8974, 1.8926, 0.0904, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87c30736975ad78ea50fedec44fa831f99836b601d7c3c7fdce8bbc407ae4d20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2c284531318bc598a7aef34f465b0c336e8ee045491c754512a1a7c4de05e37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e2c41314c611f9ba74ed50e019328c59020f893406c861f0922f403e36cf13d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 8.346 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]: [-0.0193, 0.7982, 0.6067, -0.4061, -0.0193, -0.0383, 0.9991, 0.5709, 1.3808, 0.7898, -0.152, 0.4332, 0.2871, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1747 left_yaw=0.0019 left_pitch=-0.0179 left_roll=-0.0031 left_gripper=0.9991 right_x=0.3552 right_y=0.1442 right_z=0.1289 right_yaw=0.0411 right_pitch=-0.0792 right_roll=-0.0486 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.6889, 6.8034, 1.9072, -0.0562, 0.0073, -0.022, 0.212, -5.8188, 8.8821, 1.8046, 0.3394, 0.149, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8021, 0.6067, -0.4091, -0.0193, -0.0383, 0.9991, 0.4534, 1.5425, 0.7937, -0.0483, 0.366, 0.2226, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.173 left_yaw=0.0023 left_pitch=-0.0248 left_roll=-0.003 left_gripper=0.9991 right_x=0.3831 right_y=0.1203 right_z=0.0851 right_yaw=0.0093 right_pitch=-0.1511 right_roll=-0.0823 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.5795, 7.0085, 1.7314, -0.0806, -0.0659, -0.0122, -0.2256, -6.6256, 7.8017, 1.9072, 0.2466, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4133, -0.0193, -0.0387, 0.9991, 0.4454, 1.5635, 0.7937, -0.0051, 0.3389, 0.1905, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1721 left_yaw=0.0025 left_pitch=-0.0294 left_roll=-0.0032 left_gripper=0.9991 right_x=0.3892 right_y=0.1247 right_z=0.0831 right_yaw=0.0421 right_pitch=-0.1401 right_roll=-0.0796 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7607, -0.0513, -0.0757, -0.0122, -0.2256, -7.3094, 7.8974, 1.8926, 0.0904, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87c30736975ad78ea50fedec44fa831f99836b601d7c3c7fdce8bbc407ae4d20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2c284531318bc598a7aef34f465b0c336e8ee045491c754512a1a7c4de05e37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e2c41314c611f9ba74ed50e019328c59020f893406c861f0922f403e36cf13d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwAkKjgEIEhgCKkBhv9EQ8bymRo7M1csW0j7o1q9veyQWjQTIQ6Js/9Hh9DtxVHfI68xnwfJLr2qBWSEP/YYF6wxMFahnr308IZgOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAemFzNUGEgxLZunahMAn9AwpfSgaDIJP0xb1viKfH/3E5SIwqwJarc3W0V8fbRyI53Bi0FwB81mq+VL8c97uWIAsBCANDaf9vm539FExDzC29CQaKt4HfgAArBDeRHrraXXTZDsxfkvx3+kJ4TM/7ClaWJxU0+0+INKfvYf4fNaCxvGXih1xNrQymp/baqATDSMsKb22jqYwBy9Z47DZenRZnaaU/ZY/pLtuoetTUMZxzzVy82ouMdo12uAQwzrqc6p2y3mB7G/7VFGLsSeQw3xbGdilFQ9VO7MKUqXCE594+FicJrf4/IBH2HxqGdJZ1Irs36cMJnPtfVIMx24CL83Rqn+YFI/klN1dWhRtuSNHpXI401fEFWKXKKqa1GcFPmQAnig3iuFf1PPI0etCXeuLoJzcGCyRylxrVZZ6danLvwHbM9iCtKcm+TbTmVYAbb9ZqAtQ3+mny2bBMqmFb/Sg6XOagHfeh8NkrugK5aznlfqX1HiW92DTdQE3GGbfsRCP0/jYZtVEg+AOHs8BPbietRqVjpQHpDrn0eTDIHCkSY8q5/BBGqroi5xaQ1vEYDWBWerIyUxQnseU+IcAPXd8zRoa7fLYmUODqx+rUXvM9hg/vQXcc4a/4pCi+SoboC8HpK5Ul8/qU9pPVm51CcVY0SlNMbYut0ForjToQOl7N9ZLXe8sFEN6apnAHl7Pala1BEvuw13jmvHxMZ//wuNEcsR/8gAyXdJAdHAjDXb6/aWcWDCUmYJTwT0OXBFi3IkBdeyQDk25aACyR545psSdPbI23FlkkoMd+4Afdu5t+UzKrshnekVCU0aohr1xM5v5zX3BxzZoMsBoz+RnHjuXy3a+BrAhu+bEzNCoZyVvTWObpDGBZp25OUebSTehUMbXvmC6aldOWLjGYdfITio4aSg4GV8NwrGvMQNBCt3BYV7JowGHLpLEgZNAiqaS9fWRnC4KdeYabwaldiYWIJ0PO0Qq8mf7f/p+dq8kw/IMHCHOfm1Pcwz636dwO/wrdL4PCAnWFNC7w1M2C8bY4+VkKoYgR+AN14UALrpvqlf+OtTtqeHm+C28/N+JoNNLRlWQirbHYMVPYboMa7it1N/7mVKD6eBT4WI81m/jDcDc4gvFsmcHU5Bnk7rzaW1XSsw/fEWFBS0j5lS7Vajrrs7ftpZvbmIVRcaKo3h6P7pBm4T6PE6wywkz2LpvDBISta0BcQdJl/c9B5+12zGEaGmJcSCl/n2tCzoqZHsrpZUAPxzQoxOyaR9kqw57XUSV8VgLzwf0bD+QpsJh9J+5RotlkNobZYxzGgcw/tH4af+w4cdpjzi4tWIpXCe0kJ+Pk/1NTciRyJ8qythtvG2FCAwmO2l57MdDMMcumEEnvTGDKx9oHn2jeY9ziBdD4EY3ctoSz+gMMiEC4Xs4n3WxD0+xfczNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011ZxS14sXb97FXWj88VUXyE",
      "input": {
        "note": "The arm only moved a couple of millimetres last call, so I'm re-sending the descent onto the lemon with a slight forward pitch to help the wrist reach down and out.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.42,
          "right_y": 0.125,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_011ZxS14sXb97FXWj88VUXyE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4286, -0.0189, -0.0387, 0.9991, 0.4522, 2.0205, 0.5362, 1.1809, 0.4107, 0.0742, 0.9994]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1686 left_yaw=0.0022 left_pitch=-0.0461 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4226 right_y=0.1309 right_z=0.0417 right_yaw=0.0388 right_pitch=0.3049 right_roll=-0.0297 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -1.4154, 7.0632, 1.8291, -0.0611, 0.0073, -0.0122, -0.335, -5.6137, 2.6325, 0.9646, 0.2466, -0.4615, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ea5d5c78226ad9558720e29c638d07c8769a286cf04f24ceb4b535ee65af2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca5edda8a5d9a4d7b664a55ba46c4fa516c21f886177b9861da14ee401beb3ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9927960713e558e2892626b55d77e5d55f1c7f31315e1daed4834aff3b3e9b67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 3.736 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8021, 0.6067, -0.4091, -0.0193, -0.0383, 0.9991, 0.4534, 1.5425, 0.7937, -0.0483, 0.366, 0.2226, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.173 left_yaw=0.0023 left_pitch=-0.0248 left_roll=-0.003 left_gripper=0.9991 right_x=0.3831 right_y=0.1203 right_z=0.0851 right_yaw=0.0093 right_pitch=-0.1511 right_roll=-0.0823 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.5795, 7.0085, 1.7314, -0.0806, -0.0659, -0.0122, -0.2256, -6.6256, 7.8017, 1.9072, 0.2466, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4133, -0.0193, -0.0387, 0.9991, 0.4454, 1.5635, 0.7937, -0.0051, 0.3389, 0.1905, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1721 left_yaw=0.0025 left_pitch=-0.0294 left_roll=-0.0032 left_gripper=0.9991 right_x=0.3892 right_y=0.1247 right_z=0.0831 right_yaw=0.0421 right_pitch=-0.1401 right_roll=-0.0796 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7607, -0.0513, -0.0757, -0.0122, -0.2256, -7.3094, 7.8974, 1.8926, 0.0904, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4286, -0.0189, -0.0387, 0.9991, 0.4522, 2.0205, 0.5362, 1.1809, 0.4107, 0.0742, 0.9994]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1686 left_yaw=0.0022 left_pitch=-0.0461 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4226 right_y=0.1309 right_z=0.0417 right_yaw=0.0388 right_pitch=0.3049 right_roll=-0.0297 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -1.4154, 7.0632, 1.8291, -0.0611, 0.0073, -0.0122, -0.335, -5.6137, 2.6325, 0.9646, 0.2466, -0.4615, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ea5d5c78226ad9558720e29c638d07c8769a286cf04f24ceb4b535ee65af2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca5edda8a5d9a4d7b664a55ba46c4fa516c21f886177b9861da14ee401beb3ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9927960713e558e2892626b55d77e5d55f1c7f31315e1daed4834aff3b3e9b67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQYKjgEIEhgCKkDBxwAHYjn5Rt/g1p3n856+S/EB6x0/QnDS+UW5UwsmpH0Izy3EAqTJdAUaUv9ip03RGyfqU0e3WOLx8disi0KXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfOFzNUGEgzjv2sb6GAPQS29iM8aDCeeiPhfmhNXKQzIOyIw81u0G4DDXTuwPWWo0I8021WcdRfDAm/0vQJMp9xb15cOfnZxwvGrQlyGIMbX7z9yKq8Ef9/Dcgj0nGFFwybewD0x4FWorCPkn0uzr01sbFioRj9wIfjBgZPLZ+WzWsADMWdUbDsa7LmKHUvHpRlRCkibPHAiUToyJi0sRhfISzJiR3bB32xMlB4Jfnl4VEmsBU0ZS7dNujDksu7VvkX/zCaDQIJkkGFqok0JQs659XojrbWg9Qht07NAemj8fYW5kQVgHIf8wEtrrrPiLUr8rftP6rVqxSoaD7QaSiqyhdmp06v8hRh+Zc8P6TPhIffGe5QMBIiXY++02GJHF+yJETXSJJIcqOYP1ygRtuWBABNtpyhvkfaNAn4qrFw8rOQ88KJYUDNnlh/XZQjPCCszUezXMn6dJWLBcMG1i8LHGAHTSU0s2mZzsEtc4tSNLLFJitvqjGHxT9j+GAETggKV5LGpy7jOXNrdMYVdqZ/d7NMob6bSoiQ+/eux/zJ5F8PIyfpbigrKoWSCM5n65TZ6FBT8u26TxHAvrABIM/IaukOUYwriGTv247iUnkfNMSPDXieIsdVax32WHall2HM6djBpGjk+6fg3pYbRFaSFZWCpizHPAKgACplAR02igg0/GHMuTDcFfLYmMC+Lhd6cXcfpMF8z4wLN2UesXCWZaZWDZYExvc+l1m+haEKjvcHDBTop1K9cG+R5BzaAEIlrTvZpGg4mvWgdyvVR5hFpAn30zSmktIC1LBTJWjAM6+dTyu9M5w81ns01dwMv9QLF2xJXrY1tBfA78JSOPXW8wtBp/RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016ZXD5rsKT37N7j2GKsigWi",
      "input": {
        "note": "Lemon is between the jaws but slightly right of the jaw column; nudging 1.5 cm right and down to mid-lemon height before closing.",
        "targets": {
          "right_y": 0.115,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_016ZXD5rsKT37N7j2GKsigWi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4316, -0.0189, -0.0387, 0.9991, 0.4263, 2.0464, 0.5232, 1.2594, 0.3805, 0.0555, 0.9994]\nstate[eef_state]: left_x=0.2885 left_y=0.0015 left_z=0.168 left_yaw=0.0022 left_pitch=-0.0492 left_roll=-0.003 left_gripper=0.9991 right_x=0.4251 right_y=0.1249 right_z=0.044 right_yaw=0.0449 right_pitch=0.338 right_roll=-0.0244 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -0.9094, 6.9949, 1.7167, -0.0611, -0.0415, -0.0122, -0.6632, -6.0103, 2.7829, 1.7802, 0.1148, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef0c3e6106fd4923b81d47817d555738043a5a248cc1120dc34867a5b945b9d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cd8b5717199bcf1115cf40533fcc02aaf6819812750dfa43dabc2199166eaa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51b14db8470df6555fa8db501c7d26d41f63d693b3f6175124f94398abc391d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.334 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4133, -0.0193, -0.0387, 0.9991, 0.4454, 1.5635, 0.7937, -0.0051, 0.3389, 0.1905, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1721 left_yaw=0.0025 left_pitch=-0.0294 left_roll=-0.0032 left_gripper=0.9991 right_x=0.3892 right_y=0.1247 right_z=0.0831 right_yaw=0.0421 right_pitch=-0.1401 right_roll=-0.0796 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.7607, -0.0513, -0.0757, -0.0122, -0.2256, -7.3094, 7.8974, 1.8926, 0.0904, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4286, -0.0189, -0.0387, 0.9991, 0.4522, 2.0205, 0.5362, 1.1809, 0.4107, 0.0742, 0.9994]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1686 left_yaw=0.0022 left_pitch=-0.0461 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4226 right_y=0.1309 right_z=0.0417 right_yaw=0.0388 right_pitch=0.3049 right_roll=-0.0297 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -1.4154, 7.0632, 1.8291, -0.0611, 0.0073, -0.0122, -0.335, -5.6137, 2.6325, 0.9646, 0.2466, -0.4615, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4316, -0.0189, -0.0387, 0.9991, 0.4263, 2.0464, 0.5232, 1.2594, 0.3805, 0.0555, 0.9994]\nstate[eef_state]: left_x=0.2885 left_y=0.0015 left_z=0.168 left_yaw=0.0022 left_pitch=-0.0492 left_roll=-0.003 left_gripper=0.9991 right_x=0.4251 right_y=0.1249 right_z=0.044 right_yaw=0.0449 right_pitch=0.338 right_roll=-0.0244 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -0.9094, 6.9949, 1.7167, -0.0611, -0.0415, -0.0122, -0.6632, -6.0103, 2.7829, 1.7802, 0.1148, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef0c3e6106fd4923b81d47817d555738043a5a248cc1120dc34867a5b945b9d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cd8b5717199bcf1115cf40533fcc02aaf6819812750dfa43dabc2199166eaa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51b14db8470df6555fa8db501c7d26d41f63d693b3f6175124f94398abc391d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjwMKjgEIEhgCKkD129GH3qq056JQho0+nOpUXPnvidhBxUxG37o6NG1XJBq/0JUw7zmGMk9Es4XQ3sxwWwhXxgvmFLNs8GWiAmPZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfeFzNUGEgxN2eJ1taxzuAAEQh4aDIiymSgEwInYFOaRqyIwL2rIgatNohrppppCsAkutRtXU7akfH9BxPInUvfMaamj9CxLq4PbZyOSB9u0rPMWKq0Bh+B28PjStUQ+WY8jbuG2Tj1PipzKLOtFoxOiaxTw0DgehPCB+h95hCB+rzZSvRBTjlWBnw8EF/v2u15pwxHbclp7YFHv/Z57i0lKNJvITsOBx4YfkMXp++ITOCddNZVVk9w7Eq21J5aPgFiM3R4ZjoIec7eGdgzWgwYwNZt8rm9mpfD5mhsHbtT+fODosPKp/JgEbT/ugZ7Y29N6breMov68obHDPnCBI9wQk1EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RwJA8bNdNi6JvPTQ1jsEjK",
      "input": {
        "note": "Lemon sits between the two jaw wedges in 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_01RwJA8bNdNi6JvPTQ1jsEjK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4511, -0.0189, -0.0387, 0.9991, 0.4, 2.0537, 0.5159, 1.29, 0.3542, 0.0525, 0.0088]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1641 left_yaw=0.0022 left_pitch=-0.0686 left_roll=-0.0026 left_gripper=0.9991 right_x=0.4272 right_y=0.118 right_z=0.0453 right_yaw=0.0415 right_pitch=0.3505 right_roll=-0.0148 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -1.265, 6.9812, 1.873, -0.0562, -0.0562, -0.0122, 0.0068, -6.5983, 2.6735, 1.6679, 0.0952, 0.022, 0.7253]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04be9b673b5e70f194f3a5c8ef17a7a1ab9bf5b3e21bbc476e0e2da5ce768057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc72b5b37fdc62f7310e2843e47fdcbd8c74eb9a6545fc3a30dd68992ad1c5a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e403bc64220ed0f0832a93f2cdcd37065a4875ce96db2ad065d67fedc27d6e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 10.38 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4286, -0.0189, -0.0387, 0.9991, 0.4522, 2.0205, 0.5362, 1.1809, 0.4107, 0.0742, 0.9994]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1686 left_yaw=0.0022 left_pitch=-0.0461 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4226 right_y=0.1309 right_z=0.0417 right_yaw=0.0388 right_pitch=0.3049 right_roll=-0.0297 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -1.4154, 7.0632, 1.8291, -0.0611, 0.0073, -0.0122, -0.335, -5.6137, 2.6325, 0.9646, 0.2466, -0.4615, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4316, -0.0189, -0.0387, 0.9991, 0.4263, 2.0464, 0.5232, 1.2594, 0.3805, 0.0555, 0.9994]\nstate[eef_state]: left_x=0.2885 left_y=0.0015 left_z=0.168 left_yaw=0.0022 left_pitch=-0.0492 left_roll=-0.003 left_gripper=0.9991 right_x=0.4251 right_y=0.1249 right_z=0.044 right_yaw=0.0449 right_pitch=0.338 right_roll=-0.0244 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -0.9094, 6.9949, 1.7167, -0.0611, -0.0415, -0.0122, -0.6632, -6.0103, 2.7829, 1.7802, 0.1148, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4511, -0.0189, -0.0387, 0.9991, 0.4, 2.0537, 0.5159, 1.29, 0.3542, 0.0525, 0.0088]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1641 left_yaw=0.0022 left_pitch=-0.0686 left_roll=-0.0026 left_gripper=0.9991 right_x=0.4272 right_y=0.118 right_z=0.0453 right_yaw=0.0415 right_pitch=0.3505 right_roll=-0.0148 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -1.265, 6.9812, 1.873, -0.0562, -0.0562, -0.0122, 0.0068, -6.5983, 2.6735, 1.6679, 0.0952, 0.022, 0.7253]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04be9b673b5e70f194f3a5c8ef17a7a1ab9bf5b3e21bbc476e0e2da5ce768057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc72b5b37fdc62f7310e2843e47fdcbd8c74eb9a6545fc3a30dd68992ad1c5a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e403bc64220ed0f0832a93f2cdcd37065a4875ce96db2ad065d67fedc27d6e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5gUKjgEIEhgCKkA92o7m6xXhTo7cEyLxaP9rJteyQzr2sjmPwZfaKTJsBVun+26KqrWz0kVZ8kNkMjDaGk+M4rLjNU3HiD6PHd3yMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf2FzNUGEgz7y0yu/1PmyKfyGmsaDNrSUcbgqZN8fxQ1CiIw+RFPOvD8b+6f1veLOIHReHpw5gJgyT2+64B1WXg+ZiSJlQz2A/M8SC2R2ZaxqRhLKoQE9VmRrVjRMNS2lU2jdgYFjbVzXHdXWaDhJ/8OuN757UFwuXCeT0WmT/u91yuV7p3tX6cK1tGdakMMbE+fNUeuSo5SIUlKiwRW/EMTLsB40ZY1MQV8UHmrVA5FQWImTymaHvXN6Fc5Qw7Fr9TX9PWgg0ppRuyO+0WRC8vZC/b44E4rvWViPSZtojZ3Urk1KPxawCSyAZw7LlO3ULhOmnP9iiuhrE8w8vh6oXKD3nE8D3mH30Od2LYO9hGVywG5EcGUuGOWK1ChRXZqqaL2ZdiJ4G5cptJ9DmW0F6JDdRMA9yfS3iDY44F/sWkIelD4Jnck/cPNOwmZ8wNpBJqSWvba1B0BZAmo+W9VWEC8zrgfcoy8HkS3HfqCwclyMLnTEeJVwUlSuZCxvsJd1gieDWIVN6RRwS3Zhv6EqmrVrZtzoDVqDWNnG0qrfHCU3pEhWlRm1KfguKAh6HXHeVo/Wo17MsAqtYwyk3yGOlsxmvUXjkWYU/oyepxz5vq0e3mbvHzJpsw/07xc8a150aSKzi9uhEcwXhiw1OFt8UOfD7NqQ/ZApjPu8Yf7qLKK4Ml04yPhgAuyxrjZ9ntFunq0duvfz07cjdraWtwJF+uQ0ATn2Qa9MgRTDzhNaiIzN5XwLfC307q/zD9Qw1qSgvZeFGMcumcAhKJxSBPvLWYmGyCe1DKFsH0CGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018NfAV8JdwFr46vQsaysfkk",
      "input": {
        "note": "Gripper closed to a near-zero reading which usually means empty, but the wrist view still shows yellow at the jaws; lifting 7 cm to check in the overhead view whether the lemon came up.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018NfAV8JdwFr46vQsaysfkk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0387, 0.9991, 0.3996, 1.7329, 0.5335, 0.9588, 0.3466, 0.0517, 0.0102]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0023 left_pitch=-0.0793 left_roll=-0.0024 left_gripper=0.9991 right_x=0.4246 right_y=0.1181 right_z=0.11 right_yaw=0.0474 right_pitch=0.3566 right_roll=-0.011 right_gripper=0.0102\nstate[joint_eff]: [0.0068, -1.388, 6.9812, 1.7314, -0.0611, -0.0366, -0.0122, -0.3214, -7.8291, 7.2547, 2.1368, 0.1148, -0.0269, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:459170061438efae8e326a86e584eeb957a08e86b96395e08a415306d9887623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c503f0879792abc42fb0c5a92addacb8c1d28c97acb139f440b8495c485bd4f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c1829bcaaf78c1e6c83dcf6c4ff1b983187d5a588a9fb003f65d01e725dbff3",
        "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 · 6.115 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4316, -0.0189, -0.0387, 0.9991, 0.4263, 2.0464, 0.5232, 1.2594, 0.3805, 0.0555, 0.9994]\nstate[eef_state]: left_x=0.2885 left_y=0.0015 left_z=0.168 left_yaw=0.0022 left_pitch=-0.0492 left_roll=-0.003 left_gripper=0.9991 right_x=0.4251 right_y=0.1249 right_z=0.044 right_yaw=0.0449 right_pitch=0.338 right_roll=-0.0244 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -0.9094, 6.9949, 1.7167, -0.0611, -0.0415, -0.0122, -0.6632, -6.0103, 2.7829, 1.7802, 0.1148, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4511, -0.0189, -0.0387, 0.9991, 0.4, 2.0537, 0.5159, 1.29, 0.3542, 0.0525, 0.0088]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1641 left_yaw=0.0022 left_pitch=-0.0686 left_roll=-0.0026 left_gripper=0.9991 right_x=0.4272 right_y=0.118 right_z=0.0453 right_yaw=0.0415 right_pitch=0.3505 right_roll=-0.0148 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -1.265, 6.9812, 1.873, -0.0562, -0.0562, -0.0122, 0.0068, -6.5983, 2.6735, 1.6679, 0.0952, 0.022, 0.7253]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0387, 0.9991, 0.3996, 1.7329, 0.5335, 0.9588, 0.3466, 0.0517, 0.0102]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0023 left_pitch=-0.0793 left_roll=-0.0024 left_gripper=0.9991 right_x=0.4246 right_y=0.1181 right_z=0.11 right_yaw=0.0474 right_pitch=0.3566 right_roll=-0.011 right_gripper=0.0102\nstate[joint_eff]: [0.0068, -1.388, 6.9812, 1.7314, -0.0611, -0.0366, -0.0122, -0.3214, -7.8291, 7.2547, 2.1368, 0.1148, -0.0269, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:459170061438efae8e326a86e584eeb957a08e86b96395e08a415306d9887623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c503f0879792abc42fb0c5a92addacb8c1d28c97acb139f440b8495c485bd4f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c1829bcaaf78c1e6c83dcf6c4ff1b983187d5a588a9fb003f65d01e725dbff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISnQYKjgEIEhgCKkDIWDqUF3ivfAC6JcfWB9FZRIzHuWmuMpptxiocb7xI61bUSiq32hkxsEjadTQAQsnClfZBN8dFeCltj+XZFU3mMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYiGzNUGEgxcaK4slwqgmULLAaMaDMlpGLe+8qmVvdC7YCIwKs+55ei0L+tMbvcuQu9VJrIxqQzYPtCZyFa4yG9KPfI001EeSQMX8xzJVvJjF8hIKrsEFBl5JkbuDfX4FJ41S0CLlf9LiUzmQjMJ5Ln56z+fPdNEUeyagxKrY+tBtRYzXAerS8BiPtV1WdSIfu5NcNBq79VrprzM8wv9QizKI4ADZ/nJvcIQQT1fGqSmhUQ/vjB4H0kP75zChWVT1MIGfwJKl6dXaZv4GfKvXM8g4jlGjqe/H1LKSukgniFeDWEeC79dogSpQoO0HEAn5ObRdCgF6+3061pksOOmzQtVB2mufxkly9AfvDkt0hhKkhhDsmw+cjx9sqQitthb0N0ux/AWYeTur3IB4o6jx3f6wYabxczZmOslG4ZrG5FV4fcGlg6z50rHybdmodL/cheA+wfOFhU4iyqjiBY6Ovumug6J3/Ci331MMjBxmGqAhU3x17qWp5KF5JDbHcr6kllQ1cDuyR9S0GPjXCfSR59Q3ED5A24AaBrDVERY70rswmyj4Mtr8gnH209sQlYcDZWdy9KMiuunOONUbOSCEAqPnfaP2vZ1m680+DzhK7WHRH5xGn0U7WlNNhlfPA+SXBqC4Fa9ZLAcoDArjNmiFY6DxcvZg13s4jGTfvXgcTp2V4xIRByBAuIn2rz00aFjScqjp9d+rnY4gk2YYmfrmchcBZ08orRSr0VqtPFlOonWzHhINo/E3NqHncDDBVNSA/dlsFPcTFxrUDyKvEldg8JEjuxhz+yIDlR/6TlFT3BOzN3sRWGQI7VOM5TIkqEUY0PuR7iD+ydM5PoN7lrebsWdmUj1ZCC7cdpwyDO3wXk0ABgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ETgaUkgXAUtUzJt5jc2eqt",
      "input": {
        "note": "The close was empty — the lemon is still on the table next to the case. Opening the gripper and backing off 4 cm to re-locate it in the wrist view.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.39,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ETgaUkgXAUtUzJt5jc2eqt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4732, -0.0189, -0.0391, 0.9991, 0.4526, 1.5146, 0.4652, 0.7773, 0.3832, 0.0555, 0.9949]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1588 left_yaw=0.0025 left_pitch=-0.0946 left_roll=-0.0023 left_gripper=0.9991 right_x=0.3913 right_y=0.1209 right_z=0.1304 right_yaw=0.0699 right_pitch=0.3304 right_roll=-0.0284 right_gripper=0.9949\nstate[joint_eff]: [-0.1299, -1.0735, 7.0085, 1.7949, -0.0317, -0.0611, -0.0122, 0.2393, -7.0222, 5.2718, 1.9707, 0.1245, 0.0415, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:febc44805e5c2265a932e66df6af767652ba5e57b09a1b61ab20b6eb2c8ae562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:292d5e7c570c09292df1f02917cffd6d76a9752e276fe573d8e6379e634780e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27abfd5789fa9a2fb570929b84cec6d46e1a5a12d8e987f19cb836a4f62ee47a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 12.2 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4511, -0.0189, -0.0387, 0.9991, 0.4, 2.0537, 0.5159, 1.29, 0.3542, 0.0525, 0.0088]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1641 left_yaw=0.0022 left_pitch=-0.0686 left_roll=-0.0026 left_gripper=0.9991 right_x=0.4272 right_y=0.118 right_z=0.0453 right_yaw=0.0415 right_pitch=0.3505 right_roll=-0.0148 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -1.265, 6.9812, 1.873, -0.0562, -0.0562, -0.0122, 0.0068, -6.5983, 2.6735, 1.6679, 0.0952, 0.022, 0.7253]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0387, 0.9991, 0.3996, 1.7329, 0.5335, 0.9588, 0.3466, 0.0517, 0.0102]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0023 left_pitch=-0.0793 left_roll=-0.0024 left_gripper=0.9991 right_x=0.4246 right_y=0.1181 right_z=0.11 right_yaw=0.0474 right_pitch=0.3566 right_roll=-0.011 right_gripper=0.0102\nstate[joint_eff]: [0.0068, -1.388, 6.9812, 1.7314, -0.0611, -0.0366, -0.0122, -0.3214, -7.8291, 7.2547, 2.1368, 0.1148, -0.0269, 0.1294]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4732, -0.0189, -0.0391, 0.9991, 0.4526, 1.5146, 0.4652, 0.7773, 0.3832, 0.0555, 0.9949]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1588 left_yaw=0.0025 left_pitch=-0.0946 left_roll=-0.0023 left_gripper=0.9991 right_x=0.3913 right_y=0.1209 right_z=0.1304 right_yaw=0.0699 right_pitch=0.3304 right_roll=-0.0284 right_gripper=0.9949\nstate[joint_eff]: [-0.1299, -1.0735, 7.0085, 1.7949, -0.0317, -0.0611, -0.0122, 0.2393, -7.0222, 5.2718, 1.9707, 0.1245, 0.0415, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:febc44805e5c2265a932e66df6af767652ba5e57b09a1b61ab20b6eb2c8ae562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:292d5e7c570c09292df1f02917cffd6d76a9752e276fe573d8e6379e634780e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27abfd5789fa9a2fb570929b84cec6d46e1a5a12d8e987f19cb836a4f62ee47a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS1AYKjgEIEhgCKkAeldrEfXyWec44MoFf7etElbGE/Cij/Ndp9VTrQZfvF3172Q8+EE7SiisXXYAWfAWo+WXYR4tcgdSQ8xJ/jD+8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY+GzNUGEgxD/PThB0xZIbZY0wYaDJxggnnzalEAVaC39yIwM0yaLSj8oUBsa87xy/GYg4oNdJC46+shpJOv4Yo5sqb9CBquQo2jqTyjtEcChr/BKvIEWE/Gv7Nc4raVJjcYKvAy1xH0Ye1onXTgL6xjrHHHD1gxK0MjaihMxREeyY+WsT7jq7ZiqykAg4Jf9/7gvhf+ckml4r1/fozsIi1Ldo9bvHZgGBpWDy8SnAMdj9cYAdtce3g5rH2N7X0+M4Hm4fC5Qb3Un7k83HdaJxg1wTY9SjHWkahaiV9MSmw8A2w8KDrc5NdxagGeL0A7cezt02Bbxjk0Sz1X77MXfooeI75nYCZRaQbjBBlu61qCqST+xEou7gu2K8EqIltqi8xsWQUNJlozYNY3wlG68lpokQuLx+TZRySujw3KlLw6GzBiTw8n2R9jcUqQsEMp13T4+6m1wefo+CtWas7XOIs4+eNA3GfF2wMy/cTDc3dFSrONtd4eqA2DWiGcqvnUnXa5n2Wd1M94u2i8iWyh1tHzrfwIDWog5CSDmnrp+AceZI2vgzUtn0Texc49EVeYtKoM/N8v3Gjx37K7M4azhkaLwUwgzkyUhODJXxy+UC75o3711V6jPKqekaDgZDDcV5K3LAk11lrTWttTj0cBcCZYASEaJemMrUlaaPzfgCm7mWMqOzir7M/Xa8wcz8c+UrelIXzJr/7ukmSaIqccdPLew9RxpI069sAC4meOG/+WdDH6lRVZ42HHjyu0qhyxQtKMXu7RaIddKLRHCwXlzvU62Ia3dLJLtorfDdhwtARJ7HD4c9JYqUf8W+nieZRqTgrlYPFvk7QMSMHBGKkZ2Vx9oWe5bMJv5lzWGfr7rmiRZfZ2ePEPBhE1Y+jcr2NSH07q4wKcJEZZBR0h2gSVeGav9QNisTgrDLevY2/FTTOBeuMrI9/SH9YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BodyzGxqoDcx948TiK6Yib",
      "input": {
        "note": "The lemon now sits centered between the jaw wedges, low in the wrist frame, so it is right under the fingertips; descending to lemon mid-height.",
        "targets": {
          "right_x": 0.4,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01BodyzGxqoDcx948TiK6Yib",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8131, 0.6067, -0.4858, -0.0189, -0.0391, 0.9991, 0.4423, 2.0293, 0.4156, 1.3418, 0.3687, 0.0605, 0.9966]\nstate[eef_state]: left_x=0.2808 left_y=0.0016 left_z=0.155 left_yaw=0.0025 left_pitch=-0.1125 left_roll=-0.002 left_gripper=0.9991 right_x=0.3988 right_y=0.1224 right_z=0.0386 right_yaw=0.0694 right_pitch=0.3294 right_roll=-0.0193 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7162, 7.2, 1.7607, -0.0317, -0.0708, -0.0122, -0.4444, -5.559, 3.2342, 0.7253, 0.0659, -0.1343, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:625f9b27f067f6ffa1d266dd570220ed59447e3dd768113312107158ae7acad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:664e7c8bedcb510a36ad429c54ed9139b02932aa4aa230464cf0889bab7990f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72c01ca95570a76cf2e8833d07252eeff3757628bd904d4d4647ff000fc0857c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.684 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0387, 0.9991, 0.3996, 1.7329, 0.5335, 0.9588, 0.3466, 0.0517, 0.0102]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0023 left_pitch=-0.0793 left_roll=-0.0024 left_gripper=0.9991 right_x=0.4246 right_y=0.1181 right_z=0.11 right_yaw=0.0474 right_pitch=0.3566 right_roll=-0.011 right_gripper=0.0102\nstate[joint_eff]: [0.0068, -1.388, 6.9812, 1.7314, -0.0611, -0.0366, -0.0122, -0.3214, -7.8291, 7.2547, 2.1368, 0.1148, -0.0269, 0.1294]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4732, -0.0189, -0.0391, 0.9991, 0.4526, 1.5146, 0.4652, 0.7773, 0.3832, 0.0555, 0.9949]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1588 left_yaw=0.0025 left_pitch=-0.0946 left_roll=-0.0023 left_gripper=0.9991 right_x=0.3913 right_y=0.1209 right_z=0.1304 right_yaw=0.0699 right_pitch=0.3304 right_roll=-0.0284 right_gripper=0.9949\nstate[joint_eff]: [-0.1299, -1.0735, 7.0085, 1.7949, -0.0317, -0.0611, -0.0122, 0.2393, -7.0222, 5.2718, 1.9707, 0.1245, 0.0415, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8131, 0.6067, -0.4858, -0.0189, -0.0391, 0.9991, 0.4423, 2.0293, 0.4156, 1.3418, 0.3687, 0.0605, 0.9966]\nstate[eef_state]: left_x=0.2808 left_y=0.0016 left_z=0.155 left_yaw=0.0025 left_pitch=-0.1125 left_roll=-0.002 left_gripper=0.9991 right_x=0.3988 right_y=0.1224 right_z=0.0386 right_yaw=0.0694 right_pitch=0.3294 right_roll=-0.0193 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7162, 7.2, 1.7607, -0.0317, -0.0708, -0.0122, -0.4444, -5.559, 3.2342, 0.7253, 0.0659, -0.1343, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:625f9b27f067f6ffa1d266dd570220ed59447e3dd768113312107158ae7acad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:664e7c8bedcb510a36ad429c54ed9139b02932aa4aa230464cf0889bab7990f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72c01ca95570a76cf2e8833d07252eeff3757628bd904d4d4647ff000fc0857c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UX1vV8LUjzqMNuFw81Y4N3",
      "input": {
        "note": "Lemon is centered but a few cm beyond the fingertips; straightening the tool to vertical for a clean top-down grasp and advancing over the lemon.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.425,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01UX1vV8LUjzqMNuFw81Y4N3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5022, -0.0189, -0.0387, 0.9991, 0.3824, 1.7576, 0.6804, 0.4629, 0.2695, 0.1135, 0.9968]\nstate[eef_state]: left_x=0.2782 left_y=0.0017 left_z=0.1516 left_yaw=0.0024 left_pitch=-0.13 left_roll=-0.0013 left_gripper=0.9991 right_x=0.4193 right_y=0.1218 right_z=0.0457 right_yaw=0.0824 right_pitch=-0.0071 right_roll=-0.0436 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.3744, 7.0496, 1.7949, -0.0708, -0.0317, -0.0122, -0.5128, -9.935, 7.2137, 1.956, 0.0122, 0.2027, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbb94bbc10aaddb95a4ea069207b4a9d59867e66d7b9e7b5a6a8965edd08b231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41a9ed8526157dc5e4992301493e3e6ce3c843fb76c47f1a6ea22877eea4a9c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8764570ee4e942959da1951358ceaf5a07b922f672f58dff7f05991b1e5a4a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 8.238 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4732, -0.0189, -0.0391, 0.9991, 0.4526, 1.5146, 0.4652, 0.7773, 0.3832, 0.0555, 0.9949]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1588 left_yaw=0.0025 left_pitch=-0.0946 left_roll=-0.0023 left_gripper=0.9991 right_x=0.3913 right_y=0.1209 right_z=0.1304 right_yaw=0.0699 right_pitch=0.3304 right_roll=-0.0284 right_gripper=0.9949\nstate[joint_eff]: [-0.1299, -1.0735, 7.0085, 1.7949, -0.0317, -0.0611, -0.0122, 0.2393, -7.0222, 5.2718, 1.9707, 0.1245, 0.0415, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8131, 0.6067, -0.4858, -0.0189, -0.0391, 0.9991, 0.4423, 2.0293, 0.4156, 1.3418, 0.3687, 0.0605, 0.9966]\nstate[eef_state]: left_x=0.2808 left_y=0.0016 left_z=0.155 left_yaw=0.0025 left_pitch=-0.1125 left_roll=-0.002 left_gripper=0.9991 right_x=0.3988 right_y=0.1224 right_z=0.0386 right_yaw=0.0694 right_pitch=0.3294 right_roll=-0.0193 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7162, 7.2, 1.7607, -0.0317, -0.0708, -0.0122, -0.4444, -5.559, 3.2342, 0.7253, 0.0659, -0.1343, 0.1636]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5022, -0.0189, -0.0387, 0.9991, 0.3824, 1.7576, 0.6804, 0.4629, 0.2695, 0.1135, 0.9968]\nstate[eef_state]: left_x=0.2782 left_y=0.0017 left_z=0.1516 left_yaw=0.0024 left_pitch=-0.13 left_roll=-0.0013 left_gripper=0.9991 right_x=0.4193 right_y=0.1218 right_z=0.0457 right_yaw=0.0824 right_pitch=-0.0071 right_roll=-0.0436 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.3744, 7.0496, 1.7949, -0.0708, -0.0317, -0.0122, -0.5128, -9.935, 7.2137, 1.956, 0.0122, 0.2027, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbb94bbc10aaddb95a4ea069207b4a9d59867e66d7b9e7b5a6a8965edd08b231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41a9ed8526157dc5e4992301493e3e6ce3c843fb76c47f1a6ea22877eea4a9c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8764570ee4e942959da1951358ceaf5a07b922f672f58dff7f05991b1e5a4a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsQQKjgEIEhgCKkCD7vyJqLVfTz288hWjb7TABfighOAEPDwwEv0RU4UdJyrjt0aYrfr5VdEcFNzzw8fhvN2wVzSQhFTbP1KjbACOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaKGzNUGEgy0VW2gpZtPc/ximgEaDAT9AUdsGmeeFsYyUiIwWQ2FN1sZ2jaSOOJ21fowWHMG+yFJZBOK8O48RvqG1Er2YK+FrJt26MRQ3T0OjT+8Ks8CihMh6oOFws+6N2yvOZ7gE3yXpYsKJrL5DoP+vFMCaTYS4ZDW/T5ekfJI8flzofgFG2ngasg+3/8obShhvvF9jUfaiYK/9TkaHxPyedt9DqzgljNrUpcqNiJ5rqoCXn5x3vCEUI2eUgZt4C0lazzb2YdYUZS/LrlycxIIA3aeb9zDc1Je/kSOngCmtJZpxx03Heg2UYeZEuajkMlFEzKIGb+ZH6rQHsC4tEMtW4HV8ODcEFirgT/R7+ww3Kn/33NvpEoa7I29KmshbJTctmtdDbkcYZ2TswoFvpsHdPCmQQBz9hB0UwNEkXeuYvOZ32WjT3pCoaBoFdb1MZJOgzvnuq0QB6rHD4+Ry3vHRwg8g7/jDiyfRqCvpHTjpgWiMOon0txRcDFN3SWFqDdDPJMjA/+tCkNBWKMchKBedVvlqZdrVKIL3Nm0rHGzBsUZQJwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K65BdNrmyigNZjuyvW23WG",
      "input": {
        "note": "With the tool vertical the lemon is centered on the jaw column but still ~2 cm beyond the fingertips; advancing and dropping to mid-lemon height.",
        "targets": {
          "right_x": 0.44,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01K65BdNrmyigNZjuyvW23WG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5064, -0.0189, -0.0383, 0.9991, 0.3691, 1.8091, 0.7212, 0.4187, 0.2562, 0.1081, 0.9968]\nstate[eef_state]: left_x=0.2775 left_y=0.0017 left_z=0.1508 left_yaw=0.0022 left_pitch=-0.1342 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4237 right_y=0.1197 right_z=0.0301 right_yaw=0.0824 right_pitch=-0.0621 right_roll=-0.0562 right_gripper=0.9968\nstate[joint_eff]: [-0.0479, -1.2239, 7.2821, 1.6581, -0.0659, -0.0073, -0.0122, -0.6222, -7.4462, 6.5573, 1.9609, 0.1001, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2210e0077a578c0958e61f0d3149fb47bb8c1ac220374d90252574c4fc186801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6356e2416128d40dc87236624466f9ae5b9ef2bef8c468e882241f7644776ea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c07fd7093dcef586ce35aa5281550750eb2b7b6effe38fc83ead942e4de239b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 13.49 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8131, 0.6067, -0.4858, -0.0189, -0.0391, 0.9991, 0.4423, 2.0293, 0.4156, 1.3418, 0.3687, 0.0605, 0.9966]\nstate[eef_state]: left_x=0.2808 left_y=0.0016 left_z=0.155 left_yaw=0.0025 left_pitch=-0.1125 left_roll=-0.002 left_gripper=0.9991 right_x=0.3988 right_y=0.1224 right_z=0.0386 right_yaw=0.0694 right_pitch=0.3294 right_roll=-0.0193 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7162, 7.2, 1.7607, -0.0317, -0.0708, -0.0122, -0.4444, -5.559, 3.2342, 0.7253, 0.0659, -0.1343, 0.1636]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5022, -0.0189, -0.0387, 0.9991, 0.3824, 1.7576, 0.6804, 0.4629, 0.2695, 0.1135, 0.9968]\nstate[eef_state]: left_x=0.2782 left_y=0.0017 left_z=0.1516 left_yaw=0.0024 left_pitch=-0.13 left_roll=-0.0013 left_gripper=0.9991 right_x=0.4193 right_y=0.1218 right_z=0.0457 right_yaw=0.0824 right_pitch=-0.0071 right_roll=-0.0436 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.3744, 7.0496, 1.7949, -0.0708, -0.0317, -0.0122, -0.5128, -9.935, 7.2137, 1.956, 0.0122, 0.2027, 0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5064, -0.0189, -0.0383, 0.9991, 0.3691, 1.8091, 0.7212, 0.4187, 0.2562, 0.1081, 0.9968]\nstate[eef_state]: left_x=0.2775 left_y=0.0017 left_z=0.1508 left_yaw=0.0022 left_pitch=-0.1342 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4237 right_y=0.1197 right_z=0.0301 right_yaw=0.0824 right_pitch=-0.0621 right_roll=-0.0562 right_gripper=0.9968\nstate[joint_eff]: [-0.0479, -1.2239, 7.2821, 1.6581, -0.0659, -0.0073, -0.0122, -0.6222, -7.4462, 6.5573, 1.9609, 0.1001, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2210e0077a578c0958e61f0d3149fb47bb8c1ac220374d90252574c4fc186801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6356e2416128d40dc87236624466f9ae5b9ef2bef8c468e882241f7644776ea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c07fd7093dcef586ce35aa5281550750eb2b7b6effe38fc83ead942e4de239b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQQKjgEIEhgCKkARCLNSlk71xXvN/l1ooB/jQ+6nc+V84FhnJp2MJUac1u++o4uSlqVGYQA+P2PyhQugOvXF5OY5LDwsIAMkF98LMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaqGzNUGEgyqfoEiw4H9arvBlZkaDBEB+2EN/gTph/iz4SIwKqzfQ30doq7oPKCeyApGrPm6KMH1qJKsZrnfPzDVZCM1zOpULhEm1phUkDKZN9qSKusCJwtlAArr+u66c+tgqTtSxRyh3vVJTKdiEFPpKPS9OWp7Uh1SHq74LrA3KfCZ0SVwa5JlRgT8V9xuZwRIAbbn+RW/WSdYx24odkEZ+dQrbv075OJ2V8mrRYAUAEN1ZqhucL6jGDUAWrTwHye+jiVal3PDcsKnoH52CLAnyFi+QWwJUE7JZS6iAokETZ7GtgKHJ1t00WcOiNUj9jtE8Nb0dVFPHgD44JeTfPnfgCYFMXN5v9/2Ds52bi/FoR+VcE0WHVuArdvf3bbxzYeWpN8nQwEIYzLwoq0+iFFO6R1lvyS12shjGJQPcmDEbF+FEh3k7WQ5meDqwfwG7qnNB9iqTLF20Wmz3xtF7bD7qKIc3nYOCWTgE5hFbnwsuPmO8BNvQjpUEPauAkWA4K/Mz7ThKJGXiLqT5g40+JWm2CYffozFBVqEcEgLI1FOmja/yCbZJc9S/AjrrjXWTQcc4aPypVXLt5+0CCsHe37AGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A44XV6rXwG3Xa7BDayvkE2",
      "input": {
        "note": "Lemon fills the space between the jaw wedges at the bottom of the wrist view; closing the gripper partially to pinch it without squeezing it out.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01A44XV6rXwG3Xa7BDayvkE2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6067, -0.5179, -0.0189, -0.0387, 0.9991, 0.3725, 1.829, 0.7273, 0.4225, 0.2462, 0.0929, 0.4515]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1479 left_yaw=0.0024 left_pitch=-0.1487 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4238 right_y=0.1232 right_z=0.0244 right_yaw=0.1022 right_pitch=-0.0738 right_roll=-0.0651 right_gripper=0.4515\nstate[joint_eff]: [-0.1709, -1.2513, 6.9128, 1.6874, -0.0415, -0.0611, -0.0122, -0.6496, -9.7709, 4.6154, 1.5751, 0.1734, 0.1197, 0.9939]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:830f9679d0ee3008b555385a089aca258b1143e7c89c3473b699093c3e164b55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:487b8fe7117599af44d1160e0f5d29ea0625d5da5dd62466a2f5f2222b387ffd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78111b8eb51627254053915bdf36532cddfbaa14177f440c1d5b7df5f5bacbc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 14.04 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5022, -0.0189, -0.0387, 0.9991, 0.3824, 1.7576, 0.6804, 0.4629, 0.2695, 0.1135, 0.9968]\nstate[eef_state]: left_x=0.2782 left_y=0.0017 left_z=0.1516 left_yaw=0.0024 left_pitch=-0.13 left_roll=-0.0013 left_gripper=0.9991 right_x=0.4193 right_y=0.1218 right_z=0.0457 right_yaw=0.0824 right_pitch=-0.0071 right_roll=-0.0436 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.3744, 7.0496, 1.7949, -0.0708, -0.0317, -0.0122, -0.5128, -9.935, 7.2137, 1.956, 0.0122, 0.2027, 0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5064, -0.0189, -0.0383, 0.9991, 0.3691, 1.8091, 0.7212, 0.4187, 0.2562, 0.1081, 0.9968]\nstate[eef_state]: left_x=0.2775 left_y=0.0017 left_z=0.1508 left_yaw=0.0022 left_pitch=-0.1342 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4237 right_y=0.1197 right_z=0.0301 right_yaw=0.0824 right_pitch=-0.0621 right_roll=-0.0562 right_gripper=0.9968\nstate[joint_eff]: [-0.0479, -1.2239, 7.2821, 1.6581, -0.0659, -0.0073, -0.0122, -0.6222, -7.4462, 6.5573, 1.9609, 0.1001, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6067, -0.5179, -0.0189, -0.0387, 0.9991, 0.3725, 1.829, 0.7273, 0.4225, 0.2462, 0.0929, 0.4515]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1479 left_yaw=0.0024 left_pitch=-0.1487 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4238 right_y=0.1232 right_z=0.0244 right_yaw=0.1022 right_pitch=-0.0738 right_roll=-0.0651 right_gripper=0.4515\nstate[joint_eff]: [-0.1709, -1.2513, 6.9128, 1.6874, -0.0415, -0.0611, -0.0122, -0.6496, -9.7709, 4.6154, 1.5751, 0.1734, 0.1197, 0.9939]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:830f9679d0ee3008b555385a089aca258b1143e7c89c3473b699093c3e164b55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:487b8fe7117599af44d1160e0f5d29ea0625d5da5dd62466a2f5f2222b387ffd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78111b8eb51627254053915bdf36532cddfbaa14177f440c1d5b7df5f5bacbc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BcUsGFR52aPaHF7hKr2Bzt",
      "input": {
        "note": "The gripper stopped at 0.45 (≈4.3 cm), so the lemon is held; lifting and moving left over the open case interior before releasing.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.24,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01BcUsGFR52aPaHF7hKr2Bzt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5327, -0.0193, -0.0387, 0.9991, 0.6296, 1.8053, 1.4631, -0.4397, 0.4145, 0.2298, 0.4527]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1448 left_yaw=0.0028 left_pitch=-0.1651 left_roll=-0.0003 left_gripper=0.9991 right_x=0.4413 right_y=0.238 right_z=0.1799 right_yaw=0.1441 right_pitch=-0.1217 right_roll=-0.1009 right_gripper=0.4527\nstate[joint_eff]: [-0.0615, -1.265, 6.8991, 1.7314, -0.0562, -0.0415, -0.0122, -0.2803, -8.5402, 8.1846, 1.3309, 0.3004, 0.149, 0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12540c93551d11e8b6de37b0044b3c318f7860cb8ca6eee1e6224270abcbb668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51812b3f9a09b7ca8d5fee57e02295b62889d7931d2e94cea3ee887012d7ce01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:036b074bad5d123f3d474b7b10059488a18f529ac46c79e2ae83c6c6863f93ec",
        "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 · 8.3 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5064, -0.0189, -0.0383, 0.9991, 0.3691, 1.8091, 0.7212, 0.4187, 0.2562, 0.1081, 0.9968]\nstate[eef_state]: left_x=0.2775 left_y=0.0017 left_z=0.1508 left_yaw=0.0022 left_pitch=-0.1342 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4237 right_y=0.1197 right_z=0.0301 right_yaw=0.0824 right_pitch=-0.0621 right_roll=-0.0562 right_gripper=0.9968\nstate[joint_eff]: [-0.0479, -1.2239, 7.2821, 1.6581, -0.0659, -0.0073, -0.0122, -0.6222, -7.4462, 6.5573, 1.9609, 0.1001, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6067, -0.5179, -0.0189, -0.0387, 0.9991, 0.3725, 1.829, 0.7273, 0.4225, 0.2462, 0.0929, 0.4515]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1479 left_yaw=0.0024 left_pitch=-0.1487 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4238 right_y=0.1232 right_z=0.0244 right_yaw=0.1022 right_pitch=-0.0738 right_roll=-0.0651 right_gripper=0.4515\nstate[joint_eff]: [-0.1709, -1.2513, 6.9128, 1.6874, -0.0415, -0.0611, -0.0122, -0.6496, -9.7709, 4.6154, 1.5751, 0.1734, 0.1197, 0.9939]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5327, -0.0193, -0.0387, 0.9991, 0.6296, 1.8053, 1.4631, -0.4397, 0.4145, 0.2298, 0.4527]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1448 left_yaw=0.0028 left_pitch=-0.1651 left_roll=-0.0003 left_gripper=0.9991 right_x=0.4413 right_y=0.238 right_z=0.1799 right_yaw=0.1441 right_pitch=-0.1217 right_roll=-0.1009 right_gripper=0.4527\nstate[joint_eff]: [-0.0615, -1.265, 6.8991, 1.7314, -0.0562, -0.0415, -0.0122, -0.2803, -8.5402, 8.1846, 1.3309, 0.3004, 0.149, 0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12540c93551d11e8b6de37b0044b3c318f7860cb8ca6eee1e6224270abcbb668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51812b3f9a09b7ca8d5fee57e02295b62889d7931d2e94cea3ee887012d7ce01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:036b074bad5d123f3d474b7b10059488a18f529ac46c79e2ae83c6c6863f93ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TBUvnYnsoiwZBm9fcRdUGQ",
      "input": {
        "note": "The wrist view shows a lemon still sitting on the table to the right, which would mean my gripper is empty, yet the jaws report 0.45; commanding a full close to test whether anything is actually held.",
        "targets": {
          "right_gripper": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TBUvnYnsoiwZBm9fcRdUGQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5404, -0.0189, -0.0383, 0.9991, 0.6327, 1.8107, 1.4551, -0.4774, 0.408, 0.2287, 0.024]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1434 left_yaw=0.0023 left_pitch=-0.1728 left_roll=-0.0001 left_gripper=0.9991 right_x=0.4341 right_y=0.2359 right_z=0.1677 right_yaw=0.1494 right_pitch=-0.1692 right_roll=-0.1216 right_gripper=0.024\nstate[joint_eff]: [-0.0205, -1.2513, 6.8855, 1.6239, -0.0317, -0.0073, -0.0122, -0.4718, -10.0718, 7.4325, 1.8388, 0.2222, -0.0073, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd86cf9d4fcb817e85776140d43f90976f84e4ed2fad07488476431a9ed918d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:871d85fe95d3a2226854f223c570e3bace9bef4b25731d398e30dcf6f23f0138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0c4174050b5ea3e0fa9d7e99cada1f903fa2920d09267b3751ba93cdd399ff3",
        "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 · 17.58 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6067, -0.5179, -0.0189, -0.0387, 0.9991, 0.3725, 1.829, 0.7273, 0.4225, 0.2462, 0.0929, 0.4515]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1479 left_yaw=0.0024 left_pitch=-0.1487 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4238 right_y=0.1232 right_z=0.0244 right_yaw=0.1022 right_pitch=-0.0738 right_roll=-0.0651 right_gripper=0.4515\nstate[joint_eff]: [-0.1709, -1.2513, 6.9128, 1.6874, -0.0415, -0.0611, -0.0122, -0.6496, -9.7709, 4.6154, 1.5751, 0.1734, 0.1197, 0.9939]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5327, -0.0193, -0.0387, 0.9991, 0.6296, 1.8053, 1.4631, -0.4397, 0.4145, 0.2298, 0.4527]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1448 left_yaw=0.0028 left_pitch=-0.1651 left_roll=-0.0003 left_gripper=0.9991 right_x=0.4413 right_y=0.238 right_z=0.1799 right_yaw=0.1441 right_pitch=-0.1217 right_roll=-0.1009 right_gripper=0.4527\nstate[joint_eff]: [-0.0615, -1.265, 6.8991, 1.7314, -0.0562, -0.0415, -0.0122, -0.2803, -8.5402, 8.1846, 1.3309, 0.3004, 0.149, 0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5404, -0.0189, -0.0383, 0.9991, 0.6327, 1.8107, 1.4551, -0.4774, 0.408, 0.2287, 0.024]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1434 left_yaw=0.0023 left_pitch=-0.1728 left_roll=-0.0001 left_gripper=0.9991 right_x=0.4341 right_y=0.2359 right_z=0.1677 right_yaw=0.1494 right_pitch=-0.1692 right_roll=-0.1216 right_gripper=0.024\nstate[joint_eff]: [-0.0205, -1.2513, 6.8855, 1.6239, -0.0317, -0.0073, -0.0122, -0.4718, -10.0718, 7.4325, 1.8388, 0.2222, -0.0073, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd86cf9d4fcb817e85776140d43f90976f84e4ed2fad07488476431a9ed918d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:871d85fe95d3a2226854f223c570e3bace9bef4b25731d398e30dcf6f23f0138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0c4174050b5ea3e0fa9d7e99cada1f903fa2920d09267b3751ba93cdd399ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrwkKjgEIEhgCKkD0c1a/V6a/oEBblf4veUm6G0rOcbj0ThObop8blt0CEktDFGd/7XnP+vwdqNJTIlRe+GfEzxuyVFEopsM2mewLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdCGzNUGEgwr2FOKRRJgIgqWhL4aDCtGLv8t+xvIuFq4RSIwlqJYow3gFr6JPMR1j/pth6TClYLqlSVZeZPRj+ON66D5zJz4rJCLON3vvSWO4WfbKs0HGdDSjOLZyu4aJ+jGB4zf0rEBEfHLzxqTz+LacGlYA2s42ujHsz60uVRIDJpkbyvcYII1dHaHNQxeFVptzqRXaagJxA5TrW3n9lMH+e9der59Siu1HkWAw93r1CGLbwapwA/VVoLGMwExPPzpQhVFQFAvT8P2S6W/IQjx4NGyUGt6TcB5Dv4lMG2Drzz/3Fdyu1Y3kXBGpOEjD+15fgq+IR5f0d1gIv5ETScl7/C0r1PphYkD9M6tCvPHMTcRqfMsddgJeT+U/m+XwkDe+mMqUyzjGdzkQ2v/R3Z6EgPchg4cuH1TfDalRy/hRgIGeMYl9rOGoGtux93opUkHr8hscsCEjvPAPWa1yiNWUFBe19OJ0zEahnRmYZNZWolz2s5I9FGjT6KVNJA4VUYIcc6N5Ssv4X1ZUc2arcUwQcOE5B0Wf5MKgb2/A/svaU6q5H3IqMsm6zl3QH0WmcR7EJI1AGTjq8EiI7luPWMuq2wkDi4HBqA1ZL3l25ipVUMkpJn8+s/i1Rx024Y9ZvJHQflr6j9W4SCRQH5aztV02CjQRJmbI1cUpuUK2mBepaX3DzQweG3LBIh4LFaKNRqXDh6niolm8k7a4ntSwjqizXc77Ad0aAHxEzqof/z2xyoixnFkE7a4QDGfUdS/4krndQCZwbP8eI19lnfFLuaZrJHJLj6owRc6RfWuebi8D0pu9uz7XdwHLh9WPNcqtPRbHAosmGQZOiC+y6U1zgwYo73q6ETlRvb8zUyAzYyaaUdEcnNf+Ng/m7/26AKRVEz04201kDMwazxmZt45zhgxeYq45B//avOrqNFFY9udXTFAnUdCjFJ+HF0v4FZwR1dx5xnAtzWPgbAE01ojwVo9ek8ro2pyzmWdKflizrrskGhD6vR1LTilfpCH2fi5hRYuXiNt6iWP063n3rFxRHgGlSOUSGy2oiyUg+0flTXLzzXc3hHjosSxKDGgadyE7UPcZkBVeYMiUM3dM7HqO6MVBiOeHKKm8npnNUulERKS6WiB8UOM0N09w5ryW9JZ+uBZ+Kgg5ZobC43kz3ptmmt53TPwafm7a6AD8ezGybkP+zdgwnLAtA0DfoVwoIKWfWt/HE+XyH3kJ0pTxSbhF4Xc+H4lIu5aEhB2ufFky8NYF04Dyoe2Iu22amaLnWSwXdGuLF1OsEVPDsL4dbQ0NoTBk3j2h3ACd/ZzlVfIQYRn3xWXrs/TCxK/i3F8pOJCBmL6mknMo+GdpdtD+N+fNEDVANhv/cOuxb0d9eSDa21aU17TbRvhLeaEirq+UDs2CJVXnBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ADBuHecWKEY6dtbZ9tf2Bt",
      "input": {
        "note": "Gripper came back empty, so the lemon was lost somewhere; retracting the right arm out of the way to get a clear overhead view of where everything is.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01ADBuHecWKEY6dtbZ9tf2Bt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5591, -0.0193, -0.0391, 0.9991, 0.2382, 1.0576, 1.1065, -0.815, 0.157, -0.0383, 0.9961]\nstate[eef_state]: left_x=0.2689 left_y=0.0019 left_z=0.14 left_yaw=0.0031 left_pitch=-0.1918 left_roll=0.0 left_gripper=0.9991 right_x=0.3054 right_y=0.0494 right_z=0.2445 right_yaw=0.1127 right_pitch=-0.1772 right_roll=-0.1245 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -0.759, 6.8855, 1.79, -0.0562, -0.0659, -0.0122, -0.1846, -3.0974, 7.2, 1.7558, -0.0708, 0.022, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17285b37ccd7b41a30fc256c12f564ff8e79bbb9841dfb1f96d1ecacabc2680c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15622a67249286894922e63585ad12ef57058984a7dfa4d3e737bfd00ec11957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a84a16675a1c2d3e56fa2f526ea90b2e0a9fa9a7be659af189524c70183d48b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 7.002 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5327, -0.0193, -0.0387, 0.9991, 0.6296, 1.8053, 1.4631, -0.4397, 0.4145, 0.2298, 0.4527]\nstate[eef_state]: left_x=0.2734 left_y=0.0018 left_z=0.1448 left_yaw=0.0028 left_pitch=-0.1651 left_roll=-0.0003 left_gripper=0.9991 right_x=0.4413 right_y=0.238 right_z=0.1799 right_yaw=0.1441 right_pitch=-0.1217 right_roll=-0.1009 right_gripper=0.4527\nstate[joint_eff]: [-0.0615, -1.265, 6.8991, 1.7314, -0.0562, -0.0415, -0.0122, -0.2803, -8.5402, 8.1846, 1.3309, 0.3004, 0.149, 0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5404, -0.0189, -0.0383, 0.9991, 0.6327, 1.8107, 1.4551, -0.4774, 0.408, 0.2287, 0.024]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1434 left_yaw=0.0023 left_pitch=-0.1728 left_roll=-0.0001 left_gripper=0.9991 right_x=0.4341 right_y=0.2359 right_z=0.1677 right_yaw=0.1494 right_pitch=-0.1692 right_roll=-0.1216 right_gripper=0.024\nstate[joint_eff]: [-0.0205, -1.2513, 6.8855, 1.6239, -0.0317, -0.0073, -0.0122, -0.4718, -10.0718, 7.4325, 1.8388, 0.2222, -0.0073, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5591, -0.0193, -0.0391, 0.9991, 0.2382, 1.0576, 1.1065, -0.815, 0.157, -0.0383, 0.9961]\nstate[eef_state]: left_x=0.2689 left_y=0.0019 left_z=0.14 left_yaw=0.0031 left_pitch=-0.1918 left_roll=0.0 left_gripper=0.9991 right_x=0.3054 right_y=0.0494 right_z=0.2445 right_yaw=0.1127 right_pitch=-0.1772 right_roll=-0.1245 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -0.759, 6.8855, 1.79, -0.0562, -0.0659, -0.0122, -0.1846, -3.0974, 7.2, 1.7558, -0.0708, 0.022, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17285b37ccd7b41a30fc256c12f564ff8e79bbb9841dfb1f96d1ecacabc2680c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15622a67249286894922e63585ad12ef57058984a7dfa4d3e737bfd00ec11957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a84a16675a1c2d3e56fa2f526ea90b2e0a9fa9a7be659af189524c70183d48b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V4JBNtKvA5oCkHELeqSuLq",
      "input": {
        "note": "The lemon is no longer on the table (it appears to have ended up in the case). Now approaching the brown teddy bear, which sits in front of and right of the case, with the right arm.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.24,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01V4JBNtKvA5oCkHELeqSuLq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5701, -0.0189, -0.0387, 0.9991, 0.9241, 1.5078, 1.0599, -0.6086, 0.5789, 0.4911, 0.9973]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1377 left_yaw=0.0026 left_pitch=-0.2044 left_roll=0.0003 left_gripper=0.9991 right_x=0.2896 right_y=0.2292 right_z=0.1338 right_yaw=0.1411 right_pitch=-0.2463 right_roll=-0.1821 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -1.4017, 6.8581, 1.6874, -0.0562, -0.0513, -0.0122, 0.1983, -6.8034, 9.0462, 1.2625, 0.4615, 0.1099, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:889f3dbd60c088e10c955cd5252f6b10322f269afa166974e31fdf0a88f58782",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d29637080e721ffb43a4a4042c7c455e1e75173f571a0aa7cbbad2565fc9fb22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbed256e04cbd7c2fcbc904f7f9238caef3695f74fb9c8df8152478d6a82eed4",
        "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 · 3.323 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5404, -0.0189, -0.0383, 0.9991, 0.6327, 1.8107, 1.4551, -0.4774, 0.408, 0.2287, 0.024]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1434 left_yaw=0.0023 left_pitch=-0.1728 left_roll=-0.0001 left_gripper=0.9991 right_x=0.4341 right_y=0.2359 right_z=0.1677 right_yaw=0.1494 right_pitch=-0.1692 right_roll=-0.1216 right_gripper=0.024\nstate[joint_eff]: [-0.0205, -1.2513, 6.8855, 1.6239, -0.0317, -0.0073, -0.0122, -0.4718, -10.0718, 7.4325, 1.8388, 0.2222, -0.0073, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5591, -0.0193, -0.0391, 0.9991, 0.2382, 1.0576, 1.1065, -0.815, 0.157, -0.0383, 0.9961]\nstate[eef_state]: left_x=0.2689 left_y=0.0019 left_z=0.14 left_yaw=0.0031 left_pitch=-0.1918 left_roll=0.0 left_gripper=0.9991 right_x=0.3054 right_y=0.0494 right_z=0.2445 right_yaw=0.1127 right_pitch=-0.1772 right_roll=-0.1245 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -0.759, 6.8855, 1.79, -0.0562, -0.0659, -0.0122, -0.1846, -3.0974, 7.2, 1.7558, -0.0708, 0.022, -0.1245]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5701, -0.0189, -0.0387, 0.9991, 0.9241, 1.5078, 1.0599, -0.6086, 0.5789, 0.4911, 0.9973]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1377 left_yaw=0.0026 left_pitch=-0.2044 left_roll=0.0003 left_gripper=0.9991 right_x=0.2896 right_y=0.2292 right_z=0.1338 right_yaw=0.1411 right_pitch=-0.2463 right_roll=-0.1821 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -1.4017, 6.8581, 1.6874, -0.0562, -0.0513, -0.0122, 0.1983, -6.8034, 9.0462, 1.2625, 0.4615, 0.1099, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:889f3dbd60c088e10c955cd5252f6b10322f269afa166974e31fdf0a88f58782",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d29637080e721ffb43a4a4042c7c455e1e75173f571a0aa7cbbad2565fc9fb22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbed256e04cbd7c2fcbc904f7f9238caef3695f74fb9c8df8152478d6a82eed4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wcKjgEIEhgCKkDibRy6ky4yUt5JNmUxTCDPVzXw/pbxb40X5G6yCpPkAnspqfE4H59DWVWQTfVQw3Eskygm7HCCF6u4rdGNJ1nSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeyGzNUGEgzcJjrrWA1UjXiJBLIaDFxzudswOF+4FiSezyIw2mJ7w9e+3TSm7VBast9mTMchZMZAkwWrD2cU5YG43yli98Se6mAgQHFjqj06UVi3KvkFIU8dMkQSu5VOBZWkRw2W8F69mpnm+F+M6jKJgHQK1zS0ISi4qRlwIvFcl0JZB6BmogpXQYBOu4wRA6NztsPnYosL0K7yKg5rNq8iCvlKecxNZfszWYYL0//lLKLVtcFK66Zq0P2qWB3IqpXYLgDP1voQ2cs8l6R/Iq0Q0lF7L+paMEhQuyq03FIu34ct+dohmdUEMP0nsAASY5zQHPkKPjnaBAfq8NhmCg4BshaKfXlb8O8BaFKTuQuqGfcjzWJj7fBAETYFYi3bCrPe4vc0C2qKwg6N5UfkEeZwyBIsz8C0PxaXLv51x+p22XKnHQ0nYskFO+8WI4Ne0wRZbcoloAbbip1as56USktEBYqOpXX6nIgJzPDrzchV5QNmqMTf7cgQ1O8Xhn5fB2/qay50W10quGFNx74trp6DSXcmGrbstZ74DGO6422LkuL7x3IwHGbPnbRUvpgWP1t+Yg/w7VyfoELpPPn5gSexCx9s8BFvT9H8vFsWGdkAyfgr6R/kAFsP3ipG7XqrX+lTrNksMbWqnwN/IfL2RXNk9e27HxcVhsk7eM+PhIHc31fGONLAsVSEAJwBcdX/2PSdk30Bkw4lwhGBuXODfwNTBt7hDk+KhbluMXbNR5iNBRen0rCW5NHH/2D567JVCmucrrzmRJjUvBsre0Q14mM0wf6k64jv4MBLFndbaEI3J0AkZTVHgP9tFYK2XgXy6tQt5x6+ZppvmpcRm/CmGRqs4WoiE+J8PW7qclzT3pejnEz5Ep++aFLhNO0v+u/IYEA8cqTgcAMGnbDunLn/8YyxRmAzL6NkJv/1NLVWFreODhpbYiDiJvjNuOl/AA0oeSPdnmyK+dGpFYmCEt42CPOHIat4iCDf5sFMIaDVVkFIGGAqboDblb3aawLJj0tPnjp2BOADg3g6EyI4ytWQHTewpNFHHIOqi6XObKeAbWUz0UHJmMc6SdzyCDyXwu4sqwD8MUBcJ9BN6FEMBDUe/mXKgc586m5XMMppwt36RsoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MHuHue26btAebKFDrLrZAa",
      "input": {
        "note": "The teddy bear is just below the jaws and slightly left in the wrist view; shifting 3 cm left and descending onto its body to grasp.",
        "targets": {
          "right_y": 0.26,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01MHuHue26btAebKFDrLrZAa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5846, -0.0193, -0.0387, 0.9991, 0.9771, 1.7336, 0.9348, -0.3359, 0.59, 0.5331, 0.9974]\nstate[eef_state]: left_x=0.2645 left_y=0.002 left_z=0.1342 left_yaw=0.003 left_pitch=-0.2227 left_roll=0.001 left_gripper=0.9991 right_x=0.2845 right_y=0.2523 right_z=0.0424 right_yaw=0.1482 right_pitch=-0.2889 right_roll=-0.2188 right_gripper=0.9974\nstate[joint_eff]: [-0.1983, -1.5658, 6.8308, 1.6386, -0.0855, -0.0366, -0.0122, 0.5538, -7.2547, 5.1897, 1.1746, 0.4274, 0.1929, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:142bb584ecda897f26b036a26ca9021fcc6d2ec3e76da833fa79c37161df4157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dafc7eb2118359ab5fba57794630644c9057fb8538669f14b0791f089d571534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa184f7dfbfecba24d47b4866e131e6792fc48cf807a29662889cab420ac32e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 7.07 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]: [-0.0189, 0.8192, 0.6067, -0.5591, -0.0193, -0.0391, 0.9991, 0.2382, 1.0576, 1.1065, -0.815, 0.157, -0.0383, 0.9961]\nstate[eef_state]: left_x=0.2689 left_y=0.0019 left_z=0.14 left_yaw=0.0031 left_pitch=-0.1918 left_roll=0.0 left_gripper=0.9991 right_x=0.3054 right_y=0.0494 right_z=0.2445 right_yaw=0.1127 right_pitch=-0.1772 right_roll=-0.1245 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -0.759, 6.8855, 1.79, -0.0562, -0.0659, -0.0122, -0.1846, -3.0974, 7.2, 1.7558, -0.0708, 0.022, -0.1245]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5701, -0.0189, -0.0387, 0.9991, 0.9241, 1.5078, 1.0599, -0.6086, 0.5789, 0.4911, 0.9973]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1377 left_yaw=0.0026 left_pitch=-0.2044 left_roll=0.0003 left_gripper=0.9991 right_x=0.2896 right_y=0.2292 right_z=0.1338 right_yaw=0.1411 right_pitch=-0.2463 right_roll=-0.1821 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -1.4017, 6.8581, 1.6874, -0.0562, -0.0513, -0.0122, 0.1983, -6.8034, 9.0462, 1.2625, 0.4615, 0.1099, 0.1099]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5846, -0.0193, -0.0387, 0.9991, 0.9771, 1.7336, 0.9348, -0.3359, 0.59, 0.5331, 0.9974]\nstate[eef_state]: left_x=0.2645 left_y=0.002 left_z=0.1342 left_yaw=0.003 left_pitch=-0.2227 left_roll=0.001 left_gripper=0.9991 right_x=0.2845 right_y=0.2523 right_z=0.0424 right_yaw=0.1482 right_pitch=-0.2889 right_roll=-0.2188 right_gripper=0.9974\nstate[joint_eff]: [-0.1983, -1.5658, 6.8308, 1.6386, -0.0855, -0.0366, -0.0122, 0.5538, -7.2547, 5.1897, 1.1746, 0.4274, 0.1929, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:142bb584ecda897f26b036a26ca9021fcc6d2ec3e76da833fa79c37161df4157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dafc7eb2118359ab5fba57794630644c9057fb8538669f14b0791f089d571534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa184f7dfbfecba24d47b4866e131e6792fc48cf807a29662889cab420ac32e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAIKjgEIEhgCKkA6RGUWFx0cclHXOHDK9bgUkfl0v2L2tahRd1MklVkV0wmVUBOLwAXe82sVwYgMM3Dfq6KyAejWPPysatfij8a+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfCGzNUGEgx48b6O7y0vbJ4TnuwaDLY8EcxHViqBa6d7gyIwS+2nJsQZkjagHo60z2SEH2XjsdmuvdSqdBDiibruOGyGLUnWgJFTJp/sELA3zJU+KkfDaT0adxKmC6YPriW4+9z1NkZbViGzPamxTxIGcBdf6JpaMtmqT5McxeWrJonlw7w2yipZse+/536+PkauVs5cz8lSP8+oBhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VciGscxLJWYaGmERzqDgEh",
      "input": {
        "note": "The teddy is directly between the jaws at the bottom of the wrist view; closing on its body.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01VciGscxLJWYaGmERzqDgEh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.5854, -0.0189, -0.0387, 0.9991, 0.9779, 1.7538, 0.9218, -0.3393, 0.5869, 0.5251, 0.1048]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.134 left_yaw=0.0027 left_pitch=-0.2239 left_roll=0.0008 left_gripper=0.9991 right_x=0.2803 right_y=0.2474 right_z=0.0309 right_yaw=0.1469 right_pitch=-0.3167 right_roll=-0.2505 right_gripper=0.1048\nstate[joint_eff]: [-0.0479, -1.0051, 6.8855, 1.4921, -0.0611, -0.0073, -0.0122, -0.1436, -9.4564, 6.694, 0.9841, 0.315, 0.0806, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4286e9b9d61c64ecd2abffb19d7f6fba1b9967fee247ec5db1833b8415bca75e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1684b6acad764b55619a5227c173b0f9d2d4385c04ae822ca3ab5c85ec441768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1e54cef7c040d95b8d0afe769c712c60b1457f034c70535900a5d5a3c0b3e07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 6.854 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5701, -0.0189, -0.0387, 0.9991, 0.9241, 1.5078, 1.0599, -0.6086, 0.5789, 0.4911, 0.9973]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1377 left_yaw=0.0026 left_pitch=-0.2044 left_roll=0.0003 left_gripper=0.9991 right_x=0.2896 right_y=0.2292 right_z=0.1338 right_yaw=0.1411 right_pitch=-0.2463 right_roll=-0.1821 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -1.4017, 6.8581, 1.6874, -0.0562, -0.0513, -0.0122, 0.1983, -6.8034, 9.0462, 1.2625, 0.4615, 0.1099, 0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5846, -0.0193, -0.0387, 0.9991, 0.9771, 1.7336, 0.9348, -0.3359, 0.59, 0.5331, 0.9974]\nstate[eef_state]: left_x=0.2645 left_y=0.002 left_z=0.1342 left_yaw=0.003 left_pitch=-0.2227 left_roll=0.001 left_gripper=0.9991 right_x=0.2845 right_y=0.2523 right_z=0.0424 right_yaw=0.1482 right_pitch=-0.2889 right_roll=-0.2188 right_gripper=0.9974\nstate[joint_eff]: [-0.1983, -1.5658, 6.8308, 1.6386, -0.0855, -0.0366, -0.0122, 0.5538, -7.2547, 5.1897, 1.1746, 0.4274, 0.1929, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.5854, -0.0189, -0.0387, 0.9991, 0.9779, 1.7538, 0.9218, -0.3393, 0.5869, 0.5251, 0.1048]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.134 left_yaw=0.0027 left_pitch=-0.2239 left_roll=0.0008 left_gripper=0.9991 right_x=0.2803 right_y=0.2474 right_z=0.0309 right_yaw=0.1469 right_pitch=-0.3167 right_roll=-0.2505 right_gripper=0.1048\nstate[joint_eff]: [-0.0479, -1.0051, 6.8855, 1.4921, -0.0611, -0.0073, -0.0122, -0.1436, -9.4564, 6.694, 0.9841, 0.315, 0.0806, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4286e9b9d61c64ecd2abffb19d7f6fba1b9967fee247ec5db1833b8415bca75e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1684b6acad764b55619a5227c173b0f9d2d4385c04ae822ca3ab5c85ec441768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e54cef7c040d95b8d0afe769c712c60b1457f034c70535900a5d5a3c0b3e07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlQcKjgEIEhgCKkAo/WzuhUddpG6WGunYnlKYMv/3Die9753khlZp1+lgjVeCfjuX2D4tAQYN0h1a37sAhsBCwxvC6xjuL5mCcoegMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfiGzNUGEgyTAv8OkARSx+pYQYgaDJmNcXG+pqN1I8gLViIwokonhyF5s1HBPJbFq742RXJBZfc1YxgrPkraB3XgJiUxzktotuObAmnYEng/XLZ2KrMFKBbQMP66T7K9WDvuUlaO76hPfjUlg8vvxQmBM9pMq8cdUyjrDNd5pggscbEPYHquPX857DPrpjKXQtAwgd+a+T5Zf0W+EEnhsCCLL27L2itdi5/s9HDUF/PeKmRMI5UXWtt4UD2gJg40kmRLqdnK7yH4pyRNNC6FLGRCKTlXrRZGCduoetsVoCzCb5UoT+nQpXxs2fJRIV1nSU5LQI11J6jaPGwd5PDAJSfOtsxwz7gCbJIu+tQNbX6uHnbDMvGVp46d8LppmEbWPPCbkp2MfUACsTgrUyWIfXOAb4QSIrsvtTTQiFCfYHTSujKyZf1qV1U5C2kE540w8MU/Km/cDtkZW+6fqYLUtSavxd1gmgNV8QJH8Ve99KLjqC/xg2oYHImC3l52GOm9FPbozxJ8ga82kjShGZuywpe7yKEgYEZwBONnvK5YOEMwwuACZc91YXrWedCdm9dpWIk5j2c3tQYYYdwh/szJuZlBbp/nGXKY8zI5bPReqbBlg48uMkoqjjOE7IpcZFP/xwTx6yzJEFJGmPSYoIFZ3YEJyIF72zTdfOqKdw4OrNrfKkTeqNMis3it+LTWuCe710GcFJfMANIY3h0QbhuwaTfU0zHdPhMy/GVfAnJsQk9ymF+sRjNOjgyb0FQdgjE+NbRV/L5hmSiP95Bx1V3h4KrFcGY/hoDxdBP+CAln952OAf4rBwYG2VKZHHHrekQhbvjJnhV4Yk11GXK9ckPuwU65qRiPz2ApuwS+HTkaIiurqTcsI6T0R3GH+vMcxrof+edEs+jcN3tde5yPcChW6CwFL+R4MrYQBPyku0+EJFe6QoUpYlETTT7avwY1jgOPUvfImcf6Bp062dWq1qodbYKhNJjy4byFOij6sTZLrSt93i1Flpt1cJfsLNybBY/f03REXU7prVqMDBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G7y5uXxPapRDfwe7Kh8twg",
      "input": {
        "note": "Jaws are closed on the teddy's fur (reading 0.10); lifting straight up to confirm the bear comes with it.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01G7y5uXxPapRDfwe7Kh8twg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.5888, -0.0193, -0.0387, 0.9991, 0.9791, 1.6127, 1.4956, -1.0588, 0.58, 0.5236, 0.1051]\nstate[eef_state]: left_x=0.2638 left_y=0.002 left_z=0.1334 left_yaw=0.0031 left_pitch=-0.2273 left_roll=0.0011 left_gripper=0.9991 right_x=0.281 right_y=0.251 right_z=0.2058 right_yaw=0.1518 right_pitch=-0.3247 right_roll=-0.2506 right_gripper=0.1051\nstate[joint_eff]: [-0.1846, -0.8, 7.0359, 1.5311, -0.0904, -0.0757, -0.0122, -0.1299, -7.9248, 7.8427, 1.0379, 0.3736, 0.0024, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7176a6429fc5f26d0cfb2b0080794f79eb2b2ccac090c4404f2c971ab2f629f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:111e5871f3778dc4495d0be4b8f0f5ed095f6130801fa0880562f3284763b0f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab4145649e65d5607fd6e6db917229e183eb1f2f4157176b0568fab4c8b3d9e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 10.26 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5846, -0.0193, -0.0387, 0.9991, 0.9771, 1.7336, 0.9348, -0.3359, 0.59, 0.5331, 0.9974]\nstate[eef_state]: left_x=0.2645 left_y=0.002 left_z=0.1342 left_yaw=0.003 left_pitch=-0.2227 left_roll=0.001 left_gripper=0.9991 right_x=0.2845 right_y=0.2523 right_z=0.0424 right_yaw=0.1482 right_pitch=-0.2889 right_roll=-0.2188 right_gripper=0.9974\nstate[joint_eff]: [-0.1983, -1.5658, 6.8308, 1.6386, -0.0855, -0.0366, -0.0122, 0.5538, -7.2547, 5.1897, 1.1746, 0.4274, 0.1929, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.5854, -0.0189, -0.0387, 0.9991, 0.9779, 1.7538, 0.9218, -0.3393, 0.5869, 0.5251, 0.1048]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.134 left_yaw=0.0027 left_pitch=-0.2239 left_roll=0.0008 left_gripper=0.9991 right_x=0.2803 right_y=0.2474 right_z=0.0309 right_yaw=0.1469 right_pitch=-0.3167 right_roll=-0.2505 right_gripper=0.1048\nstate[joint_eff]: [-0.0479, -1.0051, 6.8855, 1.4921, -0.0611, -0.0073, -0.0122, -0.1436, -9.4564, 6.694, 0.9841, 0.315, 0.0806, 0.0806]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.5888, -0.0193, -0.0387, 0.9991, 0.9791, 1.6127, 1.4956, -1.0588, 0.58, 0.5236, 0.1051]\nstate[eef_state]: left_x=0.2638 left_y=0.002 left_z=0.1334 left_yaw=0.0031 left_pitch=-0.2273 left_roll=0.0011 left_gripper=0.9991 right_x=0.281 right_y=0.251 right_z=0.2058 right_yaw=0.1518 right_pitch=-0.3247 right_roll=-0.2506 right_gripper=0.1051\nstate[joint_eff]: [-0.1846, -0.8, 7.0359, 1.5311, -0.0904, -0.0757, -0.0122, -0.1299, -7.9248, 7.8427, 1.0379, 0.3736, 0.0024, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7176a6429fc5f26d0cfb2b0080794f79eb2b2ccac090c4404f2c971ab2f629f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:111e5871f3778dc4495d0be4b8f0f5ed095f6130801fa0880562f3284763b0f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab4145649e65d5607fd6e6db917229e183eb1f2f4157176b0568fab4c8b3d9e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS7AcKjgEIEhgCKkAombr0OnqCTemjICmQBjr3o9kGBAzKpM5Jh4TinoInztUxe7SwJ9pk/WXU2c06/U+JZk/x9aLZ8OfPLKV0Bf3cMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf+GzNUGEgwfEajVs3RxMvCLzeQaDHmA636ogRDlL+m+eiIwdexcTbgRaxA0Idtvt3ohxb6L/5t0Kuw8nXvjEY09Gn3t0s6Iiyg20x1XDilgIMqpKooGIpTDWgaPA0k5R2OhxBu+NQl8oEx0e0xoCv46Ps7kxHKceRPYCkIk1F3VaCUEa/IwLSfNLKzJSE/dsIrQPL9pwer32Rx+/Sa87ffsghSppiJNdDz0ZWc5lk3EsN25rOs1bQb7DvLhdHT5uog/UCq6Y68i6RQGJIbJ8gbrxX9Z+trpVlFo+7dNrO4Q/oH1uArnfAKPL6vv9lQyjXBQhf25F9inkHXtQ2taTLLAWti3wntkjZ5wfLZ0/Y53Q29KVCiEnakET5nAopkrF9VzKQE3qMRaqFLhNtKwM6sbo7v7eyD9eOMWT5hvKpVPJsSz3u0SratMGMvy70JAThpb5RPR6ic8FbAX5W4Qz4kpqpeZbeD2SIxro1QhtFU4bEKvDtHUjtqov7RL5NQ7METhzlUXoxWAwdxcp7OjYRVQtJUjZMD563NYm0PzHx7qZkJZ4034ln2VsJf4jP5URqzynsdegbVal/2hEjM3hvaldKZlPsd/I3rloa6teNFQrAqLEhSOSXVnw3eWr2W8j7tTJMJQQ9xQ1vfoAZuo+9vsJJeDJbb4g09ltten2zzrH883xWyn7Uwt1KZSzVwKbejO02iDhnpcp8dtvKpk8Vd9Bz2JR0w1Xh8go9oOfM8w1nbLNPWZ/HTLYT6vdgkZTkntFFgk4OVNCI/9Z2Xp7QPXiSkUhfhV+Z7WJC3ANiPIl5kca2UCaAkahtpll9zEm6nXbrXH6/afXoTUeSm/AKYH6tBZSm7FD6//7gLOZaAKWMH3RdT3yy4niq048Mx6mNSnfX89sMIRis6WqihogWqtZaEd+6lQIJd8Dgh9HkXjJm9pik5PNCT5Qwt+bngr7CtV4r2b/gyjYo37524xBRZWijHd7raP10iG7ub9N9InS0LP0VJE7Qvv65RO3cmERjiFz0DkJfEARkuRWWzM9I9Xcazmk79CSH+gVQhRAUvp5a2o5dz+vdktF2BoL8plCezSXT4FMIfUTZe4uxXznUCb2vDb+/HxOe4UsWVsD4SqKkMacKXF6E4KrnHj8+iOERgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VKei1WeGNg4uJKQXapN6Py",
      "input": {
        "note": "Carrying whatever is in the jaws toward the open case; moving to hover above the red interior at 24 cm.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.32,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01VKei1WeGNg4uJKQXapN6Py",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.5972, -0.0193, -0.0387, 0.9991, 0.8154, 2.2883, 2.5454, -1.3464, 0.5034, 0.347, 0.1051]\nstate[eef_state]: left_x=0.2624 left_y=0.002 left_z=0.1309 left_yaw=0.0031 left_pitch=-0.2403 left_roll=0.0014 left_gripper=0.9991 right_x=0.4155 right_y=0.3221 right_z=0.2321 right_yaw=0.1578 right_pitch=-0.3315 right_roll=-0.25 right_gripper=0.1051\nstate[joint_eff]: [-0.0342, -1.6068, 6.8171, 1.5849, -0.0659, -0.0562, -0.0122, -0.6222, -11.3436, 6.1333, 0.3687, 0.2808, 0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fe45b58094dc3edfa7ce40f21d9c3a3feefc37e4feab05fcf4da477008b90bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7936c8b5f6e1a9430ae466c3a0f6067e47c87984ffdf1f2c84494e3879be7d9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:591c541537660f0dffbbf4d4f8b68c7c6cc23a446b2ca6aaec6f10d5ec974100",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.666 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.5854, -0.0189, -0.0387, 0.9991, 0.9779, 1.7538, 0.9218, -0.3393, 0.5869, 0.5251, 0.1048]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.134 left_yaw=0.0027 left_pitch=-0.2239 left_roll=0.0008 left_gripper=0.9991 right_x=0.2803 right_y=0.2474 right_z=0.0309 right_yaw=0.1469 right_pitch=-0.3167 right_roll=-0.2505 right_gripper=0.1048\nstate[joint_eff]: [-0.0479, -1.0051, 6.8855, 1.4921, -0.0611, -0.0073, -0.0122, -0.1436, -9.4564, 6.694, 0.9841, 0.315, 0.0806, 0.0806]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.5888, -0.0193, -0.0387, 0.9991, 0.9791, 1.6127, 1.4956, -1.0588, 0.58, 0.5236, 0.1051]\nstate[eef_state]: left_x=0.2638 left_y=0.002 left_z=0.1334 left_yaw=0.0031 left_pitch=-0.2273 left_roll=0.0011 left_gripper=0.9991 right_x=0.281 right_y=0.251 right_z=0.2058 right_yaw=0.1518 right_pitch=-0.3247 right_roll=-0.2506 right_gripper=0.1051\nstate[joint_eff]: [-0.1846, -0.8, 7.0359, 1.5311, -0.0904, -0.0757, -0.0122, -0.1299, -7.9248, 7.8427, 1.0379, 0.3736, 0.0024, 0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.5972, -0.0193, -0.0387, 0.9991, 0.8154, 2.2883, 2.5454, -1.3464, 0.5034, 0.347, 0.1051]\nstate[eef_state]: left_x=0.2624 left_y=0.002 left_z=0.1309 left_yaw=0.0031 left_pitch=-0.2403 left_roll=0.0014 left_gripper=0.9991 right_x=0.4155 right_y=0.3221 right_z=0.2321 right_yaw=0.1578 right_pitch=-0.3315 right_roll=-0.25 right_gripper=0.1051\nstate[joint_eff]: [-0.0342, -1.6068, 6.8171, 1.5849, -0.0659, -0.0562, -0.0122, -0.6222, -11.3436, 6.1333, 0.3687, 0.2808, 0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fe45b58094dc3edfa7ce40f21d9c3a3feefc37e4feab05fcf4da477008b90bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7936c8b5f6e1a9430ae466c3a0f6067e47c87984ffdf1f2c84494e3879be7d9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:591c541537660f0dffbbf4d4f8b68c7c6cc23a446b2ca6aaec6f10d5ec974100",
        "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_018L3qAAEEKNp9poVFPKMUkd",
      "input": {
        "note": "The teddy did not come with the gripper — the jaws only caught fur. The arm is now confirmed above the case interior at (0.42, 0.32). Returning over the bear with jaws open to line up a deeper grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.3,
          "right_y": 0.25,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018L3qAAEEKNp9poVFPKMUkd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6106, -0.0189, -0.0387, 0.9991, 0.9176, 1.7, 1.2201, -0.7773, 0.5274, 0.432, 0.9949]\nstate[eef_state]: left_x=0.26 left_y=0.002 left_z=0.128 left_yaw=0.0029 left_pitch=-0.2563 left_roll=0.0015 left_gripper=0.9991 right_x=0.2912 right_y=0.2401 right_z=0.1022 right_yaw=0.1514 right_pitch=-0.4311 right_roll=-0.3332 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -0.9504, 6.8171, 1.663, -0.0317, -0.0562, -0.0122, 0.1846, -9.1966, 7.4598, 1.5263, 0.4762, 0.1929, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f85cb36433483907ea0e43e45119c2ea55f3cfce717044681d1a77ebf43b7c8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f83a8e4ed51b26eba41ebde16459113b0054ac8f01c21645bae481fded98516",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b3bf0b817810314ce82b3a6b86d1cdb61d0a9600f06c689efc9b75276138135",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 3.635 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.5888, -0.0193, -0.0387, 0.9991, 0.9791, 1.6127, 1.4956, -1.0588, 0.58, 0.5236, 0.1051]\nstate[eef_state]: left_x=0.2638 left_y=0.002 left_z=0.1334 left_yaw=0.0031 left_pitch=-0.2273 left_roll=0.0011 left_gripper=0.9991 right_x=0.281 right_y=0.251 right_z=0.2058 right_yaw=0.1518 right_pitch=-0.3247 right_roll=-0.2506 right_gripper=0.1051\nstate[joint_eff]: [-0.1846, -0.8, 7.0359, 1.5311, -0.0904, -0.0757, -0.0122, -0.1299, -7.9248, 7.8427, 1.0379, 0.3736, 0.0024, 0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.5972, -0.0193, -0.0387, 0.9991, 0.8154, 2.2883, 2.5454, -1.3464, 0.5034, 0.347, 0.1051]\nstate[eef_state]: left_x=0.2624 left_y=0.002 left_z=0.1309 left_yaw=0.0031 left_pitch=-0.2403 left_roll=0.0014 left_gripper=0.9991 right_x=0.4155 right_y=0.3221 right_z=0.2321 right_yaw=0.1578 right_pitch=-0.3315 right_roll=-0.25 right_gripper=0.1051\nstate[joint_eff]: [-0.0342, -1.6068, 6.8171, 1.5849, -0.0659, -0.0562, -0.0122, -0.6222, -11.3436, 6.1333, 0.3687, 0.2808, 0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6106, -0.0189, -0.0387, 0.9991, 0.9176, 1.7, 1.2201, -0.7773, 0.5274, 0.432, 0.9949]\nstate[eef_state]: left_x=0.26 left_y=0.002 left_z=0.128 left_yaw=0.0029 left_pitch=-0.2563 left_roll=0.0015 left_gripper=0.9991 right_x=0.2912 right_y=0.2401 right_z=0.1022 right_yaw=0.1514 right_pitch=-0.4311 right_roll=-0.3332 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -0.9504, 6.8171, 1.663, -0.0317, -0.0562, -0.0122, 0.1846, -9.1966, 7.4598, 1.5263, 0.4762, 0.1929, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f85cb36433483907ea0e43e45119c2ea55f3cfce717044681d1a77ebf43b7c8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f83a8e4ed51b26eba41ebde16459113b0054ac8f01c21645bae481fded98516",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b3bf0b817810314ce82b3a6b86d1cdb61d0a9600f06c689efc9b75276138135",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmAYKjgEIEhgCKkA3Uv0SSykEBQTl17KeK1eE8I4aNlaOx1KgI/p39n/4gsgSekP2RvMEMEk+9rR7aueL7Vu1DB003Euu+nTA9vJTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKHzNUGEgxvULE051PWCQPkRBAaDFKRnlO/irl8ni8roiIwnFjXfHA+eBptDaxbuxrQEpQ9r2Vja7lxtWsRDCM4jai7o7TPKCVQTNToXw5fnW4BKrYE9zVrXcW296OGo0aBCAOu4ivAC88xiaqoD2I3BymaP7kREr427JcxAJlm4J+fQeNX48cz/rozwTdWmLPxdfid62wW9I5qbLu6x+N5lyDgSOzKTvsY4MJ6BfU6XxecDrtZQbWNjd3qO9vmb+fUbNxm1MSDCbWhHEKNzC5iEoou0U3zCw8ewtHBWoIRLQsdsrqelK0zR6964eSKBk/HKzGgMCq2OdaJWGl7iVaNrizNZ2g0IxQbagew9vNlQUrsQQy5kshhONJmMF/OIy6N6ntN7pq4WJEpy2Dmcn2x+L9rzr1XrxiX03KZ4fMuw1F65dYHQT2eGZZRpDj5CL206s3eG+6RT9K3YNsLPVXFNefvb3BAV052Ro6edg2eK0eHI98LxqOgIiCPt4Ya1VxxMNEQgcvxCUh9KujzobL+g/R0Htn7yxkw5HkS8VcqWstxnSrBPByuc799azhQv+L9gF1hEybynSLVkx9xIdRD/8lZadzUArpzvvVjq0nFerFbZtCvC9+IQONEFNSxsPFmCaubU/MY96ZNrsM1sOdg4356y9Oz9FzkbeLvsqU0ellZukHyhOz+tNDiHia2Lf+bJtcTZAYoAUWFjNAJNmsIbsZmKCIzTL3QCw95V9L5IzF9eKB4XQyoESthEw7AwaU/RKHmmm6TVkaNB1ban5fu2DWOJ246wS4vh6PVCVNwwZoQfyLugVJ+D1T9dXwkcIQvurUGteQ9LnCGULKoao29LPimthIcuOZc0eAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wq9LqsjwYzDUP7vASm3CDN",
      "input": {
        "note": "Wrist view shows the bear just left of the jaw column and very close; shifting 3 cm left and dropping to table level so the jaws straddle its torso rather than skimming fur.",
        "targets": {
          "right_y": 0.27,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Wq9LqsjwYzDUP7vASm3CDN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6147, -0.0189, -0.0387, 0.9991, 0.9653, 1.9133, 1.1141, -0.4988, 0.543, 0.4747, 0.9953]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0029 left_pitch=-0.2605 left_roll=0.0016 left_gripper=0.9991 right_x=0.2895 right_y=0.2642 right_z=0.0139 right_yaw=0.1516 right_pitch=-0.4414 right_roll=-0.3515 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1419, 7.0085, 1.5116, -0.0269, -0.0562, -0.0122, 0.253, -5.9556, 4.547, 0.5543, 0.0757, 0.0415, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:208222f08578700611d390c3faf84affabed9047c10fa193821f070a02fe93e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b124488a219a4592fe1a4df6c665160e0fb3515ee5bf71ef969d3d2ea3c9b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6eb96c40b0d1f1bc0ce3ca77ef57e8130861ae0a9bbce81b870948cfacd3f709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 8.302 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.5972, -0.0193, -0.0387, 0.9991, 0.8154, 2.2883, 2.5454, -1.3464, 0.5034, 0.347, 0.1051]\nstate[eef_state]: left_x=0.2624 left_y=0.002 left_z=0.1309 left_yaw=0.0031 left_pitch=-0.2403 left_roll=0.0014 left_gripper=0.9991 right_x=0.4155 right_y=0.3221 right_z=0.2321 right_yaw=0.1578 right_pitch=-0.3315 right_roll=-0.25 right_gripper=0.1051\nstate[joint_eff]: [-0.0342, -1.6068, 6.8171, 1.5849, -0.0659, -0.0562, -0.0122, -0.6222, -11.3436, 6.1333, 0.3687, 0.2808, 0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6106, -0.0189, -0.0387, 0.9991, 0.9176, 1.7, 1.2201, -0.7773, 0.5274, 0.432, 0.9949]\nstate[eef_state]: left_x=0.26 left_y=0.002 left_z=0.128 left_yaw=0.0029 left_pitch=-0.2563 left_roll=0.0015 left_gripper=0.9991 right_x=0.2912 right_y=0.2401 right_z=0.1022 right_yaw=0.1514 right_pitch=-0.4311 right_roll=-0.3332 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -0.9504, 6.8171, 1.663, -0.0317, -0.0562, -0.0122, 0.1846, -9.1966, 7.4598, 1.5263, 0.4762, 0.1929, -0.2027]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6147, -0.0189, -0.0387, 0.9991, 0.9653, 1.9133, 1.1141, -0.4988, 0.543, 0.4747, 0.9953]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0029 left_pitch=-0.2605 left_roll=0.0016 left_gripper=0.9991 right_x=0.2895 right_y=0.2642 right_z=0.0139 right_yaw=0.1516 right_pitch=-0.4414 right_roll=-0.3515 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1419, 7.0085, 1.5116, -0.0269, -0.0562, -0.0122, 0.253, -5.9556, 4.547, 0.5543, 0.0757, 0.0415, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:208222f08578700611d390c3faf84affabed9047c10fa193821f070a02fe93e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b124488a219a4592fe1a4df6c665160e0fb3515ee5bf71ef969d3d2ea3c9b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eb96c40b0d1f1bc0ce3ca77ef57e8130861ae0a9bbce81b870948cfacd3f709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS8AIKjgEIEhgCKkB2QIpky9yiqTBfvJ8F9z8tO6uusKp/+AenNkhKT7j6Lw2QAGE6uOM4Po9HXmwwWlr1tfxaJHhiM0yrbJilJxdxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZeHzNUGEgy++zFwv1iFnaHIhxQaDInJmxrW6Lv9BA07kCIwlnIaqPxZSDrSbDhF+SodtIgJecRLixcq8R2+coWBI3shpHjyNMfEAwtQDPX/cr8DKo4Bnwob2dE2e6ahyMJzm9DhkGDKfoMszO8yJPRJO7vp9/wDCLQJTapEcwUjXocz2G1S73kb40dtRwgXRsRGKCZg7Ify6Qfc9pM8Yh+zBIKpASF7wzre7pwPNTF7TDwWAx6jgpKfOKWvDKdYTSC/DAR3MROBY7mU1R03MN7vev9lEW+2aaD3S8C+eXwUnLOgHBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BFHwnfqxDeMAEnh5YZedPR",
      "input": {
        "note": "The bear's body is centered between both jaw wedges at table level; closing fully to compress the fur and get a real grip.",
        "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_01BFHwnfqxDeMAEnh5YZedPR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6151, -0.0189, -0.0387, 0.9991, 0.9676, 1.9244, 1.1122, -0.4992, 0.5381, 0.4713, 0.0087]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0029 left_pitch=-0.2609 left_roll=0.0016 left_gripper=0.9991 right_x=0.2873 right_y=0.2639 right_z=0.0089 right_yaw=0.1541 right_pitch=-0.4547 right_roll=-0.3606 right_gripper=0.0087\nstate[joint_eff]: [-0.1573, -1.2239, 6.8308, 1.4872, -0.0708, -0.0513, -0.0122, -0.2803, -10.1402, 5.4632, 0.7595, 0.3492, 0.0024, 0.7399]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82a73718c36759d6a66bee27695cbd6ec17d7a44e5edc63828f50c218c3119f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:420b665a6361d4a14df7a4e055deb97b09e7c801e8e937e92eefc7d5517e32ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:baf837a38a9acaef6b7763c6c0a3fb774d032495b018777bb548031650bb0e9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 11.42 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6106, -0.0189, -0.0387, 0.9991, 0.9176, 1.7, 1.2201, -0.7773, 0.5274, 0.432, 0.9949]\nstate[eef_state]: left_x=0.26 left_y=0.002 left_z=0.128 left_yaw=0.0029 left_pitch=-0.2563 left_roll=0.0015 left_gripper=0.9991 right_x=0.2912 right_y=0.2401 right_z=0.1022 right_yaw=0.1514 right_pitch=-0.4311 right_roll=-0.3332 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -0.9504, 6.8171, 1.663, -0.0317, -0.0562, -0.0122, 0.1846, -9.1966, 7.4598, 1.5263, 0.4762, 0.1929, -0.2027]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6147, -0.0189, -0.0387, 0.9991, 0.9653, 1.9133, 1.1141, -0.4988, 0.543, 0.4747, 0.9953]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0029 left_pitch=-0.2605 left_roll=0.0016 left_gripper=0.9991 right_x=0.2895 right_y=0.2642 right_z=0.0139 right_yaw=0.1516 right_pitch=-0.4414 right_roll=-0.3515 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1419, 7.0085, 1.5116, -0.0269, -0.0562, -0.0122, 0.253, -5.9556, 4.547, 0.5543, 0.0757, 0.0415, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6151, -0.0189, -0.0387, 0.9991, 0.9676, 1.9244, 1.1122, -0.4992, 0.5381, 0.4713, 0.0087]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0029 left_pitch=-0.2609 left_roll=0.0016 left_gripper=0.9991 right_x=0.2873 right_y=0.2639 right_z=0.0089 right_yaw=0.1541 right_pitch=-0.4547 right_roll=-0.3606 right_gripper=0.0087\nstate[joint_eff]: [-0.1573, -1.2239, 6.8308, 1.4872, -0.0708, -0.0513, -0.0122, -0.2803, -10.1402, 5.4632, 0.7595, 0.3492, 0.0024, 0.7399]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82a73718c36759d6a66bee27695cbd6ec17d7a44e5edc63828f50c218c3119f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:420b665a6361d4a14df7a4e055deb97b09e7c801e8e937e92eefc7d5517e32ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baf837a38a9acaef6b7763c6c0a3fb774d032495b018777bb548031650bb0e9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISmAgKjgEIEhgCKkDfMmyp71Fjm8RsvtmLIVkmFACg4wE0fFYeRgn9UWzMk0o7ku1sXRiFDQQSet+tU5OSQrVJzGgzXVouhU5+H5xHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaCHzNUGEgwfL+z/Ha/4vsG3bzQaDDFuxb36ZSiN2SZ4bSIwlrnCQUkTGNkne/irO26bD2Gdu21Nu9srxxwVtfqfiB+yhI+ni2NRmldcTiU69lqzKrYGIz4px0YVNvlvOT3LAKGOryKywlRESFKZ6tbPZAVAO3/yLFgOKDYy2b0WIorjXixTUOhiQsxOez/szZ42dx6L56fRFdcF7gguM1z4gKRwPXQXDl1xQK75/uhPI3p4U6T0vTR0H0Hw62MG7D1qwi5Sa37nUSMsKF91gTtaSfROcu6hv28yGj3syanuEsM2e9YhOBSTVkx1iUSsXAIw85wV8NDJYwFNXcA3zcpFOSop4WHgBPKI/1regySzIUJAwwiq+DujkBdY67fvWqKq8nFNIExuHnUUjzeZ3UBZnHM/3pstS5+6ZdJ2duXSPFX+6IeFSvnDQOtR82qKbqe4VmSaecJxlbG2n+V3Pi+nfGB+Io4WaiFRUG3KZ2vQeXPIsRy6W5Gi1Ylwjy2BcIDG8BHa0P3tj/y0pWM5YAfdTW7pNz7DDayN04LvZyaBGHYuUynm2m10YiftzLczKkUjpdF9f8jJCDV6nspXAjELnUxR6SpSwbTdCMQn+sXZ/ZzBB4ngBbQqfeRbMQSFd3QRbdi0iYwbJjzqQrsEVoauzQUu+JHds0WGZxFXsPkIdB0GXbovvURmGIpKf/wuwyWV90Xgyq2H9Wo+YSdOMPnIh37mOw7+S4RRTgZ96j5sEwcyqQFxfiv4ByxOOWRdByXn7uox7cDkE3p0T518zBOr36pnTXFyzl7L1TFsc9wUCw8GRhyBcsaosUMtmxOlkMSYTjee1Oat8b5KzMBvD2ZuFIATOyZ0Ta+EX1y98gN+5+dRIq61HId/fhx9Fy1jdTZYYTbb8gCHQ2UhCfhqBeVfKdl5P7KD6OqNYCHA+2ypUMwEfa1PMuocLjZZFyzm/ESK7trikuqOvT3zF76WPOcL8jw3intLnJgmSsew46WE2/yy6gkFAeJL0fKWo8k+/PIh2oSMHh9JKaqIayE2ZRjD4jdVUVEcFkeK5fmZ/YMz42KdEvp0nZShURGrRoEWvAro3tHdA36T6Q7p1gnCco1vkLT4rrJeo1FSr33KsVTO87oKFKSjZtUCeAYyRcl7bGn/SnUsPhAGmcEQWYzSi2Ex/kdH/ABzV/8JFEPk8F6SB4srw+zV9NSCUbyFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CZVL87DiLGiZukT7FohpdT",
      "input": {
        "note": "Jaws are fully closed on the plush fur (reading ~0, as fur compresses); lifting to see in the top view whether the brown object came up.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01CZVL87DiLGiZukT7FohpdT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6159, -0.0189, -0.0387, 0.9991, 0.9676, 1.7893, 1.5803, -1.1156, 0.5274, 0.4679, 0.0101]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1271 left_yaw=0.0029 left_pitch=-0.2616 left_roll=0.0016 left_gripper=0.9991 right_x=0.2878 right_y=0.2674 right_z=0.1617 right_yaw=0.1575 right_pitch=-0.472 right_roll=-0.3655 right_gripper=0.0101\nstate[joint_eff]: [-0.1709, -1.1966, 6.8034, 1.4676, -0.0317, -0.0562, -0.0122, -0.335, -10.1128, 7.8427, 0.7839, 0.3492, -0.0171, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48496fb34ca380a3c53e39928baca92372d9537023ee460327bcfd89277cc0d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d84737db39dea44b8807e484e3eb91863949c8628a93e6a78d2500b293f3c1d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:026b800c09cb77350f02f838c498ea0131ab6e0c11bfa1aebcd8cbf0dc5e6dad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 9.697 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6147, -0.0189, -0.0387, 0.9991, 0.9653, 1.9133, 1.1141, -0.4988, 0.543, 0.4747, 0.9953]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0029 left_pitch=-0.2605 left_roll=0.0016 left_gripper=0.9991 right_x=0.2895 right_y=0.2642 right_z=0.0139 right_yaw=0.1516 right_pitch=-0.4414 right_roll=-0.3515 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1419, 7.0085, 1.5116, -0.0269, -0.0562, -0.0122, 0.253, -5.9556, 4.547, 0.5543, 0.0757, 0.0415, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6151, -0.0189, -0.0387, 0.9991, 0.9676, 1.9244, 1.1122, -0.4992, 0.5381, 0.4713, 0.0087]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0029 left_pitch=-0.2609 left_roll=0.0016 left_gripper=0.9991 right_x=0.2873 right_y=0.2639 right_z=0.0089 right_yaw=0.1541 right_pitch=-0.4547 right_roll=-0.3606 right_gripper=0.0087\nstate[joint_eff]: [-0.1573, -1.2239, 6.8308, 1.4872, -0.0708, -0.0513, -0.0122, -0.2803, -10.1402, 5.4632, 0.7595, 0.3492, 0.0024, 0.7399]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6159, -0.0189, -0.0387, 0.9991, 0.9676, 1.7893, 1.5803, -1.1156, 0.5274, 0.4679, 0.0101]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1271 left_yaw=0.0029 left_pitch=-0.2616 left_roll=0.0016 left_gripper=0.9991 right_x=0.2878 right_y=0.2674 right_z=0.1617 right_yaw=0.1575 right_pitch=-0.472 right_roll=-0.3655 right_gripper=0.0101\nstate[joint_eff]: [-0.1709, -1.1966, 6.8034, 1.4676, -0.0317, -0.0562, -0.0122, -0.335, -10.1128, 7.8427, 0.7839, 0.3492, -0.0171, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48496fb34ca380a3c53e39928baca92372d9537023ee460327bcfd89277cc0d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d84737db39dea44b8807e484e3eb91863949c8628a93e6a78d2500b293f3c1d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:026b800c09cb77350f02f838c498ea0131ab6e0c11bfa1aebcd8cbf0dc5e6dad",
        "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_01AGPgo5Y4czuaWG4DWNymyg",
      "input": {
        "note": "Still empty — the plush monkey now sits left of the jaw column in the wrist view (it has been nudged). Opening the jaws and shifting ~4 cm left over its torso before descending again.",
        "targets": {
          "right_gripper": 1,
          "right_y": 0.31,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AGPgo5Y4czuaWG4DWNymyg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6334, -0.0189, -0.0387, 0.9991, 1.0248, 2.0098, 1.38, -0.762, 0.5297, 0.5217, 0.9947]\nstate[eef_state]: left_x=0.2558 left_y=0.0021 left_z=0.1234 left_yaw=0.0031 left_pitch=-0.283 left_roll=0.0021 left_gripper=0.9991 right_x=0.2835 right_y=0.3017 right_z=0.0363 right_yaw=0.1557 right_pitch=-0.5044 right_roll=-0.3935 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.5795, 6.8855, 1.5849, -0.0611, -0.0513, -0.0122, 0.5265, -9.4154, 5.4359, 0.7741, 0.3443, 0.1343, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55bc08534c1604e34dc75ac4d066e26c61fcd8c3309baca9edbe1637712d9663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f26b0a9e93f674579344be3dbfdd158aee560b48f881250b5de312f10eda8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efcc1e19be6c24bbb29c14ee7e67f09775fc6e014a95102df6cc25da5e28d413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 14.39 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6151, -0.0189, -0.0387, 0.9991, 0.9676, 1.9244, 1.1122, -0.4992, 0.5381, 0.4713, 0.0087]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0029 left_pitch=-0.2609 left_roll=0.0016 left_gripper=0.9991 right_x=0.2873 right_y=0.2639 right_z=0.0089 right_yaw=0.1541 right_pitch=-0.4547 right_roll=-0.3606 right_gripper=0.0087\nstate[joint_eff]: [-0.1573, -1.2239, 6.8308, 1.4872, -0.0708, -0.0513, -0.0122, -0.2803, -10.1402, 5.4632, 0.7595, 0.3492, 0.0024, 0.7399]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6159, -0.0189, -0.0387, 0.9991, 0.9676, 1.7893, 1.5803, -1.1156, 0.5274, 0.4679, 0.0101]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1271 left_yaw=0.0029 left_pitch=-0.2616 left_roll=0.0016 left_gripper=0.9991 right_x=0.2878 right_y=0.2674 right_z=0.1617 right_yaw=0.1575 right_pitch=-0.472 right_roll=-0.3655 right_gripper=0.0101\nstate[joint_eff]: [-0.1709, -1.1966, 6.8034, 1.4676, -0.0317, -0.0562, -0.0122, -0.335, -10.1128, 7.8427, 0.7839, 0.3492, -0.0171, 0.1294]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6334, -0.0189, -0.0387, 0.9991, 1.0248, 2.0098, 1.38, -0.762, 0.5297, 0.5217, 0.9947]\nstate[eef_state]: left_x=0.2558 left_y=0.0021 left_z=0.1234 left_yaw=0.0031 left_pitch=-0.283 left_roll=0.0021 left_gripper=0.9991 right_x=0.2835 right_y=0.3017 right_z=0.0363 right_yaw=0.1557 right_pitch=-0.5044 right_roll=-0.3935 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.5795, 6.8855, 1.5849, -0.0611, -0.0513, -0.0122, 0.5265, -9.4154, 5.4359, 0.7741, 0.3443, 0.1343, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55bc08534c1604e34dc75ac4d066e26c61fcd8c3309baca9edbe1637712d9663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f26b0a9e93f674579344be3dbfdd158aee560b48f881250b5de312f10eda8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efcc1e19be6c24bbb29c14ee7e67f09775fc6e014a95102df6cc25da5e28d413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISkwsKjgEIEhgCKkCxB8/W/032haCH+18nVFiQy+282zcsNOUDzLAZ6p881iTyGT2kDRdlpZ0tCBCMAomBdNFwcJcMHiLLAENeR5lwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbeHzNUGEgyPAyFFlZd3EJvMTEkaDPyFtf592YhshhHN+iIwrtjgGvS2HEegwBILeyWsQgVW4E9ggeAfE5VsHu+3C8x5eOCPZ0ghReByzTrZJh7rKrEJVP1xwSGt6pjYzIpx4Kx1N+8Ro0w6e1KUh2qwe08ad2jbdL5oEqibHt7h+i8IUQuJeN47lylaWPjXZdiY+eYM4NIbQ+F8Mtr7H4e9VeU0SRX13FQJtgyspBxZrA+BNyEGp+7IbpPCC4gLlOJxSkxGCno5LwmTZ2lTPd+nc5eUh8nhBDwkKvEseIV2TQR9lcSTlHDdHUTdiCAqw5r8Lzm62o9aMzxTSN3okkBPuSVobM4upAx1/4OdEd3EY0af7EoJRVFWBaaC8QxhnawQD2HkuC/YLs1PsOII70tRiuoLjukXJvabbS6IU0cT/HzdYQyVf59VDfhOwmu4ZDYN5bkmqegOCILShFnPB3X7aSFnjnHBynpgAa7RAVmD6TxMwZsHAFvEbt1atQmSpOxR/r3SZcU7BMMc5SdjnBh/y30vr/kSoMutr0nPdUEL/uKOmbJ//jyzuGa0XN40oz/+nnVLrYPYvVyGgxp+C1qrUPEYtIh8pSRyxfft7Sy/18iKHHRNBis+BvP9a53VnJp0RUwyxTZZVs2Iz0ZZ08LPC/3GFhMcbn04xxOby+VIEWXpYtjLGLpVv/hu+/mt484K9zE/FiKYKQdHWPXBLny51nohPmS2NuDzBobnLbaqYS0JnBe7i2rlYkUasDqljjgJuaJ4B3137VLRjCGRqj+tEeD7msqBYCGNt+QvtMiC+ALjFVnagwNK8KRdYzo63uj7430WrfbH2BOYdfylx9agOKm3ALnMh+u/2ikLMUXe7G/QKOovNOuGO//iSqz4gnoC26ZwCQ54a1kFyP6A9kmSv/FEzr8auly0Zr1qDVC2byS1Lz9o1KpUk7cd0+imgEoK5H1G3nYGNBrwOmfmAEoDQqI4EeGDceY1gUPvHa4A+PvXEKzBQ1Sc3fWEKFJG2c4Sc2y28J386CvEf9bKU729HSZ5Chbir1kaGty4+zUnlRlGdU1urzSr4p/Smm4bGR0xq7tbhTa/1pXcnyy7MAsE7iG+8ChgiaqFLzjHVW1FBl/cABCIQR7Shg9nh233J5ANuaw1DMRXpR/27oIx9uSsafkDybmS22db4rg0mpLIhQNeERTaAjxp4+AnOYOocq0nOt61MOlBIN2efjARw6iZLuLLZJym0cE2T87o/c5zWH0ejAoQke8T1VYcrJzUjgPBOtKX3ELoxZyfhX41MTyuNWM3rTbSws7fGJWJwQfn1D1luGh6kPITxa1hBH64OM1eulsufRTAq45R4pL/Gq7G10+nkS3+BDJhSMOn34WoBzMnRdiKaUYJle46CjELkn1YyaRUjUdLo6rvPXHccYP21gOdZYfVE5qMiqXsPWdZaCKA4W5CELW/kg+Dx2Q5+llOWf+Pg+SDbpu0vcz+13E7IOQ34nj5O4e6WlTFsgA9Wrw1ftF+Ln4a5H2eRxR9+vp/BvXjCinOYDsS3C7rprGYEr9BktFUcicJIcWwgnjQKDZTVXPiPzjTRDCPQwqalIID4938yK8ShUUA2Sf7u8MsoesYotyjXJbXxZPsDZf+8srgfTRkrRJ0AIbLxNzkNeuuolUb0RGUSBAIYdsBm9AjrUawVtWw07GCcvKiuMRvAG100UT3jBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MmvswgvKddVeBuX3R9maLG",
      "input": {
        "note": "The plush has shifted to the right of the jaws in the wrist view; moving back 3.5 cm right and down to table level to straddle its body.",
        "targets": {
          "right_y": 0.275,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MmvswgvKddVeBuX3R9maLG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8364, 0.6067, -0.6365, -0.0189, -0.0383, 0.9991, 0.9997, 1.9789, 1.2289, -0.6056, 0.5304, 0.5014, 0.9953]\nstate[eef_state]: left_x=0.2552 left_y=0.0021 left_z=0.1228 left_yaw=0.0029 left_pitch=-0.2864 left_roll=0.0024 left_gripper=0.9991 right_x=0.2843 right_y=0.2837 right_z=0.0141 right_yaw=0.1566 right_pitch=-0.4842 right_roll=-0.3743 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -0.9778, 6.9675, 1.4628, -0.0708, -0.0464, -0.0122, -0.7453, -7.8427, 3.9863, 0.4664, 0.2076, -0.1294, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c4d5f59163007ece97fc6afd25b3814d1136ef88add8788097a9eb51b87f302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e1bf825185707bd8f3a5a1ebd1652d47bcffab0281b7d08dd71c3db2a434ee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0d91c2cebe1ec022edfe99bf931b3aa298956ac9629888f63041a6a6bd8356d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 7.492 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6159, -0.0189, -0.0387, 0.9991, 0.9676, 1.7893, 1.5803, -1.1156, 0.5274, 0.4679, 0.0101]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1271 left_yaw=0.0029 left_pitch=-0.2616 left_roll=0.0016 left_gripper=0.9991 right_x=0.2878 right_y=0.2674 right_z=0.1617 right_yaw=0.1575 right_pitch=-0.472 right_roll=-0.3655 right_gripper=0.0101\nstate[joint_eff]: [-0.1709, -1.1966, 6.8034, 1.4676, -0.0317, -0.0562, -0.0122, -0.335, -10.1128, 7.8427, 0.7839, 0.3492, -0.0171, 0.1294]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6334, -0.0189, -0.0387, 0.9991, 1.0248, 2.0098, 1.38, -0.762, 0.5297, 0.5217, 0.9947]\nstate[eef_state]: left_x=0.2558 left_y=0.0021 left_z=0.1234 left_yaw=0.0031 left_pitch=-0.283 left_roll=0.0021 left_gripper=0.9991 right_x=0.2835 right_y=0.3017 right_z=0.0363 right_yaw=0.1557 right_pitch=-0.5044 right_roll=-0.3935 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.5795, 6.8855, 1.5849, -0.0611, -0.0513, -0.0122, 0.5265, -9.4154, 5.4359, 0.7741, 0.3443, 0.1343, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8364, 0.6067, -0.6365, -0.0189, -0.0383, 0.9991, 0.9997, 1.9789, 1.2289, -0.6056, 0.5304, 0.5014, 0.9953]\nstate[eef_state]: left_x=0.2552 left_y=0.0021 left_z=0.1228 left_yaw=0.0029 left_pitch=-0.2864 left_roll=0.0024 left_gripper=0.9991 right_x=0.2843 right_y=0.2837 right_z=0.0141 right_yaw=0.1566 right_pitch=-0.4842 right_roll=-0.3743 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -0.9778, 6.9675, 1.4628, -0.0708, -0.0464, -0.0122, -0.7453, -7.8427, 3.9863, 0.4664, 0.2076, -0.1294, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c4d5f59163007ece97fc6afd25b3814d1136ef88add8788097a9eb51b87f302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e1bf825185707bd8f3a5a1ebd1652d47bcffab0281b7d08dd71c3db2a434ee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0d91c2cebe1ec022edfe99bf931b3aa298956ac9629888f63041a6a6bd8356d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XJyL3dSzVzQmxvVZx4zoQt",
      "input": {
        "note": "Switching to the left arm for the tan bunny, which the left wrist camera sees clearly ahead-right; moving to hover just above it at 12 cm.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.36,
          "left_y": -0.21,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01XJyL3dSzVzQmxvVZx4zoQt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6815, 1.6421, 1.1107, -0.5835, -0.4614, -0.6006, 0.9992, 0.989, 1.9686, 1.2179, -0.6098, 0.5396, 0.5064, 0.9953]\nstate[eef_state]: left_x=0.3476 left_y=-0.1761 left_z=0.0981 left_yaw=0.0679 left_pitch=-0.3591 left_roll=0.0986 left_gripper=0.9992 right_x=0.2863 right_y=0.2766 right_z=0.0155 right_yaw=0.136 right_pitch=-0.4797 right_roll=-0.3823 right_gripper=0.9953\nstate[joint_eff]: [-3.3299, -7.4462, 9.265, 1.7167, 0.2369, -0.0952, -0.1001, 0.6906, -8.9504, 6.4068, 0.7643, 0.1392, -0.5055, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3296edd8d8cbdbf32597ebdf256e15ed7d2d8ba4bef6f1a0ff0cc94093bc1b02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:257fbc161c09f881dce4bc3bf1f62e0510fd3bbfb83ec4ffe9609d059ac7a177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:debe2c777600bd584e8b0dcc471631f0694fda096811ddffa24849643aa314b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.413 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6334, -0.0189, -0.0387, 0.9991, 1.0248, 2.0098, 1.38, -0.762, 0.5297, 0.5217, 0.9947]\nstate[eef_state]: left_x=0.2558 left_y=0.0021 left_z=0.1234 left_yaw=0.0031 left_pitch=-0.283 left_roll=0.0021 left_gripper=0.9991 right_x=0.2835 right_y=0.3017 right_z=0.0363 right_yaw=0.1557 right_pitch=-0.5044 right_roll=-0.3935 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.5795, 6.8855, 1.5849, -0.0611, -0.0513, -0.0122, 0.5265, -9.4154, 5.4359, 0.7741, 0.3443, 0.1343, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8364, 0.6067, -0.6365, -0.0189, -0.0383, 0.9991, 0.9997, 1.9789, 1.2289, -0.6056, 0.5304, 0.5014, 0.9953]\nstate[eef_state]: left_x=0.2552 left_y=0.0021 left_z=0.1228 left_yaw=0.0029 left_pitch=-0.2864 left_roll=0.0024 left_gripper=0.9991 right_x=0.2843 right_y=0.2837 right_z=0.0141 right_yaw=0.1566 right_pitch=-0.4842 right_roll=-0.3743 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -0.9778, 6.9675, 1.4628, -0.0708, -0.0464, -0.0122, -0.7453, -7.8427, 3.9863, 0.4664, 0.2076, -0.1294, 0.0464]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6815, 1.6421, 1.1107, -0.5835, -0.4614, -0.6006, 0.9992, 0.989, 1.9686, 1.2179, -0.6098, 0.5396, 0.5064, 0.9953]\nstate[eef_state]: left_x=0.3476 left_y=-0.1761 left_z=0.0981 left_yaw=0.0679 left_pitch=-0.3591 left_roll=0.0986 left_gripper=0.9992 right_x=0.2863 right_y=0.2766 right_z=0.0155 right_yaw=0.136 right_pitch=-0.4797 right_roll=-0.3823 right_gripper=0.9953\nstate[joint_eff]: [-3.3299, -7.4462, 9.265, 1.7167, 0.2369, -0.0952, -0.1001, 0.6906, -8.9504, 6.4068, 0.7643, 0.1392, -0.5055, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3296edd8d8cbdbf32597ebdf256e15ed7d2d8ba4bef6f1a0ff0cc94093bc1b02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:257fbc161c09f881dce4bc3bf1f62e0510fd3bbfb83ec4ffe9609d059ac7a177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:debe2c777600bd584e8b0dcc471631f0694fda096811ddffa24849643aa314b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISngcKjgEIEhgCKkDD9EQVwWYnrc2E8fg0K51HiuWvbMNk5z0T52bw8o2cs553irM9GEvUWf6yfT4D20A7K1aMzLLqMGw1jcLJ8utZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc+HzNUGEgyABkXqK4Nk99Va4swaDAOp7rtHjV9iiByKMCIwGowSiGAXqLXC8uUB9BlOAxD20xNwGlp5nBHifiTQEEirQV2gEsywF1BxhRDIar+CKrwFReQLYNix6IyyBShTdaFONLAq644EfoAYHR7KJC4DkhEkRV2y7By0aBl3varm9sTwo7wurPJXR92bet+QJ06/QqNxzGGZmsyRN1jiB8MTYnFZVeZUlt7PgdEqsgyBIzx6MW5kqnnq8iFgAh3fn9Wn8Fhj9Hp8JbDZB8uz7efGA7qnedyjxjigUxYOqTsBgGt2pvoaK+ibFRncB3JRz0yaEPShaIb8OSpQzeUJAn48QA+x+5tALVHmiZaxCmGoyyitduwjJI9FYfS3LqNorYegDmMLCRa3KnmiHzLCtpOAbQLPAdef8iCIqijwZ9rZOZOihbaBbLPde3HrdYiF/qHBElZOADLAjUTtBpQWxk75fC4T8pZ2yM/tTalPYaY9YDiirdARflpEw7qiZpCyfp9CTOuS9g2B49YryVbkJkvWdvI8VyemYGcic58JzFQuWkcTNlGI6pW9g5CYvpK0o2b30bGot0i39itFOwNY56ibvP0iaU8izO+gWRcucQR1pEk1mNouNywc5paSBSA//HteA+LFy979w72OlQbIh4arbImuaPQ7fyIj7XxtctHrQ77vN9RmUF4zT7oV3ghXLNrCETXMcSf0Vo0Cyrj1DoJIPvJaeLduzmGtYaxuQZ7xKk7VE7uf/WqLPHSAdPdJATyTzuMDuswqpVIqRr8mI3ieeFyAz2PpUzLVftuE5//Eg/SdGaIXvpu2xn+Mz5Oxextu/7tQRov8Xhxxb1w3yeHBbEtKfj+wlfKDIr39ePFlnk4d4eCzGOkVCJ4t42FVmTvdaBOgXbjvgVtlIgcjjPegpt68ZZbn8eE0AGE8+nK+V6V0mFXnwMcj1ZdfOFKexSpJ32WzAD2go6ul7leDFNUFjRPWH2kj8+NdxC+gy6KcpCsyHmgiedp1A1WwLFycHAewyU4Z60pab7o0cbnB0xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Fj28BTFA9hntePs5gnChF",
      "input": {
        "note": "Left wrist view shows the bunny slightly left of the jaw column and a few cm beyond the fingertips; advancing 3 cm, shifting 2.5 cm left and descending to its body height.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.152,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011Fj28BTFA9hntePs5gnChF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5678, 1.7374, 1.0336, -0.4191, -0.4236, -0.5262, 0.9991, 0.9871, 1.9686, 1.2186, -0.6117, 0.5423, 0.5125, 0.9953]\nstate[eef_state]: left_x=0.3693 left_y=-0.1452 left_z=0.0514 left_yaw=0.1136 left_pitch=-0.3922 left_roll=0.1229 left_gripper=0.9991 right_x=0.2871 right_y=0.2757 right_z=0.0159 right_yaw=0.1287 right_pitch=-0.4773 right_roll=-0.3817 right_gripper=0.9953\nstate[joint_eff]: [-0.6085, -8.1573, 5.8735, 1.3407, -0.2076, 0.1148, -0.0171, -0.1436, -9.4017, 5.4359, 0.6178, 0.2173, -0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9662aa7397caf13dc9a3a7582dea6564b5fc3be11c13eeaa914d40b24f04363d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c7e5c7c060eeab12125abc3125f9f96321333b3b6018a5025e4839b064229a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0543bc5bbe7f7c4b870c3cd926cf5fb3cee2b81e58bb030949f78fa8f970f46c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 4.173 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8364, 0.6067, -0.6365, -0.0189, -0.0383, 0.9991, 0.9997, 1.9789, 1.2289, -0.6056, 0.5304, 0.5014, 0.9953]\nstate[eef_state]: left_x=0.2552 left_y=0.0021 left_z=0.1228 left_yaw=0.0029 left_pitch=-0.2864 left_roll=0.0024 left_gripper=0.9991 right_x=0.2843 right_y=0.2837 right_z=0.0141 right_yaw=0.1566 right_pitch=-0.4842 right_roll=-0.3743 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -0.9778, 6.9675, 1.4628, -0.0708, -0.0464, -0.0122, -0.7453, -7.8427, 3.9863, 0.4664, 0.2076, -0.1294, 0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6815, 1.6421, 1.1107, -0.5835, -0.4614, -0.6006, 0.9992, 0.989, 1.9686, 1.2179, -0.6098, 0.5396, 0.5064, 0.9953]\nstate[eef_state]: left_x=0.3476 left_y=-0.1761 left_z=0.0981 left_yaw=0.0679 left_pitch=-0.3591 left_roll=0.0986 left_gripper=0.9992 right_x=0.2863 right_y=0.2766 right_z=0.0155 right_yaw=0.136 right_pitch=-0.4797 right_roll=-0.3823 right_gripper=0.9953\nstate[joint_eff]: [-3.3299, -7.4462, 9.265, 1.7167, 0.2369, -0.0952, -0.1001, 0.6906, -8.9504, 6.4068, 0.7643, 0.1392, -0.5055, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5678, 1.7374, 1.0336, -0.4191, -0.4236, -0.5262, 0.9991, 0.9871, 1.9686, 1.2186, -0.6117, 0.5423, 0.5125, 0.9953]\nstate[eef_state]: left_x=0.3693 left_y=-0.1452 left_z=0.0514 left_yaw=0.1136 left_pitch=-0.3922 left_roll=0.1229 left_gripper=0.9991 right_x=0.2871 right_y=0.2757 right_z=0.0159 right_yaw=0.1287 right_pitch=-0.4773 right_roll=-0.3817 right_gripper=0.9953\nstate[joint_eff]: [-0.6085, -8.1573, 5.8735, 1.3407, -0.2076, 0.1148, -0.0171, -0.1436, -9.4017, 5.4359, 0.6178, 0.2173, -0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9662aa7397caf13dc9a3a7582dea6564b5fc3be11c13eeaa914d40b24f04363d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c7e5c7c060eeab12125abc3125f9f96321333b3b6018a5025e4839b064229a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0543bc5bbe7f7c4b870c3cd926cf5fb3cee2b81e58bb030949f78fa8f970f46c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugIKjgEIEhgCKkD3BqUTr7/gfHId+9ZtyyPxeQDkhnV15tsoJ+1ser6BFq2hCHcUaWjq8PeX09WhkXdIFINxLTyPzCcWInsyrycLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdWHzNUGEgygk5Z9tlLb8ldwNnwaDMlYDjnw9F9oPvOZNyIwzPSR1PBSsXcPxNDIe+ADHBdl1Xi2sIuTTCP8pTbZC02IlbrJqOZS/6y8eNWOM51XKlk38+qgW74vXt/cDvZFId9AvBPC96p+9sVzZdfjpb7ZXJJBhgFD4Gt1pC7ipsqCSmHeSTWzNmONSNl4pE8jl2R+rYaFogRkD1+mulFksbY61YDpC1arj0XiHxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PXFdxv5oozqrBhZjEaFHqY",
      "input": {
        "note": "The bunny is centered between the left jaws at body height; closing fully to compress the fur and grip it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PXFdxv5oozqrBhZjEaFHqY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.7596, 1.0187, -0.3588, -0.408, -0.4934, 0.0097, 0.9871, 1.9686, 1.2186, -0.6106, 0.5423, 0.5091, 0.9953]\nstate[eef_state]: left_x=0.3746 left_y=-0.1485 left_z=0.0435 left_yaw=0.0835 left_pitch=-0.3848 left_roll=0.1157 left_gripper=0.0097 right_x=0.2872 right_y=0.2759 right_z=0.0159 right_yaw=0.1311 right_pitch=-0.4772 right_roll=-0.3827 right_gripper=0.9953\nstate[joint_eff]: [0.0479, -8.9641, 6.2017, 1.2869, -0.1783, 0.1001, 0.7302, -0.1436, -9.7299, 5.4222, 0.6081, 0.2857, 0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da1541665ee5c15333d8f38da5689fb5bfa78601d52fcbc7e7294d100a836d63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:545b3057b41fea49b95e13ab118bd14c92c8e48920b4bd323fcd1e38c4d8e1f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6389d97c74e9c2bd459b891b2914f262642eb5dd72a5b29b11c091cb82013e33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 11.42 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6815, 1.6421, 1.1107, -0.5835, -0.4614, -0.6006, 0.9992, 0.989, 1.9686, 1.2179, -0.6098, 0.5396, 0.5064, 0.9953]\nstate[eef_state]: left_x=0.3476 left_y=-0.1761 left_z=0.0981 left_yaw=0.0679 left_pitch=-0.3591 left_roll=0.0986 left_gripper=0.9992 right_x=0.2863 right_y=0.2766 right_z=0.0155 right_yaw=0.136 right_pitch=-0.4797 right_roll=-0.3823 right_gripper=0.9953\nstate[joint_eff]: [-3.3299, -7.4462, 9.265, 1.7167, 0.2369, -0.0952, -0.1001, 0.6906, -8.9504, 6.4068, 0.7643, 0.1392, -0.5055, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5678, 1.7374, 1.0336, -0.4191, -0.4236, -0.5262, 0.9991, 0.9871, 1.9686, 1.2186, -0.6117, 0.5423, 0.5125, 0.9953]\nstate[eef_state]: left_x=0.3693 left_y=-0.1452 left_z=0.0514 left_yaw=0.1136 left_pitch=-0.3922 left_roll=0.1229 left_gripper=0.9991 right_x=0.2871 right_y=0.2757 right_z=0.0159 right_yaw=0.1287 right_pitch=-0.4773 right_roll=-0.3817 right_gripper=0.9953\nstate[joint_eff]: [-0.6085, -8.1573, 5.8735, 1.3407, -0.2076, 0.1148, -0.0171, -0.1436, -9.4017, 5.4359, 0.6178, 0.2173, -0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.7596, 1.0187, -0.3588, -0.408, -0.4934, 0.0097, 0.9871, 1.9686, 1.2186, -0.6106, 0.5423, 0.5091, 0.9953]\nstate[eef_state]: left_x=0.3746 left_y=-0.1485 left_z=0.0435 left_yaw=0.0835 left_pitch=-0.3848 left_roll=0.1157 left_gripper=0.0097 right_x=0.2872 right_y=0.2759 right_z=0.0159 right_yaw=0.1311 right_pitch=-0.4772 right_roll=-0.3827 right_gripper=0.9953\nstate[joint_eff]: [0.0479, -8.9641, 6.2017, 1.2869, -0.1783, 0.1001, 0.7302, -0.1436, -9.7299, 5.4222, 0.6081, 0.2857, 0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da1541665ee5c15333d8f38da5689fb5bfa78601d52fcbc7e7294d100a836d63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:545b3057b41fea49b95e13ab118bd14c92c8e48920b4bd323fcd1e38c4d8e1f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6389d97c74e9c2bd459b891b2914f262642eb5dd72a5b29b11c091cb82013e33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIStgMKjgEIEhgCKkC0ZZpZd8sROKwUS1qIk6Ib9y6HHEHhJx9U+EIftpw/vxAyPd9F0psKG8DS0D+W4YsenzsNHXeXTSWAyEiOvRwzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdqHzNUGEgxq5VPfydvJMWndG8oaDGkL1exfFdJgiTsBHiIwwcFP1H+ukNbURkHIleGHRlD7wrNENX1OKqT65YcSwwQK3B3M8ZzXc0I0oAzmd5q8KtQBcHN+X7IWGkHJFJ1JASlrlt4XwzR/9UVtG3zUryTHHefhNkrHmWj2pSPf+kN65dhXjvcZ95id42E2D+OA48qjGCJOQeJHoLTwYok3+RPvcFG7Swy1kt5XXOedVFPxLTRLDbRsKtT5BXLwkkm3sMeZi7/t7X1U3GPRSp3tQKDeBn5UDW15h0UO2yO16Vx77Og3khJdjcM+lirBJv0zrO4CS7HeUJFr+/cdby7voSv0LSVGwe9TBgFd8UxitfdC6XBvwZUCbXFNoehTNYiY3JbFMQngqu4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EnVREBfCHaDvFLbEm2sgfR",
      "input": {
        "note": "Jaws closed on the bunny's fur; lifting to 20 cm to see whether it comes up with the gripper.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01EnVREBfCHaDvFLbEm2sgfR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.6684, 1.4845, -0.9371, -0.4049, -0.5026, 0.0122, 0.9867, 1.9686, 1.2186, -0.6102, 0.5419, 0.5087, 0.9953]\nstate[eef_state]: left_x=0.3764 left_y=-0.1502 left_z=0.1798 left_yaw=0.092 left_pitch=-0.4028 left_roll=0.1217 left_gripper=0.0122 right_x=0.2873 right_y=0.2759 right_z=0.0159 right_yaw=0.1313 right_pitch=-0.4773 right_roll=-0.3824 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -9.4154, 8.6906, 1.0769, -0.2662, 0.0562, 0.2418, -0.1436, -9.7026, 5.5726, 0.6569, 0.2711, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b79c771b44f408939b4f8c5bd8bfb35bc17c493e6453323d180e79e73e9e2d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5461104ccdbc57f524be33514530989fdddec1188898588d4839927f4e52d6ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f656ac8313ab8de9d39914bcf0a14cc719d48029e29d5782ce4683900b189e91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 6.674 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5678, 1.7374, 1.0336, -0.4191, -0.4236, -0.5262, 0.9991, 0.9871, 1.9686, 1.2186, -0.6117, 0.5423, 0.5125, 0.9953]\nstate[eef_state]: left_x=0.3693 left_y=-0.1452 left_z=0.0514 left_yaw=0.1136 left_pitch=-0.3922 left_roll=0.1229 left_gripper=0.9991 right_x=0.2871 right_y=0.2757 right_z=0.0159 right_yaw=0.1287 right_pitch=-0.4773 right_roll=-0.3817 right_gripper=0.9953\nstate[joint_eff]: [-0.6085, -8.1573, 5.8735, 1.3407, -0.2076, 0.1148, -0.0171, -0.1436, -9.4017, 5.4359, 0.6178, 0.2173, -0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.7596, 1.0187, -0.3588, -0.408, -0.4934, 0.0097, 0.9871, 1.9686, 1.2186, -0.6106, 0.5423, 0.5091, 0.9953]\nstate[eef_state]: left_x=0.3746 left_y=-0.1485 left_z=0.0435 left_yaw=0.0835 left_pitch=-0.3848 left_roll=0.1157 left_gripper=0.0097 right_x=0.2872 right_y=0.2759 right_z=0.0159 right_yaw=0.1311 right_pitch=-0.4772 right_roll=-0.3827 right_gripper=0.9953\nstate[joint_eff]: [0.0479, -8.9641, 6.2017, 1.2869, -0.1783, 0.1001, 0.7302, -0.1436, -9.7299, 5.4222, 0.6081, 0.2857, 0.0073, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.6684, 1.4845, -0.9371, -0.4049, -0.5026, 0.0122, 0.9867, 1.9686, 1.2186, -0.6102, 0.5419, 0.5087, 0.9953]\nstate[eef_state]: left_x=0.3764 left_y=-0.1502 left_z=0.1798 left_yaw=0.092 left_pitch=-0.4028 left_roll=0.1217 left_gripper=0.0122 right_x=0.2873 right_y=0.2759 right_z=0.0159 right_yaw=0.1313 right_pitch=-0.4773 right_roll=-0.3824 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -9.4154, 8.6906, 1.0769, -0.2662, 0.0562, 0.2418, -0.1436, -9.7026, 5.5726, 0.6569, 0.2711, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b79c771b44f408939b4f8c5bd8bfb35bc17c493e6453323d180e79e73e9e2d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5461104ccdbc57f524be33514530989fdddec1188898588d4839927f4e52d6ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f656ac8313ab8de9d39914bcf0a14cc719d48029e29d5782ce4683900b189e91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DSyT8PXcu4j7bsDJAum921",
      "input": {
        "note": "Bunny still on the table — the jaws must be landing just short of it, toward the base. Opening up and advancing 3 cm further out before closing again.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.405,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DSyT8PXcu4j7bsDJAum921",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5236, 1.8519, 1.1595, -0.4671, -0.3862, -0.4721, 0.9953, 0.9867, 1.9686, 1.2186, -0.6106, 0.5423, 0.5087, 0.9953]\nstate[eef_state]: left_x=0.3932 left_y=-0.146 left_z=0.0413 left_yaw=0.1081 left_pitch=-0.4462 left_roll=0.1502 left_gripper=0.9953 right_x=0.2873 right_y=0.2758 right_z=0.0159 right_yaw=0.131 right_pitch=-0.4773 right_roll=-0.383 right_gripper=0.9953\nstate[joint_eff]: [0.5949, -8.4855, 5.9692, 1.2967, -0.2662, 0.0611, -0.105, -0.1299, -9.7299, 5.4496, 0.6178, 0.2613, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e19ecdd1dd8113ca0a354e348b12f82e5e92d12f450f5d660886ecac434275ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7df8af09349eb76cded1c1c41f37776818f01ff63dadf0b2cf516d391a5a9f9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0fcbf385ca91ee6103043d29828cd22cd422eda2ccb584dc432d64251e8203f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 6.011 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.7596, 1.0187, -0.3588, -0.408, -0.4934, 0.0097, 0.9871, 1.9686, 1.2186, -0.6106, 0.5423, 0.5091, 0.9953]\nstate[eef_state]: left_x=0.3746 left_y=-0.1485 left_z=0.0435 left_yaw=0.0835 left_pitch=-0.3848 left_roll=0.1157 left_gripper=0.0097 right_x=0.2872 right_y=0.2759 right_z=0.0159 right_yaw=0.1311 right_pitch=-0.4772 right_roll=-0.3827 right_gripper=0.9953\nstate[joint_eff]: [0.0479, -8.9641, 6.2017, 1.2869, -0.1783, 0.1001, 0.7302, -0.1436, -9.7299, 5.4222, 0.6081, 0.2857, 0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.6684, 1.4845, -0.9371, -0.4049, -0.5026, 0.0122, 0.9867, 1.9686, 1.2186, -0.6102, 0.5419, 0.5087, 0.9953]\nstate[eef_state]: left_x=0.3764 left_y=-0.1502 left_z=0.1798 left_yaw=0.092 left_pitch=-0.4028 left_roll=0.1217 left_gripper=0.0122 right_x=0.2873 right_y=0.2759 right_z=0.0159 right_yaw=0.1313 right_pitch=-0.4773 right_roll=-0.3824 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -9.4154, 8.6906, 1.0769, -0.2662, 0.0562, 0.2418, -0.1436, -9.7026, 5.5726, 0.6569, 0.2711, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5236, 1.8519, 1.1595, -0.4671, -0.3862, -0.4721, 0.9953, 0.9867, 1.9686, 1.2186, -0.6106, 0.5423, 0.5087, 0.9953]\nstate[eef_state]: left_x=0.3932 left_y=-0.146 left_z=0.0413 left_yaw=0.1081 left_pitch=-0.4462 left_roll=0.1502 left_gripper=0.9953 right_x=0.2873 right_y=0.2758 right_z=0.0159 right_yaw=0.131 right_pitch=-0.4773 right_roll=-0.383 right_gripper=0.9953\nstate[joint_eff]: [0.5949, -8.4855, 5.9692, 1.2967, -0.2662, 0.0611, -0.105, -0.1299, -9.7299, 5.4496, 0.6178, 0.2613, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e19ecdd1dd8113ca0a354e348b12f82e5e92d12f450f5d660886ecac434275ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7df8af09349eb76cded1c1c41f37776818f01ff63dadf0b2cf516d391a5a9f9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fcbf385ca91ee6103043d29828cd22cd422eda2ccb584dc432d64251e8203f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIStgIKjgEIEhgCKkCCBSUglOopDpnwOp8/VfOLjGqpUGrt6SxCbG5+0mrCSaOL/FDXLyCOINr3gv+DcT4PkxCKkvVOD9M4zROpkgDaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6HzNUGEgwyle2bdhF66djHY64aDG12ePT/M2eaKXwc/yIwx7+u0sLMJNdPrePeZnz6o5HQpd+c1mfCE6UtZixLsdrKwrxdwDuJkWDb6oKOMpMLKlX213PImrROQoB5ym31mntH8lLLj6LIGSJyz2PPuOqjauukBoJ+IUJfMySKhYrekoof7Yx4Nnm7r4cAJcQH8SnwHe7+aXZ+fMJBQJC8ItBG/dzxr3N5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016S8PamxEVJTqRXtZVYzJ59",
      "input": {
        "note": "Now the bunny sits squarely between both jaw wedges at the bottom of the left wrist view; closing fully.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016S8PamxEVJTqRXtZVYzJ59",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5224, 1.8721, 1.1473, -0.453, -0.3908, -0.4889, 0.0196, 0.9867, 1.9686, 1.2186, -0.6117, 0.5407, 0.5083, 0.9953]\nstate[eef_state]: left_x=0.3914 left_y=-0.1436 left_z=0.0311 left_yaw=0.128 left_pitch=-0.4569 left_roll=0.1565 left_gripper=0.0196 right_x=0.287 right_y=0.2757 right_z=0.0157 right_yaw=0.1316 right_pitch=-0.4793 right_roll=-0.383 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -10.6598, 6.8718, 0.7057, -0.0952, 0.1734, 0.8669, -0.1709, -9.6342, 5.4906, 0.7106, 0.2711, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78fe80a3c421cc3a894a40285bfeb4d2541c9699c16aab8c837762efa71a8eb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddbfc00b06339666b4167090602e0117698e534c09365eecaf0bfbb7607971e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6db19e6cc7d7235d787704ec68bd97653476805227707daf2a95ebefe8480f45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 13.6 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.6684, 1.4845, -0.9371, -0.4049, -0.5026, 0.0122, 0.9867, 1.9686, 1.2186, -0.6102, 0.5419, 0.5087, 0.9953]\nstate[eef_state]: left_x=0.3764 left_y=-0.1502 left_z=0.1798 left_yaw=0.092 left_pitch=-0.4028 left_roll=0.1217 left_gripper=0.0122 right_x=0.2873 right_y=0.2759 right_z=0.0159 right_yaw=0.1313 right_pitch=-0.4773 right_roll=-0.3824 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -9.4154, 8.6906, 1.0769, -0.2662, 0.0562, 0.2418, -0.1436, -9.7026, 5.5726, 0.6569, 0.2711, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5236, 1.8519, 1.1595, -0.4671, -0.3862, -0.4721, 0.9953, 0.9867, 1.9686, 1.2186, -0.6106, 0.5423, 0.5087, 0.9953]\nstate[eef_state]: left_x=0.3932 left_y=-0.146 left_z=0.0413 left_yaw=0.1081 left_pitch=-0.4462 left_roll=0.1502 left_gripper=0.9953 right_x=0.2873 right_y=0.2758 right_z=0.0159 right_yaw=0.131 right_pitch=-0.4773 right_roll=-0.383 right_gripper=0.9953\nstate[joint_eff]: [0.5949, -8.4855, 5.9692, 1.2967, -0.2662, 0.0611, -0.105, -0.1299, -9.7299, 5.4496, 0.6178, 0.2613, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5224, 1.8721, 1.1473, -0.453, -0.3908, -0.4889, 0.0196, 0.9867, 1.9686, 1.2186, -0.6117, 0.5407, 0.5083, 0.9953]\nstate[eef_state]: left_x=0.3914 left_y=-0.1436 left_z=0.0311 left_yaw=0.128 left_pitch=-0.4569 left_roll=0.1565 left_gripper=0.0196 right_x=0.287 right_y=0.2757 right_z=0.0157 right_yaw=0.1316 right_pitch=-0.4793 right_roll=-0.383 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -10.6598, 6.8718, 0.7057, -0.0952, 0.1734, 0.8669, -0.1709, -9.6342, 5.4906, 0.7106, 0.2711, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78fe80a3c421cc3a894a40285bfeb4d2541c9699c16aab8c837762efa71a8eb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddbfc00b06339666b4167090602e0117698e534c09365eecaf0bfbb7607971e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6db19e6cc7d7235d787704ec68bd97653476805227707daf2a95ebefe8480f45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkwYKjgEIEhgCKkCMKJ3QT8YOwaw92MG6TQcuebP8UmolKf13q8lr2w3l2MwRXMkWwDflgP9aX/YSUxvQQcbWMrEIBMOrNCDWgpoDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfWHzNUGEgxEkTjg0Bu1TZXRdLUaDH4B0dsd9JPK9+AxMSIw9qkA4cQZuQGxf5wm/+AvNIJsIyMVPDK76crKiAYOsVl1bol+97FWO4YnM6HXTf3WKrEE1Ns44gR+LpgNApQ2pO+AhkGeS+0OeUuUdyLB8q3KFCL/FkZ2xPJv61CtUD5PKBnqtY1ta4ys/rrw6ngXduSWvC0QIAVLsmiVsfDuANgxYeEdnPN2eEe7ySDkGW4/yWzOWXDHKysSnGqlKuMCflOnqb7/1PqWLlXihUyl0v2ErHwVG0CyS8RuRqlHonUFnDSa/FFcnWprizf6ZIfx2sb/9rfKv29t5THQafga4YPd8XRKZtp2inwYfJfnquOH0aEKg+sLH1CbfLM7olF11N3mOIyjBfiSbqbDEjt29HBkv27ib6IHvc0TrQlfB8NLfqAMSVssgzB247CvyY/yL628oL6DEDz8N8W5gV5EWIPFS3y6EutU3dF3bVaBNBr1sGPdiiyuXA1NyXhX0PWm383Vetm7bY40TvNXeJuWJQyR4tubXISm4ybE6XkojdFp2ORalqLhw8Gd1znWNjiGQBa9X7DOAH9op+x3L+gJLrQ47BItTQ86uljLnx3nDjflCKzXrYUVSjSJz68ucvVvmMA6sMFQF6g9XMHnqnkEH3lkCt2pDew5HghXm6lQplLG8LT8ZjEomDfdXovgoJWXTnrYzYQu5y7riKPkUacq37hrxQEJ58TO1+DpVdFcxuvu3Y/MD/P51ORURsEt40nyVKDGOkfQeQDZMXbA4763rBWiGM2Sw8tz5VbZYIZXiOrA4paQHiiypCVfy0vY8leALy3rhyWDo+d9IE2YwlKaP7WLhHZcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DYPgcFVaJvFxYogvzuTXjP",
      "input": {
        "note": "The bunny has vanished from the left wrist view, which means it is now held in the jaws; lifting and carrying it over the open case interior.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.3,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01DYPgcFVaJvFxYogvzuTXjP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7654, 2.3341, 2.5912, -1.536, -0.4549, -0.7372, 0.0194, 0.9867, 1.9663, 1.2182, -0.6121, 0.5377, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.4095 left_y=-0.2809 left_z=0.2042 left_yaw=0.1135 left_pitch=-0.467 left_roll=0.1426 left_gripper=0.0194 right_x=0.2866 right_y=0.2761 right_z=0.0162 right_yaw=0.1356 right_pitch=-0.4811 right_roll=-0.3813 right_gripper=0.9954\nstate[joint_eff]: [-0.6359, -14.188, 7.1043, 0.6716, -0.4811, -0.0415, -0.0366, -0.1436, -9.5385, 5.5726, 0.652, 0.2906, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce89b15ae32bc246407e74f2d432b73827a6a48754cf6855dc62af279ba25bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8245f46b39591954eaecca3e9cf559ac2d8119f285d6f24f921c97edff105de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0dac87742884b0ff7033fcb7c982369c90df7329a24f6be2b7ac399a73bfce28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 11.36 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5236, 1.8519, 1.1595, -0.4671, -0.3862, -0.4721, 0.9953, 0.9867, 1.9686, 1.2186, -0.6106, 0.5423, 0.5087, 0.9953]\nstate[eef_state]: left_x=0.3932 left_y=-0.146 left_z=0.0413 left_yaw=0.1081 left_pitch=-0.4462 left_roll=0.1502 left_gripper=0.9953 right_x=0.2873 right_y=0.2758 right_z=0.0159 right_yaw=0.131 right_pitch=-0.4773 right_roll=-0.383 right_gripper=0.9953\nstate[joint_eff]: [0.5949, -8.4855, 5.9692, 1.2967, -0.2662, 0.0611, -0.105, -0.1299, -9.7299, 5.4496, 0.6178, 0.2613, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5224, 1.8721, 1.1473, -0.453, -0.3908, -0.4889, 0.0196, 0.9867, 1.9686, 1.2186, -0.6117, 0.5407, 0.5083, 0.9953]\nstate[eef_state]: left_x=0.3914 left_y=-0.1436 left_z=0.0311 left_yaw=0.128 left_pitch=-0.4569 left_roll=0.1565 left_gripper=0.0196 right_x=0.287 right_y=0.2757 right_z=0.0157 right_yaw=0.1316 right_pitch=-0.4793 right_roll=-0.383 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -10.6598, 6.8718, 0.7057, -0.0952, 0.1734, 0.8669, -0.1709, -9.6342, 5.4906, 0.7106, 0.2711, -0.0366, -0.0073]\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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7654, 2.3341, 2.5912, -1.536, -0.4549, -0.7372, 0.0194, 0.9867, 1.9663, 1.2182, -0.6121, 0.5377, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.4095 left_y=-0.2809 left_z=0.2042 left_yaw=0.1135 left_pitch=-0.467 left_roll=0.1426 left_gripper=0.0194 right_x=0.2866 right_y=0.2761 right_z=0.0162 right_yaw=0.1356 right_pitch=-0.4811 right_roll=-0.3813 right_gripper=0.9954\nstate[joint_eff]: [-0.6359, -14.188, 7.1043, 0.6716, -0.4811, -0.0415, -0.0366, -0.1436, -9.5385, 5.5726, 0.652, 0.2906, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce89b15ae32bc246407e74f2d432b73827a6a48754cf6855dc62af279ba25bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8245f46b39591954eaecca3e9cf559ac2d8119f285d6f24f921c97edff105de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dac87742884b0ff7033fcb7c982369c90df7329a24f6be2b7ac399a73bfce28",
        "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_01HpqyQJ2wevGYJ7amhLjGWL",
      "input": {
        "note": "The bunny is still on the table (visible in the left wrist view) and the case interior is empty. Going back down onto the bunny, this time pressing to table level so the jaws straddle its base.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.4,
          "left_y": -0.145,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01HpqyQJ2wevGYJ7amhLjGWL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5636, 2.1185, 2.2749, -1.346, -0.3744, -0.5766, 0.9966, 0.9867, 1.9663, 1.2182, -0.6117, 0.5373, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.4399 left_y=-0.1974 left_z=0.2173 left_yaw=0.1316 left_pitch=-0.4692 left_roll=0.1018 left_gripper=0.9966 right_x=0.2866 right_y=0.2762 right_z=0.0162 right_yaw=0.1359 right_pitch=-0.4812 right_roll=-0.3807 right_gripper=0.9954\nstate[joint_eff]: [-1.9624, -16.3214, 7.788, 1.6337, -0.1294, 0.2613, 0.0317, -0.1846, -9.6889, 5.4359, 0.696, 0.232, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa72dd1bd1277c4cec391d185f8c13e0b176bdc5de5b553c69b68f9d5fc01748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0857ec128449729dd3de92bcc62dc081dbb9ebf67e906ba0ab55f68d6cb5c3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69281bc90230bf137c6cf5e563071556d07b9891b25cbf967f9e90473707d62b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 6.347 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5224, 1.8721, 1.1473, -0.453, -0.3908, -0.4889, 0.0196, 0.9867, 1.9686, 1.2186, -0.6117, 0.5407, 0.5083, 0.9953]\nstate[eef_state]: left_x=0.3914 left_y=-0.1436 left_z=0.0311 left_yaw=0.128 left_pitch=-0.4569 left_roll=0.1565 left_gripper=0.0196 right_x=0.287 right_y=0.2757 right_z=0.0157 right_yaw=0.1316 right_pitch=-0.4793 right_roll=-0.383 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -10.6598, 6.8718, 0.7057, -0.0952, 0.1734, 0.8669, -0.1709, -9.6342, 5.4906, 0.7106, 0.2711, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7654, 2.3341, 2.5912, -1.536, -0.4549, -0.7372, 0.0194, 0.9867, 1.9663, 1.2182, -0.6121, 0.5377, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.4095 left_y=-0.2809 left_z=0.2042 left_yaw=0.1135 left_pitch=-0.467 left_roll=0.1426 left_gripper=0.0194 right_x=0.2866 right_y=0.2761 right_z=0.0162 right_yaw=0.1356 right_pitch=-0.4811 right_roll=-0.3813 right_gripper=0.9954\nstate[joint_eff]: [-0.6359, -14.188, 7.1043, 0.6716, -0.4811, -0.0415, -0.0366, -0.1436, -9.5385, 5.5726, 0.652, 0.2906, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5636, 2.1185, 2.2749, -1.346, -0.3744, -0.5766, 0.9966, 0.9867, 1.9663, 1.2182, -0.6117, 0.5373, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.4399 left_y=-0.1974 left_z=0.2173 left_yaw=0.1316 left_pitch=-0.4692 left_roll=0.1018 left_gripper=0.9966 right_x=0.2866 right_y=0.2762 right_z=0.0162 right_yaw=0.1359 right_pitch=-0.4812 right_roll=-0.3807 right_gripper=0.9954\nstate[joint_eff]: [-1.9624, -16.3214, 7.788, 1.6337, -0.1294, 0.2613, 0.0317, -0.1846, -9.6889, 5.4359, 0.696, 0.232, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa72dd1bd1277c4cec391d185f8c13e0b176bdc5de5b553c69b68f9d5fc01748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0857ec128449729dd3de92bcc62dc081dbb9ebf67e906ba0ab55f68d6cb5c3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69281bc90230bf137c6cf5e563071556d07b9891b25cbf967f9e90473707d62b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SFJ2EYiZkYrqHDhMXNr185",
      "input": {
        "note": "The last combined move didn't track (the arm drifted up and out). Repositioning in a smaller step to hover 8 cm above the bunny.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.15,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01SFJ2EYiZkYrqHDhMXNr185",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.519, 1.8385, 1.3399, -0.7223, -0.3546, -0.5385, 0.997, 0.9867, 1.9663, 1.2182, -0.6117, 0.5346, 0.5056, 0.9954]\nstate[eef_state]: left_x=0.3921 left_y=-0.1492 left_z=0.0808 left_yaw=0.1485 left_pitch=-0.5077 left_roll=0.1287 left_gripper=0.997 right_x=0.2863 right_y=0.2764 right_z=0.016 right_yaw=0.1372 right_pitch=-0.483 right_roll=-0.3785 right_gripper=0.9954\nstate[joint_eff]: [0.6359, -9.894, 7.3094, 1.3211, -0.2418, 0.0855, 0.0269, -0.1846, -9.6889, 5.4632, 0.6374, 0.2369, 0.0024, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4fb5cef05d098585b7ad776e486aa50e4d0aabda596317d1b92272f7bef640e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fc06e3a6dd928c3d4e1827859d7bff89e20ddfa301ac05f86567225eb73d4e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8536779f05fb66f2c31e46ae773f4335fa7ae7ad30ea04be23ad339923668fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 7.313 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7654, 2.3341, 2.5912, -1.536, -0.4549, -0.7372, 0.0194, 0.9867, 1.9663, 1.2182, -0.6121, 0.5377, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.4095 left_y=-0.2809 left_z=0.2042 left_yaw=0.1135 left_pitch=-0.467 left_roll=0.1426 left_gripper=0.0194 right_x=0.2866 right_y=0.2761 right_z=0.0162 right_yaw=0.1356 right_pitch=-0.4811 right_roll=-0.3813 right_gripper=0.9954\nstate[joint_eff]: [-0.6359, -14.188, 7.1043, 0.6716, -0.4811, -0.0415, -0.0366, -0.1436, -9.5385, 5.5726, 0.652, 0.2906, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5636, 2.1185, 2.2749, -1.346, -0.3744, -0.5766, 0.9966, 0.9867, 1.9663, 1.2182, -0.6117, 0.5373, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.4399 left_y=-0.1974 left_z=0.2173 left_yaw=0.1316 left_pitch=-0.4692 left_roll=0.1018 left_gripper=0.9966 right_x=0.2866 right_y=0.2762 right_z=0.0162 right_yaw=0.1359 right_pitch=-0.4812 right_roll=-0.3807 right_gripper=0.9954\nstate[joint_eff]: [-1.9624, -16.3214, 7.788, 1.6337, -0.1294, 0.2613, 0.0317, -0.1846, -9.6889, 5.4359, 0.696, 0.232, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.519, 1.8385, 1.3399, -0.7223, -0.3546, -0.5385, 0.997, 0.9867, 1.9663, 1.2182, -0.6117, 0.5346, 0.5056, 0.9954]\nstate[eef_state]: left_x=0.3921 left_y=-0.1492 left_z=0.0808 left_yaw=0.1485 left_pitch=-0.5077 left_roll=0.1287 left_gripper=0.997 right_x=0.2863 right_y=0.2764 right_z=0.016 right_yaw=0.1372 right_pitch=-0.483 right_roll=-0.3785 right_gripper=0.9954\nstate[joint_eff]: [0.6359, -9.894, 7.3094, 1.3211, -0.2418, 0.0855, 0.0269, -0.1846, -9.6889, 5.4632, 0.6374, 0.2369, 0.0024, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4fb5cef05d098585b7ad776e486aa50e4d0aabda596317d1b92272f7bef640e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fc06e3a6dd928c3d4e1827859d7bff89e20ddfa301ac05f86567225eb73d4e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8536779f05fb66f2c31e46ae773f4335fa7ae7ad30ea04be23ad339923668fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0wUKjgEIEhgCKkA1hPbbxTDpLofZwzU3P6VrPQKuz+sHd0ESlYJRwfXKyIdnkEd+vNOUgT2zXplyCpcgkhU5rgO2wcB97TB3oicjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZiIzNUGEgx9NVba25Ngmn+8IDgaDPPk0Lz/Ld4YOuqMFiIwWAea7sxFgrBk7x1MPe80fT9fvW5m3JX1fmZmz6tIQe6yJwy7cb5GYOC0wkS/KVZOKvEDN77QDudtAfAB6NSOmoDMtb+fRiQverKmc1rOtE5ZbUP2FQ8kS2UKkeW4QtyBb63mIkOzrCqewda3kfLZSA0Hi+HCYGVgE5TlXCNCxKl4TJCPTFgTW0cP/KIxFYxCENFJk8ePx0WLMdEPPbrM4RgU7ulTUA6z+YIGVrAZFBQlm1HbZqokhVKeAwnye/9IGmuBjLYgrSNmNq7ukYrjuJjUpI0MHjZ0lDgpgUNS48wjool758mi7QFYV80XPTHG6WTSKAibz+vocXJ05RB4Rs8K/Ttkb7V1snF4BoHzaq3SnSpd5GHix5ibHAdt6r34x8zRF3sM05V6cP66IqJeMSmmVxwGFatc0o1DSM08tG6IwOO05lMvHPueGgz0hzLkTSCiS74ro4KQ03J0mZnlQMYEL7gZAcIW/lwRFfUP7sXb3qF0CHG/KE/VRvmbNbSLs/YaP7GVd3RJ3tCyfI1OrVIoHGRfECfLyOaWFSKkiBrr1dctE0QcAxBOkxIOxLf5yTu7A1b50T0wOuNgDR1AqWs0nkojyfKE4RoHctR/ddzu9e4BDlgHNyz0TGek+itBZaSDZmbBG9/KEPuPO+exApU9wCqRLnYoQYVqOjJEuQM7TksNMLIiLP1aQIUC9ZjaycyM8veTmz8v8m6K/5DvAb+3T3gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UX6zM9hTXAXJ5T2foksbNR",
      "input": {
        "note": "The bunny's face is clearly between the jaw wedges but ~3 cm to the image-left; shifting 2.5 cm left and descending to table level for the grasp.",
        "targets": {
          "left_y": -0.125,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UX6zM9hTXAXJ5T2foksbNR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5144, 1.842, 1.3003, -0.6769, -0.3519, -0.5354, 0.9971, 0.9871, 1.9663, 1.2182, -0.6113, 0.5346, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.3912 left_y=-0.147 left_z=0.0702 left_yaw=0.1483 left_pitch=-0.5076 left_roll=0.1264 left_gripper=0.9971 right_x=0.2863 right_y=0.2766 right_z=0.016 right_yaw=0.1379 right_pitch=-0.4829 right_roll=-0.3784 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -9.0462, 5.4906, 1.0427, -0.2466, 0.0024, -0.0073, -0.1026, -9.7026, 5.6547, 0.6374, 0.232, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa1a3662efe434aa0abfaf57e866d41fa6f6824257f46538a56df4efc0d3684",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:217006677826c28114c30cb7817ee86aa2226ab7cf31bd0b1e9fa4ac0f26a268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f21974fbd24d001db2183d33c90bb4d1ac59bf18f1713cc3421977abebcbbffa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 37 attempt 0 · /messages · status 200 · 5.799 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5636, 2.1185, 2.2749, -1.346, -0.3744, -0.5766, 0.9966, 0.9867, 1.9663, 1.2182, -0.6117, 0.5373, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.4399 left_y=-0.1974 left_z=0.2173 left_yaw=0.1316 left_pitch=-0.4692 left_roll=0.1018 left_gripper=0.9966 right_x=0.2866 right_y=0.2762 right_z=0.0162 right_yaw=0.1359 right_pitch=-0.4812 right_roll=-0.3807 right_gripper=0.9954\nstate[joint_eff]: [-1.9624, -16.3214, 7.788, 1.6337, -0.1294, 0.2613, 0.0317, -0.1846, -9.6889, 5.4359, 0.696, 0.232, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.519, 1.8385, 1.3399, -0.7223, -0.3546, -0.5385, 0.997, 0.9867, 1.9663, 1.2182, -0.6117, 0.5346, 0.5056, 0.9954]\nstate[eef_state]: left_x=0.3921 left_y=-0.1492 left_z=0.0808 left_yaw=0.1485 left_pitch=-0.5077 left_roll=0.1287 left_gripper=0.997 right_x=0.2863 right_y=0.2764 right_z=0.016 right_yaw=0.1372 right_pitch=-0.483 right_roll=-0.3785 right_gripper=0.9954\nstate[joint_eff]: [0.6359, -9.894, 7.3094, 1.3211, -0.2418, 0.0855, 0.0269, -0.1846, -9.6889, 5.4632, 0.6374, 0.2369, 0.0024, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5144, 1.842, 1.3003, -0.6769, -0.3519, -0.5354, 0.9971, 0.9871, 1.9663, 1.2182, -0.6113, 0.5346, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.3912 left_y=-0.147 left_z=0.0702 left_yaw=0.1483 left_pitch=-0.5076 left_roll=0.1264 left_gripper=0.9971 right_x=0.2863 right_y=0.2766 right_z=0.016 right_yaw=0.1379 right_pitch=-0.4829 right_roll=-0.3784 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -9.0462, 5.4906, 1.0427, -0.2466, 0.0024, -0.0073, -0.1026, -9.7026, 5.6547, 0.6374, 0.232, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa1a3662efe434aa0abfaf57e866d41fa6f6824257f46538a56df4efc0d3684",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:217006677826c28114c30cb7817ee86aa2226ab7cf31bd0b1e9fa4ac0f26a268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f21974fbd24d001db2183d33c90bb4d1ac59bf18f1713cc3421977abebcbbffa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QYKjgEIEhgCKkCeeNM2SS4ZCrQQAquMwQcGCESOqYk4n3LVED7xXNsFkE+M2cagBdLBiYqv0aMLe5Bz296id67CrFUaf7qGdBXvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ+IzNUGEgwwOPhcsC3JVDmtWgQaDP4tTzhh5ya5rtZInSIwK2rSDPq3DzRxcq81IWzX35ILWHhY1Pqap/7LzJ/sL4wFVvtDMNkLPny+d/vI+OMWKpMF4L4TBBy2rIqCYUoEolZdYVMHtss6dZDpuccKs4/2oe5/LBSzyaYTLLgViX4YJ8rshbqXumyNS+MKPJ7GXyn0UPxsKM/fDozFDgKs97se8P5gG/EWJJDFK7uN6nZThOTEmFBXujQO+WfYlLJhZupWdWUQPwU3nB53S3ORVyipib4BAF74836USww1scW8+nbSuWvuL+FrodzPYY6mP0bYpsVAjCLdnezyOZoOh9wSuudjxkFlAY4l9RNOKyZNAoMjb4hMFiqL8gacaAmGhsFMlocxyrBpIGQ9scG3OobFE8CmIbuU1cG8t0KTu8OSQVOAZRzFxtS9mYTpF8tYCHwnXfPhmcsu14CbrJUDmhvq2QrJ0GjuSXpXWvtr50k7yEVtSkuE1WahpSW4ylC9JZlH4dLCeWIWdZFvio/Ms24moo2FI3EMRK/AgPCYdmu2+u7I3K567dkdJwpuuAH0CfAWlIe+ovGOAaVjzj0/tbIJO0XXOFnFY+0WyVr/gl9NKWwnMdVQ0qgPbuDFLg9uVolxmiiY0LnK8CXk/RVhB/yAV3gpCAPtkDn3mRLgO9NB3Z6FOFKRzVyzaYxJOCfy7PKdDebuYlhdmGBqHmPgoiywsXu5Re4Q4KSxWU3cmQtoMw+FvbsOS6N7sg2axBNUMqQuQKTEjMkTj4eZ8JB0z4Ao5ibUZ7PtOpfEVl5WwZWF3ROuEfqmhKB8PM/7aqtatKixDPxrrIUR2RsElNhHlG+P6dTOFzNh16AIBAs+gFL6ZZD61NlMoZLb7mr0mmgpKaHTp2nTcWlvY46LujohVeMzRu5iYYsiKDzSUEgviOAKgKp70up1zzIIjNAH95YWHRyftyHwtGWyLjMc5213qBN4LDOM8bIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M32ibf2ASym8S9GZWUrGgJ",
      "input": {
        "note": "The descent stalled at z=0.07 with the wrist tilted; commanding the wrist back to level pitch/roll and pressing down to table level over the bunny.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01M32ibf2ASym8S9GZWUrGgJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6064, 1.9049, 0.6941, 0.4171, -0.6342, -0.5079, 0.9971, 0.9871, 1.9663, 1.2182, -0.6113, 0.5346, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.3888 left_y=-0.1379 left_z=0.002 left_yaw=0.1682 left_pitch=-0.0331 left_roll=0.0456 left_gripper=0.9971 right_x=0.2863 right_y=0.2766 right_z=0.016 right_yaw=0.1379 right_pitch=-0.4829 right_roll=-0.3784 right_gripper=0.9954\nstate[joint_eff]: [-1.0188, -6.1197, 3.8496, 1.5702, 0.1587, -0.1245, -0.0122, -0.0752, -9.6615, 5.4769, 0.6325, 0.2711, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80e33b6015b39a88ec8f19ed6a4b9928c82fbf7aae866f5d76eef0160b7d35fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0694256a4266e3e80a6ddd4238d04c6be4b1921aae74a77a62178ed98608391",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57578e6e83f8a7394797929a89d47f30036c2446827c9a3cbbccc6d0830b617b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 6.014 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.519, 1.8385, 1.3399, -0.7223, -0.3546, -0.5385, 0.997, 0.9867, 1.9663, 1.2182, -0.6117, 0.5346, 0.5056, 0.9954]\nstate[eef_state]: left_x=0.3921 left_y=-0.1492 left_z=0.0808 left_yaw=0.1485 left_pitch=-0.5077 left_roll=0.1287 left_gripper=0.997 right_x=0.2863 right_y=0.2764 right_z=0.016 right_yaw=0.1372 right_pitch=-0.483 right_roll=-0.3785 right_gripper=0.9954\nstate[joint_eff]: [0.6359, -9.894, 7.3094, 1.3211, -0.2418, 0.0855, 0.0269, -0.1846, -9.6889, 5.4632, 0.6374, 0.2369, 0.0024, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5144, 1.842, 1.3003, -0.6769, -0.3519, -0.5354, 0.9971, 0.9871, 1.9663, 1.2182, -0.6113, 0.5346, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.3912 left_y=-0.147 left_z=0.0702 left_yaw=0.1483 left_pitch=-0.5076 left_roll=0.1264 left_gripper=0.9971 right_x=0.2863 right_y=0.2766 right_z=0.016 right_yaw=0.1379 right_pitch=-0.4829 right_roll=-0.3784 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -9.0462, 5.4906, 1.0427, -0.2466, 0.0024, -0.0073, -0.1026, -9.7026, 5.6547, 0.6374, 0.232, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6064, 1.9049, 0.6941, 0.4171, -0.6342, -0.5079, 0.9971, 0.9871, 1.9663, 1.2182, -0.6113, 0.5346, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.3888 left_y=-0.1379 left_z=0.002 left_yaw=0.1682 left_pitch=-0.0331 left_roll=0.0456 left_gripper=0.9971 right_x=0.2863 right_y=0.2766 right_z=0.016 right_yaw=0.1379 right_pitch=-0.4829 right_roll=-0.3784 right_gripper=0.9954\nstate[joint_eff]: [-1.0188, -6.1197, 3.8496, 1.5702, 0.1587, -0.1245, -0.0122, -0.0752, -9.6615, 5.4769, 0.6325, 0.2711, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80e33b6015b39a88ec8f19ed6a4b9928c82fbf7aae866f5d76eef0160b7d35fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0694256a4266e3e80a6ddd4238d04c6be4b1921aae74a77a62178ed98608391",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57578e6e83f8a7394797929a89d47f30036c2446827c9a3cbbccc6d0830b617b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AQKjgEIEhgCKkDSxmUWxu9xivaRzO+PTyLq+WUuGQXn802VpM7q5iJUjKH/fkmMMAfFEuTZBoUCfHCHcbtC+j6Xg0mGxwRvLuSMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaeIzNUGEgzLbyAjzU+KhyvubREaDMLSsHMexH2e8pFs7iIwUCwRUBfnbdbV0+t2jXZ0WnTy/Z5FFAOd53c9FqKtItqN4Qv0/1zqjPfEwN2BFXl6KoIDUfjQeb2YEID3t5QAYhO/owD0vhYAa+R05dESLOnG35JKu8k3+CnkKJpeDZgIEi4H94+HOjl6Zmv/G4UFmY7URIMu+SvRkPXqFYWO+rQMBQ9Bb5yBz/G0k/zyJZWPVHBH7SAjQEhnYsOOGHssXwJUyoyL5e5H10onNzx6kSxiQOeAoXJnRcN8RD7GTEyd7dfiVTVeaHaoMmEXTfpZE/7WG+6bWQ88nz4QcPpnVsKULKJt1Ug61MqoJcDX0l+CAXsKcQt+zvJSWrajb3pfdwidzcdN2dR1dUPbEaOsZY+P8jcwgpG5YkKpfBIwFTEAKBXUob+8BtnLBbFYUo9CrQZgqth6E8xEWUij3uLZWj/HYVx80LWPglh8kM7rM2oD9bniAhm++CllLJUmEVAYU8SWYP8uT1jI9swAPAHQt+xNYUItYOQAQo+F2ou+aHYeeoO7M2I/MUxXTn/cCFHEVW9lEmOoyy+yZL9a6QKwZbk+qVbmEnL49WCt9XRs50Xd4THRAvMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P11rRtFoVjyhVmpM54aiAx",
      "input": {
        "note": "Wrist is now level and at table height with the bunny filling the space between the jaws; closing to grip it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01P11rRtFoVjyhVmpM54aiAx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6083, 1.9045, 0.688, 0.4442, -0.6674, -0.5018, 0.2156, 0.9871, 1.9663, 1.2182, -0.6117, 0.5343, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.3907 left_y=-0.1344 left_z=0.0069 left_yaw=0.1865 left_pitch=-0.0016 left_roll=0.0521 left_gripper=0.2156 right_x=0.2862 right_y=0.2766 right_z=0.0159 right_yaw=0.138 right_pitch=-0.4834 right_roll=-0.3784 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -8.1436, 4.9026, 1.1893, 0.0415, -0.1343, 1.0183, -0.0752, -9.5248, 5.5316, 0.6471, 0.232, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2664b11d596f1cb7266b2a8928497987c4db717fd9a8d4f87c9713e2143102aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dc69994a4ac25aed393ba92899fd06c4251a9f9b010ff496b672f2205dffb97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36b3dc57a7a26236bb80f4658d8802d63002cf213c94cdbecd3a33e151b79ea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 12.49 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5144, 1.842, 1.3003, -0.6769, -0.3519, -0.5354, 0.9971, 0.9871, 1.9663, 1.2182, -0.6113, 0.5346, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.3912 left_y=-0.147 left_z=0.0702 left_yaw=0.1483 left_pitch=-0.5076 left_roll=0.1264 left_gripper=0.9971 right_x=0.2863 right_y=0.2766 right_z=0.016 right_yaw=0.1379 right_pitch=-0.4829 right_roll=-0.3784 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -9.0462, 5.4906, 1.0427, -0.2466, 0.0024, -0.0073, -0.1026, -9.7026, 5.6547, 0.6374, 0.232, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6064, 1.9049, 0.6941, 0.4171, -0.6342, -0.5079, 0.9971, 0.9871, 1.9663, 1.2182, -0.6113, 0.5346, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.3888 left_y=-0.1379 left_z=0.002 left_yaw=0.1682 left_pitch=-0.0331 left_roll=0.0456 left_gripper=0.9971 right_x=0.2863 right_y=0.2766 right_z=0.016 right_yaw=0.1379 right_pitch=-0.4829 right_roll=-0.3784 right_gripper=0.9954\nstate[joint_eff]: [-1.0188, -6.1197, 3.8496, 1.5702, 0.1587, -0.1245, -0.0122, -0.0752, -9.6615, 5.4769, 0.6325, 0.2711, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6083, 1.9045, 0.688, 0.4442, -0.6674, -0.5018, 0.2156, 0.9871, 1.9663, 1.2182, -0.6117, 0.5343, 0.5053, 0.9954]\nstate[eef_state]: left_x=0.3907 left_y=-0.1344 left_z=0.0069 left_yaw=0.1865 left_pitch=-0.0016 left_roll=0.0521 left_gripper=0.2156 right_x=0.2862 right_y=0.2766 right_z=0.0159 right_yaw=0.138 right_pitch=-0.4834 right_roll=-0.3784 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -8.1436, 4.9026, 1.1893, 0.0415, -0.1343, 1.0183, -0.0752, -9.5248, 5.5316, 0.6471, 0.232, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2664b11d596f1cb7266b2a8928497987c4db717fd9a8d4f87c9713e2143102aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dc69994a4ac25aed393ba92899fd06c4251a9f9b010ff496b672f2205dffb97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36b3dc57a7a26236bb80f4658d8802d63002cf213c94cdbecd3a33e151b79ea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISkAQKjgEIEhgCKkB3HB+261/mRBNuUAkfqidzZewN6Yw2G1hnGoyMSLLmiMC+YiobNKSY0OAh0cewDvgShWQ/1f7hef3+Ea/t3zz8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa6IzNUGEgzVtPWtBQOZZKeGXCgaDEHILQyrJ0Xopy5WWiIwb9tgOYDiJ1sYebhitGXU9gu3PfaLLpcwVu4NNORMd0A/zXhyKBaj1nBJAT50fHdSKq4CsYcJ1hS55Lh0qEVp5VYuAdMveEeAtxQE+FtEpXvLMSnUIAWYKR+j8YdgOq3NPdxKC7Bl4IczJ7rV4qzqdAr66I9PDWeGo70hOH3BaUzo71GNkHfyuI0FG2oonFX0Znp/adZeXHNJHEgClMPyj6JW2oVVC2fr1AWUeL+y812rmn4DWmGwcNRqqjio+TPwL/PFQ32xt44wvM7jjH+uhn0iya4oxhf/3oUrqh1DsMNRsWfmEX9wv/6X5VUNyyDsBNmhDGeZF8BcKOSLu1ZDu7o31NK31nAPtF+sfYmvt81LfHpJPLy81vjL2W5vdRJ15j37WeOvirAalgy/HUEVJuuzV09KrVI1EOa3LpA+evH+2c9L0nRFy6ip+irAwagz5VU/INWkKkWihiEtjUaO1LYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JQmwxREaNqidsvjtQvSJmU",
      "input": {
        "note": "The jaws settled at 0.22 (≈2 cm of compressed plush) — the bunny is finally held. Lifting and carrying it over the open case interior.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.3,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01JQmwxREaNqidsvjtQvSJmU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6643, 2.0666, 1.6863, -0.9455, -0.7689, -0.7879, 0.2179, 0.7479, 1.8072, 1.2613, -0.5137, 0.5171, 0.498, 0.9954]\nstate[eef_state]: left_x=0.4268 left_y=-0.1736 left_z=0.118 left_yaw=0.4046 left_pitch=-0.235 left_roll=0.3318 left_gripper=0.2179 right_x=0.3735 right_y=0.2323 right_z=0.0978 right_yaw=0.0014 right_pitch=-0.2852 right_roll=-0.1393 right_gripper=0.9954\nstate[joint_eff]: [-18.1265, -13.135, 20.8342, 2.5031, -1.2039, 0.0024, 0.5885, 20.2462, 3.8359, 2.4547, -0.3883, 0.3932, 0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9890e0b9acd9a687287606065bb377a11737cb77d63b2429bc1c62e1734c984f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a674bb238fa61f06f456358ff0c4faaae038339edf8cfad796db7b7d803e618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c899d7db83e2c402aef42b29c1ad37c38a4242781452e7811c602267a835862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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