adhoc

completed
2026-09-22T22:09:41.324413+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
368.5 s
total steps
359
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 noteTop view shows an open red-lined safe in the middle, a yellow lemon to its right, a white bear to its left and a brown teddy in front. I'm moving the right arm to hover ~15 cm above my estimate of the lemon's position to refine the approach from the wrist camera.
move_to
right_x0.4000right_y0.1200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7921, 0.6041, -0.3893, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6079, -0.403, -0.0193, -0.0193, 0.9996] state[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1786 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0008 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.4855, -1.4017, 10.1675, 1.9951, -0.0513, 0.1685, -0.0855, -0.2803, -1.4701, 9.6615, 2.0733, -0.0513, 0.0415, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.12, "right_z": 0.15, "right_gripper": 1.0}, "note": "Top view shows an open red-lined safe in the middle, a yellow lemon to its right, a white bear to its left and a brown teddy in front. I'm moving the right arm to hover ~15 cm above my estimate of the lemon's position to refine the approach from the wrist camera."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe right wrist camera shows the lemon almost on the jaw column but slightly beyond the fingertips, so I'm advancing ~5 cm radially and nudging right to line it up before descending.
move_to
right_x0.4300right_y0.1050right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.4213, 1.4189, 0.8185, -0.1207, 0.3126, 0.2043, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0023 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3813 right_y=0.1153 right_z=0.1269 right_yaw=0.0424 right_pitch=-0.0912 right_roll=-0.0421 right_gripper=0.9996 state[joint_eff]: [-0.1162, -1.5248, 6.8444, 1.8681, -0.0464, -0.0171, -0.0171, 0.294, -6.4479, 8.6769, 1.9267, 0.2125, 0.2369, -0.0562] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.105, "right_z": 0.12}, "note": "The right wrist camera shows the lemon almost on the jaw column but slightly beyond the fingertips, so I'm advancing ~5 cm radially and nudging right to line it up before descending."})
tool
executing move_to over 4 steps (0.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteLemon is now centred on the jaw column in the wrist view; advancing 3-4 cm further out and descending to lemon mid-height to grasp it.
move_to
right_x0.4500right_y0.1000right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4095, -0.0193, -0.0383, 0.9992, 0.3325, 1.5764, 0.8921, -0.0948, 0.2611, 0.1558, 0.9996] state[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.0229 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4113 right_y=0.0976 right_z=0.0986 right_yaw=0.02 right_pitch=-0.159 right_roll=-0.0655 right_gripper=0.9996 state[joint_eff]: [-0.1983, -1.2239, 7.0222, 1.7118, -0.0757, -0.0708, -0.0073, -0.1026, -7.4188, 9.7299, 1.9121, 0.1197, -0.1001, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.1, "right_z": 0.035}, "note": "Lemon is now centred on the jaw column in the wrist view; advancing 3-4 cm further out and descending to lemon mid-height to grasp it."})
tool
executing move_to over 5 steps (0.5s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe arm barely advanced last move (x only 0.411→0.418), so I'm re-sending the same descend-and-reach target toward the lemon.
move_to
right_x0.4500right_y0.1000right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4133, -0.0189, -0.0383, 0.9992, 0.3279, 1.5951, 0.9127, -0.0872, 0.242, 0.1379, 0.9996] state[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1734 left_yaw=0.0022 left_pitch=-0.0271 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4176 right_y=0.1011 right_z=0.1 right_yaw=0.0415 right_pitch=-0.1544 right_roll=-0.0631 right_gripper=0.9996 state[joint_eff]: [-0.1846, -0.9915, 7.0085, 1.7949, -0.0464, -0.0513, -0.0122, -0.1983, -7.8017, 8.8274, 1.8632, 0.0562, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.1, "right_z": 0.035}, "note": "The arm barely advanced last move (x only 0.411\u21920.418), so I'm re-sending the same descend-and-reach target toward the lemon."})
tool
executing move_to over 5 steps (0.5s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe right arm has stopped tracking x entirely, so I'm commanding a pure descent to see whether height alone still moves.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, 0.3279, 1.5951, 0.9127, -0.0872, 0.2417, 0.1383, 0.9996] state[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1705 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4176 right_y=0.1012 right_z=0.1 right_yaw=0.0416 right_pitch=-0.1544 right_roll=-0.0626 right_gripper=0.9996 state[joint_eff]: [-0.3624, -1.2376, 7.0085, 1.8193, -0.0513, -0.0659, -0.0122, -0.2803, -7.7744, 9.2103, 1.8877, 0.0611, 0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.04}, "note": "The right arm has stopped tracking x entirely, so I'm commanding a pure descent to see whether height alone still moves."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe lemon sits centred between the two visible jaws in the right wrist view; closing the gripper on it.
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, 0.7986, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3279, 1.7237, 0.7902, 0.0715, 0.2413, 0.1383, 0.9996] state[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0024 left_pitch=-0.0503 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4021 right_y=0.096 right_z=0.0284 right_yaw=0.0367 right_pitch=-0.243 right_roll=-0.0891 right_gripper=0.9996 state[joint_eff]: [-0.1436, -1.306, 7.0085, 1.7314, -0.0464, -0.0562, -0.0122, -0.1436, -8.3624, 6.3248, 2.3028, 0.022, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "The lemon sits centred between the two visible jaws in the right wrist view; closing the gripper on it."})
tool
executing move_to over 9 steps (0.9s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteGripper closed to the commanded 0.15 (≈1.4 cm), which is too narrow for a lemon, suggesting an empty close; lifting to check whether the lemon came with it.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.3279, 1.7412, 0.775, 0.0509, 0.2382, 0.1314, 0.1549] state[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0024 left_pitch=-0.0667 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3917 right_y=0.093 right_z=0.0132 right_yaw=0.0389 right_pitch=-0.2952 right_roll=-0.1073 right_gripper=0.1549 state[joint_eff]: [-0.1026, -1.0325, 6.9949, 1.8242, -0.0415, -0.0464, -0.0073, -0.0615, -9.1009, 6.6803, 1.5653, 0.1587, 0.0171, 0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper closed to the commanded 0.15 (\u22481.4 cm), which is too narrow for a lemon, suggesting an empty close; lifting to check whether the lemon came with it."})
tool
executing move_to over 7 steps (0.7s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe lemon is still on the table, sitting beyond the fingertips; reopening the gripper and reaching ~6 cm further out at a lower height with the wrist levelled.
move_to
right_gripper1.0000right_x0.4500right_z0.0600right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.458, -0.0193, -0.0387, 0.9992, 0.3279, 1.5597, 0.992, -0.3721, 0.2344, 0.1307, 0.1532] state[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.164 left_yaw=0.0028 left_pitch=-0.0736 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3895 right_y=0.0929 right_z=0.0997 right_yaw=0.0404 right_pitch=-0.3196 right_roll=-0.112 right_gripper=0.1532 state[joint_eff]: [-0.0068, -1.2376, 7.159, 1.7265, -0.0611, -0.0464, -0.0122, -0.3624, -8.5128, 8.4855, 1.5507, 0.1294, -0.0464, -0.188] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.45, "right_z": 0.06, "right_pitch": 0.0}, "note": "The lemon is still on the table, sitting beyond the fingertips; reopening the gripper and reaching ~6 cm further out at a lower height with the wrist levelled."})
tool
executing move_to over 11 steps (1.1s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe lemon is now squarely between the jaws in the wrist view; descending slightly and closing to ~4.3 cm to grip it without squeezing it out.
move_to
right_z0.0250right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.305, 1.7691, 0.7952, 0.247, 0.2554, 0.0498, 0.9956] state[eef_state]: left_x=0.2822 left_y=0.0016 left_z=0.1611 left_yaw=0.0025 left_pitch=-0.0885 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4316 right_y=0.0928 right_z=0.0419 right_yaw=0.0584 right_pitch=-0.1152 right_roll=-0.1273 right_gripper=0.9956 state[joint_eff]: [-0.0615, -1.1556, 7.159, 1.8437, -0.0171, -0.0562, -0.0122, -0.4581, -7.4188, 5.6, 2.21, 0.2662, -0.0171, -0.0317] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.025, "right_gripper": 0.45}, "note": "The lemon is now squarely between the jaws in the wrist view; descending slightly and closing to ~4.3 cm to grip it without squeezing it out."})
tool
executing move_to over 6 steps (0.6s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteClosing a bit more on the lemon and lifting to 18 cm to confirm the grasp.
move_to
right_gripper0.3800right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.3061, 1.8088, 0.7776, 0.2939, 0.2501, 0.0444, 0.4617] state[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1597 left_yaw=0.0025 left_pitch=-0.0957 left_roll=-0.0023 left_gripper=0.9992 right_x=0.43 right_y=0.0938 right_z=0.0272 right_yaw=0.0666 right_pitch=-0.1265 right_roll=-0.1304 right_gripper=0.4617 state[joint_eff]: [-0.0752, -0.9778, 6.9538, 1.7363, -0.0855, -0.0317, -0.0122, -0.2803, -6.7077, 4.9983, 1.7851, 0.1783, 0.0659, 0.8425] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.38, "right_z": 0.18}, "note": "Closing a bit more on the lemon and lifting to 18 cm to confirm the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteLemon is grasped (gripper settled at 0.44 ≈ 4.2 cm with high effort). Carrying it high over to above the open safe's interior.
move_to
right_x0.4200right_y0.2800right_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 0.3061, 1.5612, 1.1114, -0.3325, 0.2459, 0.0395, 0.442] state[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1566 left_yaw=0.0025 left_pitch=-0.1117 left_roll=-0.002 left_gripper=0.9992 right_x=0.4271 right_y=0.0937 right_z=0.1535 right_yaw=0.0712 right_pitch=-0.1713 right_roll=-0.142 right_gripper=0.442 state[joint_eff]: [-0.0068, -1.1829, 6.9538, 1.79, -0.0708, -0.0562, -0.0122, -0.212, -9.306, 9.265, 1.707, 0.1587, -0.0171, 1.0281] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.28, "right_z": 0.24}, "note": "Lemon is grasped (gripper settled at 0.44 \u2248 4.2 cm with high effort). Carrying it high over to above the open safe's interior."})
tool
executing move_to over 16 steps (1.6s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteWrist view shows the safe's red interior to the left of the held lemon, so shifting 4 cm further left (into the safe) and lowering toward the box floor.
move_to
right_y0.3200right_x0.4200right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8005, 0.6067, -0.514, -0.0189, -0.0387, 0.9992, 0.7574, 1.9415, 1.9076, -0.9131, 0.5167, 0.3721, 0.4445] state[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1529 left_yaw=0.0026 left_pitch=-0.1308 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4159 right_y=0.278 right_z=0.2283 right_yaw=0.1093 right_pitch=-0.2043 right_roll=-0.1615 right_gripper=0.4445 state[joint_eff]: [-0.294, -1.265, 6.9265, 1.8535, -0.0708, -0.0562, -0.0122, 0.1573, -9.9487, 8.5538, 1.2332, 0.4225, 0.2271, 0.5739] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.32, "right_x": 0.42, "right_z": 0.16}, "note": "Wrist view shows the safe's red interior to the left of the held lemon, so shifting 4 cm further left (into the safe) and lowering toward the box floor."})
tool
executing move_to over 5 steps (0.5s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteGripper with lemon is centred over the red safe interior; lowering it into the box before releasing.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.522, -0.0189, -0.0387, 0.9992, 0.815, 2.0544, 1.8137, -0.8059, 0.5339, 0.4076, 0.4442] state[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1507 left_yaw=0.0026 left_pitch=-0.1415 left_roll=-0.0013 left_gripper=0.9992 right_x=0.41 right_y=0.3092 right_z=0.1534 right_yaw=0.1199 right_pitch=-0.2697 right_roll=-0.212 right_gripper=0.4442 state[joint_eff]: [-0.0342, -1.388, 6.9128, 1.6581, -0.0024, -0.0708, -0.0122, 0.253, -11.3709, 7.2957, 1.4676, 0.3785, 0.1099, 0.6374] 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": 0.07}, "note": "Gripper with lemon is centred over the red safe interior; lowering it into the box before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe descent stalled, but the lemon is centred directly over the open safe interior; releasing it to drop into the box.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.8234, 2.0705, 1.8114, -0.7631, 0.535, 0.4164, 0.4455] state[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.15 left_yaw=0.0024 left_pitch=-0.1453 left_roll=-0.001 left_gripper=0.9992 right_x=0.4131 right_y=0.3186 right_z=0.1496 right_yaw=0.1267 right_pitch=-0.2494 right_roll=-0.1905 right_gripper=0.4455 state[joint_eff]: [-0.0205, -1.0325, 7.0359, 1.6581, -0.0806, -0.0122, -0.0122, -0.5538, -12.1778, 6.9538, 1.4969, 0.359, 0.1197, 0.6667] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The descent stalled, but the lemon is centred directly over the open safe interior; releasing it to drop into the box."})
tool
executing move_to over 6 steps (0.6s)
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 noteLemon is now sitting in the safe. Retracting the right arm out of the way and bringing the left arm above the small white bear to the left of the safe.
move_to
right_x0.3000right_y0.0500right_z0.2000left_x0.3800left_y-0.1900left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5369, -0.0189, -0.0387, 0.9992, 0.8238, 2.0705, 1.8114, -0.7685, 0.5339, 0.416, 0.9947] state[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.148 left_yaw=0.0026 left_pitch=-0.1564 left_roll=-0.001 left_gripper=0.9992 right_x=0.4122 right_y=0.3181 right_z=0.1489 right_yaw=0.1272 right_pitch=-0.2542 right_roll=-0.1936 right_gripper=0.9947 state[joint_eff]: [-0.212, -1.1829, 6.8991, 1.7167, -0.0171, -0.0464, -0.0122, -0.1162, -11.7265, 6.5436, 1.2332, 0.2466, 0.0464, -0.0904] approver: 2 step(s) modified (delta_clamped ×2). 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_x": 0.3, "right_y": 0.05, "right_z": 0.2, "left_x": 0.38, "left_y": -0.19, "left_z": 0.15}, "note": "Lemon is now sitting in the safe. Retracting the right arm out of the way and bringing the left arm above the small white bear to the left of the safe."})
tool
executing move_to over 23 steps (2.3s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteLeft wrist view shows the white bear just left of the jaw column and slightly beyond the fingertips; shifting 2.5 cm left, 3 cm out and descending toward grasp height.
move_to
left_x0.4000left_y-0.1580left_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.659, 1.5635, 1.0706, -0.416, -0.4587, -0.5106, 0.9992, 0.2859, 1.0935, 0.9882, -0.7647, 0.2352, -0.02, 0.9953] state[eef_state]: left_x=0.3685 left_y=-0.1819 left_z=0.1329 left_yaw=-0.0016 left_pitch=-0.209 left_roll=0.0189 left_gripper=0.9992 right_x=0.3029 right_y=0.0499 right_z=0.1957 right_yaw=0.0892 right_pitch=-0.2641 right_roll=-0.1957 right_gripper=0.9953 state[joint_eff]: [-0.335, -7.159, 9.2239, 1.4969, -0.442, 0.0024, -0.0122, -0.1709, -3.6855, 6.735, 1.7021, 0.0366, -0.0366, 0.0513] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.158, "left_z": 0.07}, "note": "Left wrist view shows the white bear just left of the jaw column and slightly beyond the fingertips; shifting 2.5 cm left, 3 cm out and descending toward grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe white bear is at the bottom of the left wrist view slightly left of the jaw column; shifting 2 cm left and descending to grasp height.
move_to
left_y-0.1320left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.548, 1.6913, 0.9474, -0.2016, -0.4019, -0.44, 0.9992, 0.2829, 1.0977, 0.9867, -0.791, 0.2203, -0.0406, 0.9954] state[eef_state]: left_x=0.3868 left_y=-0.151 left_z=0.0638 left_yaw=0.0319 left_pitch=-0.2668 left_roll=0.0525 left_gripper=0.9992 right_x=0.2981 right_y=0.0502 right_z=0.1894 right_yaw=0.1088 right_pitch=-0.2999 right_roll=-0.2039 right_gripper=0.9954 state[joint_eff]: [0.3487, -7.8017, 6.2701, 1.6337, -0.1685, 0.1099, -0.0122, -0.1299, -3.4667, 6.7624, 1.6532, 0.1587, 0.2222, -0.0073] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.132, "left_z": 0.03}, "note": "The white bear is at the bottom of the left wrist view slightly left of the jaw column; shifting 2 cm left and descending to grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe white bear is centred between the jaws at the bottom of the left wrist view; closing on it.
move_to
left_gripper0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5068, 1.7195, 0.8566, -0.0818, -0.3805, -0.4137, 0.9992, 0.2821, 1.0977, 0.9867, -0.7952, 0.2199, -0.0425, 0.9954] state[eef_state]: left_x=0.3844 left_y=-0.1342 left_z=0.0364 left_yaw=0.0415 left_pitch=-0.2763 left_roll=0.0549 left_gripper=0.9992 right_x=0.2973 right_y=0.0498 right_z=0.1888 right_yaw=0.1092 right_pitch=-0.3043 right_roll=-0.2056 right_gripper=0.9954 state[joint_eff]: [0.4171, -6.9949, 5.7368, 1.7509, -0.1001, 0.1197, -0.0122, -0.0068, -3.0427, 6.653, 1.4188, 0.0317, -0.0415, -0.0122] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.12}, "note": "The white bear is centred between the jaws at the bottom of the left wrist view; closing on it."})
tool
executing move_to over 9 steps (0.9s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteWhite bear appears gripped (jaws closed to 0.13 on the plush); lifting and carrying it over the open safe.
move_to
left_z0.2000left_x0.4100left_y-0.3300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4957, 1.7401, 0.8307, -0.0513, -0.3782, -0.4015, 0.1318, 0.2821, 1.0977, 0.9867, -0.8143, 0.2199, -0.0452, 0.9954] state[eef_state]: left_x=0.3815 left_y=-0.1281 left_z=0.0239 left_yaw=0.0463 left_pitch=-0.2914 left_roll=0.0702 left_gripper=0.1318 right_x=0.2938 right_y=0.0488 right_z=0.1859 right_yaw=0.1097 right_pitch=-0.3234 right_roll=-0.2108 right_gripper=0.9954 state[joint_eff]: [0.0479, -8.2256, 5.8735, 1.5507, -0.1001, 0.0464, 0.3736, -0.1846, -2.947, 6.8308, 1.5311, 0.0513, -0.0024, -0.0171] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.41, "left_y": -0.33}, "note": "White bear appears gripped (jaws closed to 0.13 on the plush); lifting and carrying it over the open safe."})
tool
executing move_to over 18 steps (1.8s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe white bear hangs directly over the red safe interior; releasing it into the box.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8574, 2.2112, 2.2333, -1.1156, -0.5404, -0.7578, 0.1344, 0.2821, 1.0996, 0.9867, -0.8383, 0.2199, -0.0456, 0.9954] state[eef_state]: left_x=0.4138 left_y=-0.3337 left_z=0.1924 left_yaw=0.0294 left_pitch=-0.2896 left_roll=0.03 left_gripper=0.1344 right_x=0.2894 right_y=0.0475 right_z=0.182 right_yaw=0.1083 right_pitch=-0.349 right_roll=-0.2158 right_gripper=0.9954 state[joint_eff]: [-0.6769, -12.1641, 7.7197, 0.486, -0.5934, 0.0415, 0.2564, -0.253, -3.2479, 6.5709, 1.536, 0.0806, -0.0122, -0.0171] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The white bear hangs directly over the red safe interior; releasing it into the box."})
tool
executing move_to over 9 steps (0.9s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteLemon and white bear are both inside the safe. Now moving the left arm over the brown teddy bear that sits in front of the safe.
move_to
left_x0.2800left_y-0.3500left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8585, 2.2238, 2.2322, -1.137, -0.5358, -0.7685, 0.9959, 0.2821, 1.0996, 0.9867, -0.8558, 0.2199, -0.0456, 0.9954] state[eef_state]: left_x=0.4107 left_y=-0.3322 left_z=0.1833 left_yaw=0.04 left_pitch=-0.3145 left_roll=0.0488 left_gripper=0.9959 right_x=0.286 right_y=0.0465 right_z=0.1795 right_yaw=0.1072 right_pitch=-0.3663 right_roll=-0.219 right_gripper=0.9954 state[joint_eff]: [-0.0068, -13.5179, 6.2974, 1.2381, -0.3297, 0.0757, -0.1197, -0.1709, -3.0838, 6.6667, 1.5018, 0.0366, -0.0415, -0.0122] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": -0.35, "left_z": 0.18}, "note": "Lemon and white bear are both inside the safe. Now moving the left arm over the brown teddy bear that sits in front of the safe."})
tool
executing move_to over 11 steps (1.1s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe brown teddy is directly below the jaws in the left wrist view; descending onto it before closing.
move_to
left_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1278, 2.0422, 1.8919, -1.1717, -0.6067, -1.0416, 0.9969, 0.2821, 1.0996, 0.9867, -0.8795, 0.2199, -0.0456, 0.9954] state[eef_state]: left_x=0.2845 left_y=-0.3564 left_z=0.1614 left_yaw=0.0217 left_pitch=-0.3475 left_roll=0.0828 left_gripper=0.9969 right_x=0.2815 right_y=0.0452 right_z=0.1763 right_yaw=0.1056 right_pitch=-0.3896 right_roll=-0.2235 right_gripper=0.9954 state[joint_eff]: [-0.1846, -14.106, 6.2017, 0.6471, -0.5592, -0.1343, 0.0952, -0.0342, -3.0701, 6.5299, 1.4725, 0.0464, -0.0317, -0.0171] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.05}, "note": "The brown teddy is directly below the jaws in the left wrist view; descending onto it before closing."})
tool
executing move_to over 8 steps (0.8s)
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 noteJaws are straddling the brown teddy's body; closing to grip its plush.
move_to
left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1309, 2.0739, 1.5429, -0.8146, -0.6025, -1.0492, 0.9971, 0.2821, 1.0996, 0.9867, -0.9043, 0.2203, -0.046, 0.9954] state[eef_state]: left_x=0.2799 left_y=-0.3512 left_z=0.0609 left_yaw=0.0295 left_pitch=-0.3604 left_roll=0.0993 left_gripper=0.9971 right_x=0.2766 right_y=0.0437 right_z=0.1731 right_yaw=0.1036 right_pitch=-0.414 right_roll=-0.2288 right_gripper=0.9954 state[joint_eff]: [0.1573, -9.4701, 5.6, 0.7839, -0.3199, 0.0366, 0.0024, -0.0205, -3.0154, 6.694, 1.4383, 0.0611, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": {"left_gripper": 0.1}, "note": "Jaws are straddling the brown teddy's body; closing to grip its plush."})
tool
executing move_to over 9 steps (0.9s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteGripper closed on the teddy's fur; lifting straight up to check the bear comes with it before carrying it over the safe wall.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1309, 2.0953, 1.5303, -0.8154, -0.5987, -1.0527, 0.104, 0.2821, 1.1027, 0.9852, -0.9131, 0.2203, -0.0494, 0.9954] state[eef_state]: left_x=0.2773 left_y=-0.3469 left_z=0.0481 left_yaw=0.0425 left_pitch=-0.3773 left_roll=0.1298 left_gripper=0.104 right_x=0.2748 right_y=0.0432 right_z=0.1707 right_yaw=0.1046 right_pitch=-0.4276 right_roll=-0.2334 right_gripper=0.9954 state[joint_eff]: [-0.1709, -12.8752, 6.7761, 0.6667, -0.4127, 0.0317, 0.105, -0.1162, -3.2615, 6.8171, 1.2576, 0.0952, -0.0171, -0.0171] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Gripper closed on the teddy's fur; lifting straight up to check the bear comes with it before carrying it over the safe wall."})
tool
executing move_to over 12 steps (1.2s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
assistant
agent noteTeddy is hanging from the jaws; carrying it forward and high over the open safe interior.
move_to
left_x0.4000left_y-0.3300left_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1309, 2.1044, 2.2082, -1.4452, -0.588, -1.0676, 0.1039, 0.2821, 1.1038, 0.9852, -0.9264, 0.2199, -0.0498, 0.9954] state[eef_state]: left_x=0.2797 left_y=-0.3557 left_z=0.2131 left_yaw=0.0332 left_pitch=-0.3707 left_roll=0.0776 left_gripper=0.1039 right_x=0.2721 right_y=0.0425 right_z=0.1687 right_yaw=0.104 right_pitch=-0.4419 right_roll=-0.2361 right_gripper=0.9954 state[joint_eff]: [-0.1573, -9.8803, 6.8444, 0.4127, -0.4469, 0.1245, -0.0269, -0.0752, -3.1111, 6.4752, 1.2772, 0.0611, -0.0611, -0.0122] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.33, "left_z": 0.25}, "note": "Teddy is hanging from the jaws; carrying it forward and high over the open safe interior."})
tool
executing move_to over 10 steps (1.0s)
step 221
assistant
agent noteThe teddy slipped out of the jaws during the lift and is back on the table in front of the safe; returning above it, gripper open, to retry with a deeper bite.
move_to
left_gripper1.0000left_x0.2800left_y-0.3520left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8696, 2.3577, 2.727, -1.5818, -0.5053, -0.8207, 0.1039, 0.2821, 1.1038, 0.9848, -0.9485, 0.2199, -0.0494, 0.9954] state[eef_state]: left_x=0.3858 left_y=-0.3188 left_z=0.2325 left_yaw=0.0655 left_pitch=-0.3861 left_roll=0.0681 left_gripper=0.1039 right_x=0.2676 right_y=0.0412 right_z=0.1659 right_yaw=0.1018 right_pitch=-0.464 right_roll=-0.2404 right_gripper=0.9954 state[joint_eff]: [0.1026, -11.0154, 8.0615, 0.9988, -0.359, 0.2906, -0.0073, -0.0889, -2.988, 6.5026, 1.37, 0.0464, -0.0562, -0.0122] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.28, "left_y": -0.352, "left_z": 0.1}, "note": "The teddy slipped out of the jaws during the lift and is back on the table in front of the safe; returning above it, gripper open, to retry with a deeper bite."})
tool
executing move_to over 9 steps (0.9s)
step 230
assistant
agent noteThe teddy fills the bottom of the left wrist view directly under the jaws; descending almost to the table so the jaws take a deep bite of the body rather than surface fur.
move_to
left_x0.2700left_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1076, 2.0846, 1.713, -1.042, -0.5533, -1.0615, 0.9948, 0.2821, 1.1038, 0.9825, -0.9672, 0.2199, -0.0494, 0.9954] state[eef_state]: left_x=0.2802 left_y=-0.3453 left_z=0.0914 left_yaw=0.0688 left_pitch=-0.4306 left_roll=0.139 left_gripper=0.9948 right_x=0.2633 right_y=0.0399 right_z=0.163 right_yaw=0.0998 right_pitch=-0.4847 right_roll=-0.2446 right_gripper=0.9954 state[joint_eff]: [-0.335, -13.6274, 5.6137, 0.8132, -0.5153, -0.0073, 0.1245, -0.1846, -2.9607, 6.5846, 1.3407, 0.0659, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_z": 0.015}, "note": "The teddy fills the bottom of the left wrist view directly under the jaws; descending almost to the table so the jaws take a deep bite of the body rather than surface fur."})
tool
executing move_to over 5 steps (0.5s)
step 235
assistant
agent noteJaws are down at table level with teddy fur between them; closing fully for a firm pinch this time.
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]: [-1.1263, 2.1326, 1.5173, -0.8391, -0.5541, -1.0859, 0.9962, 0.2821, 1.1038, 0.9821, -0.9726, 0.2199, -0.0498, 0.9954] state[eef_state]: left_x=0.2681 left_y=-0.3384 left_z=0.0244 left_yaw=0.0825 left_pitch=-0.4429 left_roll=0.1668 left_gripper=0.9962 right_x=0.2621 right_y=0.0396 right_z=0.1622 right_yaw=0.0995 right_pitch=-0.4903 right_roll=-0.246 right_gripper=0.9954 state[joint_eff]: [-0.5128, -9.5795, 5.7231, 0.6227, -0.3736, -0.0171, 0.1343, -0.1026, -2.8376, 6.4068, 1.1453, 0.0757, -0.0317, -0.0122] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are down at table level with teddy fur between them; closing fully for a firm pinch this time."})
tool
executing move_to over 10 steps (1.0s)
step 245
assistant
agent noteJaws fully closed on the teddy's fur; lifting to see whether the bear comes up this time.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1263, 2.1429, 1.5051, -0.8379, -0.5537, -1.0866, 0.0187, 0.2821, 1.1038, 0.9821, -0.9791, 0.2199, -0.0494, 0.9954] state[eef_state]: left_x=0.2661 left_y=-0.3343 left_z=0.0171 left_yaw=0.0925 left_pitch=-0.4506 left_roll=0.1884 left_gripper=0.0187 right_x=0.2608 right_y=0.0392 right_z=0.1615 right_yaw=0.0986 right_pitch=-0.4967 right_roll=-0.2471 right_gripper=0.9954 state[joint_eff]: [-0.3487, -12.0957, 6.5983, 0.442, -0.3492, -0.0269, 0.7595, -0.0615, -2.9333, 6.653, 1.1258, 0.0464, -0.0122, -0.0171] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.18}, "note": "Jaws fully closed on the teddy's fur; lifting to see whether the bear comes up this time."})
tool
executing move_to over 11 steps (1.1s)
step 256
assistant
agent noteThe teddy appears to be dangling from the pinched fur; carrying it forward and up over the open safe (lemon and white bear already inside).
move_to
left_x0.3800left_y-0.3300left_z0.2600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1263, 2.0953, 2.0178, -1.3918, -0.535, -1.1023, 0.0229, 0.2821, 1.1038, 0.9813, -0.9936, 0.2195, -0.0498, 0.9954] state[eef_state]: left_x=0.2666 left_y=-0.342 left_z=0.1607 left_yaw=0.0938 left_pitch=-0.4643 left_roll=0.1655 left_gripper=0.0229 right_x=0.2576 right_y=0.0383 right_z=0.1597 right_yaw=0.0977 right_pitch=-0.5118 right_roll=-0.2501 right_gripper=0.9954 state[joint_eff]: [-0.1983, -11.8222, 7.9248, 0.398, -0.5495, 0.1099, 1.0281, -0.0889, -2.9333, 6.5846, 1.1795, 0.0562, -0.0464, -0.0122] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.33, "left_z": 0.26}, "note": "The teddy appears to be dangling from the pinched fur; carrying it forward and up over the open safe (lemon and white bear already inside)."})
tool
executing move_to over 9 steps (0.9s)
step 265
assistant
agent noteThe teddy is confirmed held and hanging just in front of the safe; moving further forward and higher so it clears the front wall and hangs over the red interior.
move_to
left_x0.4300left_y-0.3400left_z0.2800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8833, 2.2417, 2.4752, -1.5799, -0.4824, -0.8665, 0.0231, 0.2821, 1.1046, 0.9813, -1.0126, 0.2199, -0.0498, 0.9954] state[eef_state]: left_x=0.3573 left_y=-0.3004 left_z=0.2131 left_yaw=0.1177 left_pitch=-0.4773 left_roll=0.1489 left_gripper=0.0231 right_x=0.2537 right_y=0.0371 right_z=0.1575 right_yaw=0.0952 right_pitch=-0.5312 right_roll=-0.2547 right_gripper=0.9954 state[joint_eff]: [0.1846, -10.9744, 8.4991, 0.7253, -0.4078, 0.2759, 1.033, -0.0479, -2.947, 6.5846, 1.1941, 0.1001, -0.0464, -0.0122] 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_x": 0.43, "left_y": -0.34, "left_z": 0.28}, "note": "The teddy is confirmed held and hanging just in front of the safe; moving further forward and higher so it clears the front wall and hangs over the red interior."})
tool
executing move_to over 6 steps (0.6s)
step 271
assistant
agent noteThe arm stalled at z≈0.21 while carrying the teddy in front of the safe; commanding a pure lift to get the bear above the safe's wall.
move_to
left_z0.3300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8036, 2.3127, 2.5832, -1.5921, -0.4561, -0.799, 0.0231, 0.2821, 1.1046, 0.9813, -1.0203, 0.2199, -0.0498, 0.9954] state[eef_state]: left_x=0.3881 left_y=-0.2852 left_z=0.2084 left_yaw=0.1318 left_pitch=-0.49 left_roll=0.1469 left_gripper=0.0231 right_x=0.252 right_y=0.0367 right_z=0.1567 right_yaw=0.0944 right_pitch=-0.5387 right_roll=-0.2564 right_gripper=0.9954 state[joint_eff]: [0.4034, -11.2889, 7.8427, 0.9402, -0.3346, 0.2857, 1.0281, -0.0752, -2.8513, 6.3385, 1.1404, 0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.33}, "note": "The arm stalled at z\u22480.21 while carrying the teddy in front of the safe; commanding a pure lift to get the bear above the safe's wall."})
tool
executing move_to over 8 steps (0.8s)
step 279
assistant
agent noteHeight is capped around 0.24 with the load, so instead I'm driving the gripper further forward and left so the dangling teddy swings over the safe's interior.
move_to
left_x0.4600left_y-0.3300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7704, 2.1296, 2.3951, -1.5753, -0.4446, -0.7609, 0.0231, 0.2821, 1.1053, 0.9813, -1.0241, 0.2199, -0.0498, 0.9954] state[eef_state]: left_x=0.371 left_y=-0.2492 left_z=0.2364 left_yaw=0.1301 left_pitch=-0.4948 left_roll=0.1495 left_gripper=0.0231 right_x=0.2513 right_y=0.0364 right_z=0.1562 right_yaw=0.0939 right_pitch=-0.5432 right_roll=-0.2574 right_gripper=0.9954 state[joint_eff]: [0.759, -13.8735, 4.9436, 0.7692, -0.3443, 0.1587, 1.0232, -0.1846, -2.9607, 6.3385, 1.0965, 0.0366, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.33}, "note": "Height is capped around 0.24 with the load, so instead I'm driving the gripper further forward and left so the dangling teddy swings over the safe's interior."})
tool
executing move_to over 8 steps (0.8s)
step 287
assistant
agent noteThe teddy is now hanging against the red interior of the safe; opening the jaws to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.757, 2.4298, 2.6976, -1.586, -0.4301, -0.7555, 0.026, 0.2821, 1.1061, 0.9813, -1.0355, 0.2199, -0.0498, 0.9953] state[eef_state]: left_x=0.4149 left_y=-0.2857 left_z=0.184 left_yaw=0.1353 left_pitch=-0.5115 left_roll=0.1499 left_gripper=0.026 right_x=0.2488 right_y=0.0357 right_z=0.1549 right_yaw=0.0925 right_pitch=-0.5552 right_roll=-0.2601 right_gripper=0.9953 state[joint_eff]: [0.5128, -11.7538, 8.1026, 0.9011, -0.3736, 0.2613, 0.823, -0.0889, -2.8103, 6.3111, 1.1209, 0.0708, -0.0464, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The teddy is now hanging against the red interior of the safe; opening the jaws to drop it in."})
tool
executing move_to over 10 steps (1.0s)
step 297
assistant
agent noteAll three objects (teddy, white bear, lemon) are now inside the safe. Closing the empty gripper and lifting high to clear the box before reaching behind the open lid.
move_to
left_gripper0.0000left_z0.3000left_x0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7578, 2.434, 2.669, -1.5784, -0.429, -0.7639, 0.995, 0.2821, 1.1065, 0.9813, -1.0389, 0.2199, -0.0494, 0.9954] state[eef_state]: left_x=0.4138 left_y=-0.2855 left_z=0.1744 left_yaw=0.1503 left_pitch=-0.5272 left_roll=0.1674 left_gripper=0.995 right_x=0.2481 right_y=0.0355 right_z=0.1545 right_yaw=0.0918 right_pitch=-0.5589 right_roll=-0.2607 right_gripper=0.9954 state[joint_eff]: [-0.0615, -14.4889, 5.5316, 0.7497, -0.2711, 0.0366, 0.0464, -0.1983, -2.7692, 6.3111, 1.0281, 0.0415, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_z": 0.3, "left_x": 0.4}, "note": "All three objects (teddy, white bear, lemon) are now inside the safe. Closing the empty gripper and lifting high to clear the box before reaching behind the open lid."})
tool
executing move_to over 10 steps (1.0s)
step 307
assistant
agent noteThe teddy is draped over the near wall of the safe, half outside. Moving the closed gripper to just behind/above it so I can push it the rest of the way in.
move_to
left_x0.3300left_z0.1300left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7563, 2.1944, 2.4145, -1.5745, -0.4221, -0.7517, 0.0086, 0.2821, 1.111, 0.9806, -1.0573, 0.2199, -0.0528, 0.9954] state[eef_state]: left_x=0.3792 left_y=-0.2533 left_z=0.2127 left_yaw=0.1454 left_pitch=-0.5405 left_roll=0.179 left_gripper=0.0086 right_x=0.2442 right_y=0.0344 right_z=0.1514 right_yaw=0.0911 right_pitch=-0.5826 right_roll=-0.2677 right_gripper=0.9954 state[joint_eff]: [0.6632, -14.8444, 5.2308, 0.7937, -0.3443, 0.0513, 0.5739, -0.0068, -2.8923, 6.3385, 1.1062, 0.0415, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_z": 0.13, "left_pitch": 0.0}, "note": "The teddy is draped over the near wall of the safe, half outside. Moving the closed gripper to just behind/above it so I can push it the rest of the way in."})
tool
executing move_to over 19 steps (1.9s)
step 326
assistant
agent noteTeddy lies across the near wall of the safe with its head hanging out; pushing forward with the closed gripper to shove it fully into the box.
move_to
left_x0.4000left_z0.0900left_y-0.2900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0077, 1.8286, 1.2434, -0.6415, -0.8867, -0.8612, 0.011, 0.2821, 1.111, 0.9802, -1.0653, 0.2199, -0.0528, 0.9954] state[eef_state]: left_x=0.3248 left_y=-0.2513 left_z=0.1111 left_yaw=0.1295 left_pitch=-0.0806 left_roll=0.2384 left_gripper=0.011 right_x=0.2424 right_y=0.0339 right_z=0.1506 right_yaw=0.09 right_pitch=-0.5908 right_roll=-0.2697 right_gripper=0.9954 state[joint_eff]: [-0.3214, -11.5624, 6.4068, 1.1111, -0.7204, -0.0415, 0.2369, -0.0889, -2.8513, 6.2701, 1.0574, 0.0513, -0.0464, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_z": 0.09, "left_y": -0.29}, "note": "Teddy lies across the near wall of the safe with its head hanging out; pushing forward with the closed gripper to shove it fully into the box."})
tool
executing move_to over 6 steps (0.6s)
step 332
assistant
agent noteTeddy is still hanging over the near-left corner of the safe; pushing further forward and to the arm's right to seat it inside the box.
move_to
left_x0.4400left_y-0.3300left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9142, 2.0823, 1.4883, -0.5751, -0.8501, -0.7589, 0.013, 0.2821, 1.113, 0.9802, -1.0801, 0.2199, -0.0528, 0.9954] state[eef_state]: left_x=0.388 left_y=-0.2802 left_z=0.0832 left_yaw=0.1494 left_pitch=-0.0987 left_roll=0.2522 left_gripper=0.013 right_x=0.2392 right_y=0.033 right_z=0.1489 right_yaw=0.0878 right_pitch=-0.6073 right_roll=-0.2736 right_gripper=0.9954 state[joint_eff]: [0.6359, -10.7966, 8.1846, 0.9646, -0.4274, 0.1978, 0.2027, -0.0752, -3.0017, 6.2291, 1.0183, 0.0855, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.33, "left_z": 0.09}, "note": "Teddy is still hanging over the near-left corner of the safe; pushing further forward and to the arm's right to seat it inside the box."})
tool
executing move_to over 5 steps (0.5s)
step 337
assistant
agent noteAll three objects are now inside the red-lined safe. Lifting the gripper straight out of the box before reaching over to the open lid.
move_to
left_z0.2800left_x0.4200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8974, 2.3329, 1.9053, -0.7155, -0.8383, -0.7471, 0.014, 0.2821, 1.1126, 0.9756, -1.0832, 0.2195, -0.0528, 0.9954] state[eef_state]: left_x=0.4348 left_y=-0.3287 left_z=0.0848 left_yaw=0.1524 left_pitch=-0.097 left_roll=0.2335 left_gripper=0.014 right_x=0.2377 right_y=0.0326 right_z=0.1472 right_yaw=0.0872 right_pitch=-0.6145 right_roll=-0.2748 right_gripper=0.9954 state[joint_eff]: [0.4991, -13.3128, 7.5829, 0.6618, -0.4469, 0.1197, 0.0855, 0.0205, -3.2615, 6.106, 0.9451, 0.0757, -0.0366, -0.0122] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.28, "left_x": 0.42}, "note": "All three objects are now inside the red-lined safe. Lifting the gripper straight out of the box before reaching over to the open lid."})
tool
executing move_to over 13 steps (1.3s)
step 350
assistant
agent noteThe lift stalled with very high shoulder effort — the gripper seems wedged in the box; retracting toward the base while rising to free it.
move_to
left_x0.3400left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9077, 2.4943, 2.2463, -0.9821, -0.8265, -0.7658, 0.0146, 0.2821, 1.1088, 0.9611, -1.0832, 0.2199, -0.0528, 0.9954] state[eef_state]: left_x=0.4414 left_y=-0.3482 left_z=0.0905 left_yaw=0.1561 left_pitch=-0.1466 left_roll=0.2899 left_gripper=0.0146 right_x=0.2347 right_y=0.0316 right_z=0.1432 right_yaw=0.0854 right_pitch=-0.6249 right_roll=-0.2778 right_gripper=0.9954 state[joint_eff]: [-0.3897, -18.6051, 10.7556, 0.5739, -0.8181, 0.1001, 0.0513, 0.0479, -3.3573, 6.4479, 1.033, 0.0952, -0.0513, -0.0171] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_z": 0.2}, "note": "The lift stalled with very high shoulder effort \u2014 the gripper seems wedged in the box; retracting toward the base while rising to free it."})
tool
executing move_to over 8 steps (0.8s)
step 358
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.947, 2.5679, 2.7556, -1.5452, -0.8268, -0.8124, 0.0153, 0.2821, 1.0977, 0.9421, -1.0805, 0.2203, -0.0528, 0.9954] state[eef_state]: left_x=0.407 left_y=-0.337 left_z=0.1747 left_yaw=0.161 left_pitch=-0.1974 left_roll=0.3696 left_gripper=0.0153 right_x=0.2312 right_y=0.0306 right_z=0.1394 right_yaw=0.0842 right_pitch=-0.6301 right_roll=-0.2796 right_gripper=0.9954 state[joint_eff]: [-0.0479, -14.4205, 6.1744, 0.6032, -0.5543, -0.0073, 0.0611, 0.3077, -3.6581, 6.2564, 1.072, 0.1343, -0.0317, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [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 · 23.01 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, 0.7921, 0.6041, -0.3893, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6079, -0.403, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1786 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0008 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4017, 10.1675, 1.9951, -0.0513, 0.1685, -0.0855, -0.2803, -1.4701, 9.6615, 2.0733, -0.0513, 0.0415, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:470835eb9b089844bfd768fc01893f7476cf7704fa5ed797640e8ab394a05f2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d77fe8b95446ce3c31829089a0908f70abea7362a6b4113a398aff759b8e9fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95c469888df59ecf88e19a4d0988d95d762336e2a05e9feadbee1c008e697850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.42 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, 0.7921, 0.6041, -0.3893, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6079, -0.403, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1786 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0008 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4017, 10.1675, 1.9951, -0.0513, 0.1685, -0.0855, -0.2803, -1.4701, 9.6615, 2.0733, -0.0513, 0.0415, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:470835eb9b089844bfd768fc01893f7476cf7704fa5ed797640e8ab394a05f2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d77fe8b95446ce3c31829089a0908f70abea7362a6b4113a398aff759b8e9fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c469888df59ecf88e19a4d0988d95d762336e2a05e9feadbee1c008e697850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS1hkKjgEIEhgCKkBpjIRdgHu1jOLp160galoVloI8lK4G+K+M3gTbhRjdMyf5trCFC13nLXyGEKChbvaMPRvwpMJdaD72XotAANQVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcL5y9UGEgydIesGbJ+HMA3ti6UaDD6+mN6P3r1Wf+psbCIwlglE1K05yoaJ34Z8mZ3+2fSUeqCZotnPPriYJx2c9tL78pxVNvd1h/fwbF8UvEIlKvQXImomHXGarYCu4WhW9G6lXf8pw3xHAt0yIuG7is2QBV3/1pA1eY/If7Nf4WwKHv17G1zGR3oz/2rsJm4/qVx7BHxpvtQkp+XlnvDRmKqw73tR1BjxM40B8/tXS18RooJL83YMj8nasGdCLjzbvWEWXc3NkiqcEAPnZHOb8j6cpz08jiMlt3D+eQGL+j6ZEDTnci4bjGkZ4V5vLSkz2lrNxforO6enycA+xoOQqE9RliiHkgead1646s5Go8i9zN2d5WMRjyid/a28jUsaZVzdMUr6KWnRu2+qiif+KPIMF7irAuDwpo1hTN4Cwxj3m5DRYcoLY/WmBlc79ZHiQNpFDwdJx1LM89Hf6USSj66v2B0cIjxFoak90nEMa+ESc44S0V3RDg/plvxcMTjgE+dKJmfTsS8qr2dbRjrGp5Bm7zrRqFVej5sivlmmi8ot7Ox3Tiol1kOvvlns022OuzZ1zuqArcHiKul2ZG6tPKz/4oO7zedFa7yOScNgQMtWPrMXDEqtPsmjhiKOnQy1WYN45nWTbhj9XZ8tovNEl47n1YhZopCvlawif20trz+Tir9UPcQa1l4QjzcCL9r8w+qZRkJdShkvNbRpvAJ9M5sJGc8Bm/ORi8hWb+pQrS47fkfyciJO9Isa4BKxMgA8TJj5W43/DVC+0NcMlhGZfV3CVP8LtqECcXAjGpAJY1PbLbxBWKCyLkTCyjk4HTK3us53FPqiw13XbQTAnOdbSli4Ned+JCTxwNuczkgXWDmYbYAD+xmnmLBUBoXG5dma8F3MEOxiC/qiVnAIAg1PgUA0/1zb4kdGiPxdN2Nt0+RiS1lwg2mrrixWlnPauiooJrfgBXIxFzhyMYhBJFGC+bGARnOlasyUwPbWfQ6CHdMMld1l6HvIKpwpjcL9EyaWQj2y1yGowJL+daYI4+3OofIa4+hL8v1e2lncJuL5DM1en8YKS6QvP1lRI9MQ6GlndU9EpEefRsmH+82NzAauFZgO86FBWS1bK37aI2lUhwANG4oMmIyoeYT7+qolbIfNj5r0liIEnonQfQk+cDicExuo6s2SIDzz0z2NwFqEtrRzoyTWveScBPuUqA7rqZ5xGUGn6yE44bB9ElSDOgXcWj5uit2SFmQUe/ijVRmPsnip15OeLt4RL3Ax16AXhiGAb2Silt0JdkIhyuWY3Y+l5Chc5etQ4k3sibbh8QJuQvMn54zDiRzbpXJR6wTlszJzXhCvlS+5orM42t6mVNsSm0D12PWjxsQNekqUDmPCtjT2bv3FFLpgjxscJYgSv/qjCmbF0lcOBiTkq8RqrBdsUWaycADpu6MWycdfCXyqjKaBAbNe7xrmko6aNMXsTIfhW+++NlB1HBgfZ+L/5rirLDAXTvzs+4xTG/BSY6+peCQlP3X/g+zsJGDi9TLt4uiYx4nTobePU0MxhZ2sSoYxHB8g32ajZwl4n3QQ7CB8gYz//f7Mm+0Aphq/HlW7cR+ndhptBP4k2cHSK+bVls0YynMhI1Uvax+ABQkTT1SH7vKoxfGtvOxCyE2yt0jOyyxKknCsLG4WdK/YuDzKwx3W18Z3P+0rl6VBAu9B8S6+1diJuxvcY6yJftG++UU7NZl4795rqPotOFuGetd5SZ5Pb4dO/Xm3USUgHpL12WW1XPqeGsQ2nuK4bWZT2NrlXz6gthbayENQic7KqXnL5aa+4Qq82ERk7BidWZeUx80fKNz5jtTaxEKk4yL152bAHtcFkn5IFE9bI7zcvhc5D09xEKPbJNXpbbYQUplD+eX5t9C4nylj2qpLd3HET4r0xnU0D+yiJpFpMJ+d1yWVoxFfhOMO6UuoQPg466uh3ykxjsRPKY3VKo6v+Dsh6L9XUkMYUh7YHZiXRDXIrUikUM+iwczI3L7mwOdlzl1ax/JQDKy9cjGQm+NsPqqWZ3qw4m/gOPyVrx5fYbS7ja+NQgmlNmpKR0gJmKV84figiYwdNVnOW1+t4WHHvwLn8wDFiIABwuADyUad/cP23vuB7Rsgxr33mMlrDdnZPIoigUjddQCylaAbrMa2+NXEPBxS7qL5R56hPjao4CeQPdXfH/0tyxzwXZKEA1G8Gl95mX8MZA44xTkHIhQ+00qmPEMzewiIFWP4/ALyA9wpzhUX/l/COj3DzlHmxRKi1QVKQk2b4xvnELltoKjp7Sg2fytA+XnDpbxeV7pSsde04eCMSuhZhb6iuJv26qvErIfWBgyV+Syak1hafgbVMlbD8+SL0MgzoQt8vsIFoSSw0YKu1i3AAGWB+2xH99g+bbF/eC6P/dBwNzD6qjJelKXKN21AV2gi+F3Puj1S67iTqD0UBl6VHdfYTMHNyoNP+gIjyMNiS8aWcZiXsuiwEsc2P0DLU993wSkD029zsRL1372spDXiSuw5nOjFsz6iqi1tTRSAh1sIVY+u4e8mlVg9gRHVf3Db8c4PrkGIajuZmuQOS5FJDepnXUnQGHB9fzdqEVyzH3WL4KdJrvFVofRgWO/aKdXOSPyJZ03h3zlgzV9FmR8Ivz/SbNly2shwzHO3/P815LX/m1eaOiSmQbMUR5rcyuUM0hxvtOykGulBq7yNuD3u4P6uTNr4qKO7bj7j9k13Ay0fFofiIK7spa/q3tJgGUMWuTqsQgLU7yB3e54x61/tcrETnnRCOvZGTOHirOC36Y1Sl2aOrqBU9HPn6SW7Z2eN43+JGCWLVEvRJNzaZFV72DD/pcdKZ0W8YjILkZ642YSdqqv7dbCIDTwklz9PKMC5EjKr+zubiCXI6qYW8rRoMjRRVHPR+D+2+Ric5XCRPyLNdwO+mcU3eK58u5IC+LQq3LLG9BfJFB+osPhgW49gXQ1umXLxf98gNtE8HKbZLzDdeBY14g09BErwYLFQFdFLQ3LzNguwTI7mjMUL3INAeUfINgGwDoZd7/1HXJs0O+xKHwxDo+xYGZZLm94xOUUsBX27pC8B2ps63ooEaLzOtywLgXkfgRoq9XPvQF0EjB1v1FTSUS6pdS2d9syIgyBmbjPlbQhD+4/TiROgsy8TSSt28c0kc3Iu5kkubqdaP0M7J49Xc2qznAkp+JG2wTS7v7EUSl52CiiQxOodwNFYj6aZItYsL+ys0l4FQPDVPRkN+4BgLnphGMmiqMCYybdRTzeQu5b6BuMRdG97C7wnfC8cdhh56LHhlX4SwYltDwZD9OULBjuYATQb5lwEa2oJ6e6wKdgY0ONgfCkAosel66JMs85TuKWeWUeURvTEqMWJbudrGuZw8eojsUa73/Fk9fUCel54FDgvw8cDvFqrJe7LVGvyWJMqsQHTDpMQ+slU21h1MGKgj/69sbUun1apQGFNjImoPX4X1WgkirFlY0UeoFkQSwkVX/yfTc1seyQbdsiU3XxF/9CMde68bLGfWDSJj+W7Il6V+T8YPrnmwrjapeOwI//fo/xTkOK4GI3/8u/vgP/axQXBTuEuXjz5MwvGYsI6qObzlXOSOnYTu1MWzoEhYFgG5R/wTQIyT17JPMq6k62/SstB/wnSVHiB7+AOn9MGpFagaOLdbzcXGzKQMBlwuPKUzfHmodjjWPopBBrW0aXEvem4SAE9mvwAqlmSxLnVwu2RJDmOeMDUH6l3hwDUe5s4YPBkZ3vA9ZxkF03FDmdjsWahk8P3G1EB3LCXItD2rmqj0w1S+Q1wTZMP2HCt+YacatN3L9/qKMK9zFDxwU/LAT5TzE71Q2Yu4RIBfeepchKa/xPl7H2Gwc+BOI/3O7CnaQogztVEq+gi9AGs9J+rm2eDVYgnZZBqvEWmt08s4JqbjWccY3qqndFVAGgX4ih+FrGLKWDWlYuqstA+FiECsTsUXjoQfa0CVrJxjRLk/izMyJ/RKeSrHqWr3n4vjS7UJFc0yyLIQ2T343ShKHsoIJJmWk2JwqUtrE96ZMMh6ZWMMZ+PwsYz6CF6OUledMlPGsk5YsEoahN8L2DqWaXmgXYw4/YuPGN/hBVd7uE6YTJ1D58zr+QwTr+EFhexr0PtACTsorQfGJReMT0nb58CtPs183MJQXJfZasU3p3BpU+7PYriXk3EoZwEU04PGs6mGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0148dmYTbDfDNbCVHQQUUcsv",
      "input": {
        "note": "Top view shows an open red-lined safe in the middle, a yellow lemon to its right, a white bear to its left and a brown teddy in front. I'm moving the right arm to hover ~15 cm above my estimate of the lemon's position to refine the approach from the wrist camera.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.12,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0148dmYTbDfDNbCVHQQUUcsv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.4213, 1.4189, 0.8185, -0.1207, 0.3126, 0.2043, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0023 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3813 right_y=0.1153 right_z=0.1269 right_yaw=0.0424 right_pitch=-0.0912 right_roll=-0.0421 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.5248, 6.8444, 1.8681, -0.0464, -0.0171, -0.0171, 0.294, -6.4479, 8.6769, 1.9267, 0.2125, 0.2369, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3317698a464794272ef2b204846f872693e163e95671d32331c6688a20da11f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dea474f0d850416ccba481569a46e0750e688fc5c3d4494e85c5f6bb109a1895",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90d6ec5a3b8770e5406a826bf10a9a597884bed88ee687bdd390e01421141202",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 6.64 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, 0.7921, 0.6041, -0.3893, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6079, -0.403, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1786 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0008 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4017, 10.1675, 1.9951, -0.0513, 0.1685, -0.0855, -0.2803, -1.4701, 9.6615, 2.0733, -0.0513, 0.0415, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.4213, 1.4189, 0.8185, -0.1207, 0.3126, 0.2043, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0023 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3813 right_y=0.1153 right_z=0.1269 right_yaw=0.0424 right_pitch=-0.0912 right_roll=-0.0421 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.5248, 6.8444, 1.8681, -0.0464, -0.0171, -0.0171, 0.294, -6.4479, 8.6769, 1.9267, 0.2125, 0.2369, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3317698a464794272ef2b204846f872693e163e95671d32331c6688a20da11f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dea474f0d850416ccba481569a46e0750e688fc5c3d4494e85c5f6bb109a1895",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90d6ec5a3b8770e5406a826bf10a9a597884bed88ee687bdd390e01421141202",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8wYKjgEIEhgCKkDO0CMPB9VZ9xbsr0L1qfDAdNcOf7E1UplStbj90V93/ktJyzHNkByWcqnexaGgaY2DFLM8d33drCZDbqljaa+HMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcv5y9UGEgxi6FDMl0z3Fop6whUaDHoMxciKeR9rb+i/2CIwppPdb1p04mClv0mMU4bnHQJRxhbzjn57TI6zk47uTRNEA7JTgo48eldUFAS7AJnXKpEFe+HU6mHAUUEcBBwBmKD5lfEEM+xO+C17Tz56NbU21Il7uHpjcF1UKAmTfX8ol1f9lhL0+DmNtRXqlhMir8acluDt6PEvwnbpSSgsMsfYe6q4kcHVP+0XJ/tRIotIp5K5dh0Kc5V5B/1VrLsy9YdByTN6xHGfgF5BgnccVJtlo6NNobmd9E62G07wSqYdfVzBv16O11ipyhutlCdVYZwd4wio7MA/1DpaAQxf1QS07T/EArsNgDld0WH1XDyJzFSTzHkqUy+Oid7TnUsHDghJRvbsOmrODGAa/4+6CgopJdEv1zBOYGYgcP8HiOKprefGkM4KovQzdlupJv/Jff85I21YEm5coKv1ZEZSF8fRSRIDDcVgnsX2J6ZsU148ckPYT0g+qqG8/Xdii7gUxvqNkC6kdWooy+M3fnvJT9EW3rxKzCmSDorlu+uP3fxQqW0vvsnG3h6aMZydFkFbAci6BMwAib8aZt6hLd5bUJeZu3nNtR42NESnF2uOmMlBcn30JZZqxt6TNWWedWHnoTw0j2Mc0WYWgT7ca4ifpI2JA36F7DiT7hJ2gAWvD5TiN2hyXgac2I1xA+YCTrRA++x/2XgfrMinrfx9+aXzvQfoRW0FpXDmL7eUn8Qaz8DlQSvFTC+d5mhMctvOHTl+AIWG12BUIFrkk80EOgomN2HcQeCAmo2fwbU3xysleLBdyf+knoYi33EHxS7ehfO62Zjm38QMaeAiAc8anClpwlzplixXVCSJtvFVtQeKXEQGfvdypWSC6XJ7YTBHE9xhi+5e/DaHK6UftPj807whQwM5NzIyGnIWX3Yic6E3Rvpc4OuLypu2Ofqi7pCX0e9u0QVv8+uDZqvIznB2pnfrCpLwG/BKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UEibzixhsyE4BgpsVz9TLv",
      "input": {
        "note": "The right wrist camera shows the lemon almost on the jaw column but slightly beyond the fingertips, so I'm advancing ~5 cm radially and nudging right to line it up before descending.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.105,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UEibzixhsyE4BgpsVz9TLv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4095, -0.0193, -0.0383, 0.9992, 0.3325, 1.5764, 0.8921, -0.0948, 0.2611, 0.1558, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.0229 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4113 right_y=0.0976 right_z=0.0986 right_yaw=0.02 right_pitch=-0.159 right_roll=-0.0655 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2239, 7.0222, 1.7118, -0.0757, -0.0708, -0.0073, -0.1026, -7.4188, 9.7299, 1.9121, 0.1197, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa996ae9cb2fca871432edb2842512de9c55a42addfa5755911b3be8efd1c1fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff5df8241be09e6e313482ee50cdc5b175117a74dfa7b911a5fa1931f5b6036c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:74ff8160bd51a9041d550cfd3286a8649cec69704b56d8265a9d05882f31694e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 5.971 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, 0.7921, 0.6041, -0.3893, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6079, -0.403, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1786 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0008 right_z=0.1771 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.4017, 10.1675, 1.9951, -0.0513, 0.1685, -0.0855, -0.2803, -1.4701, 9.6615, 2.0733, -0.0513, 0.0415, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.4213, 1.4189, 0.8185, -0.1207, 0.3126, 0.2043, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0023 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3813 right_y=0.1153 right_z=0.1269 right_yaw=0.0424 right_pitch=-0.0912 right_roll=-0.0421 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.5248, 6.8444, 1.8681, -0.0464, -0.0171, -0.0171, 0.294, -6.4479, 8.6769, 1.9267, 0.2125, 0.2369, -0.0562]",
      "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, 0.7971, 0.6067, -0.4095, -0.0193, -0.0383, 0.9992, 0.3325, 1.5764, 0.8921, -0.0948, 0.2611, 0.1558, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.0229 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4113 right_y=0.0976 right_z=0.0986 right_yaw=0.02 right_pitch=-0.159 right_roll=-0.0655 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2239, 7.0222, 1.7118, -0.0757, -0.0708, -0.0073, -0.1026, -7.4188, 9.7299, 1.9121, 0.1197, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa996ae9cb2fca871432edb2842512de9c55a42addfa5755911b3be8efd1c1fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff5df8241be09e6e313482ee50cdc5b175117a74dfa7b911a5fa1931f5b6036c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74ff8160bd51a9041d550cfd3286a8649cec69704b56d8265a9d05882f31694e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrAUKjgEIEhgCKkBpLzV/iECK23OWbXrV40lf3M/6WEUX3ZmdANk/a5ttxXYfe/plJ2Qv5yzSVZL6K2Opqux8PSceFU88TpqBMmVyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdL5y9UGEgyWkdTD18wVMdOO6cAaDK1YVMNhDbl6I3cyaCIw4dFrRNBzJvtD/W+dk6pPac0WqyWvkIP8l+E/ZwHcLod6ojKZVECe/rpwrITD85HjKsoDSPFZPaYgx4t2Fue8m6V5L0v4tGEVRpJU6luEtEmSKv0RKHxtdOWZ6dxMMF6pcBrU6KwLOp/JkeAKxdTg/Atmydi8OLVV/iEBsnMxIov4qhsbGLTWCbhpn5tm2nrx9fKjKGYnoyx1neq5IU1G0HqIB/SAfcS3eGK3QXFoP75knP60w5HktmRlKsTBZ3k+zlEQ4orblEB5QBN29eKkpDqoUI9kuapBGjiURPBl0GXaVoYkc8Sb+OlfbglMS08yvXFPTWhiunjxxYGqgAlF08lXAUtGS2EgA8yiEMwgT83NXl47HnDW2JfoosfOGp0TnAriHNRI8sk9h9Uj7UtXCK7V43ngI+3MTP+xeUstoSCG8B7bkoGA8EVUSukdbkDlcCNl7anZR1V27UYlPvkAezRf5vEZSdfZhuVpe2wCveJ9gb0LPtZ/3InGM8MjKdstaJpFQfRSoYvlN0pX4x5+tZHZtktGQHUlgdGG2AJ31vNsGZCEU3RE5JEi7+ZoFkrK4+sV8LnelAXH92afJ8NWQWoHBohmLlaQrcaENbq6p1zFa0t3AZephdkLixXMQdxfQPtoIQDxrVvDnUwz3KTgtNFJnR2m1HVmBS3pVNMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QEfvbWhh627m91PFsXwmfP",
      "input": {
        "note": "Lemon is now centred on the jaw column in the wrist view; advancing 3-4 cm further out and descending to lemon mid-height to grasp it.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.1,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QEfvbWhh627m91PFsXwmfP",
      "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, 0.7975, 0.6067, -0.4133, -0.0189, -0.0383, 0.9992, 0.3279, 1.5951, 0.9127, -0.0872, 0.242, 0.1379, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1734 left_yaw=0.0022 left_pitch=-0.0271 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4176 right_y=0.1011 right_z=0.1 right_yaw=0.0415 right_pitch=-0.1544 right_roll=-0.0631 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -0.9915, 7.0085, 1.7949, -0.0464, -0.0513, -0.0122, -0.1983, -7.8017, 8.8274, 1.8632, 0.0562, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23b42ae8c3841ef9aef162721275e034fd8fb762334e34f7bd7e421fb41ce8c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ee476123d542320c6bd5760e25f94c60f051be583b18b991a64997802cc22b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56cb3155e43ecf1828f0793c10423e69616af97a7cc22b123085565e28df0635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 10.15 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.4213, 1.4189, 0.8185, -0.1207, 0.3126, 0.2043, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1751 left_yaw=0.0023 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3813 right_y=0.1153 right_z=0.1269 right_yaw=0.0424 right_pitch=-0.0912 right_roll=-0.0421 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.5248, 6.8444, 1.8681, -0.0464, -0.0171, -0.0171, 0.294, -6.4479, 8.6769, 1.9267, 0.2125, 0.2369, -0.0562]",
      "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, 0.7971, 0.6067, -0.4095, -0.0193, -0.0383, 0.9992, 0.3325, 1.5764, 0.8921, -0.0948, 0.2611, 0.1558, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.0229 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4113 right_y=0.0976 right_z=0.0986 right_yaw=0.02 right_pitch=-0.159 right_roll=-0.0655 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2239, 7.0222, 1.7118, -0.0757, -0.0708, -0.0073, -0.1026, -7.4188, 9.7299, 1.9121, 0.1197, -0.1001, -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, 0.7975, 0.6067, -0.4133, -0.0189, -0.0383, 0.9992, 0.3279, 1.5951, 0.9127, -0.0872, 0.242, 0.1379, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1734 left_yaw=0.0022 left_pitch=-0.0271 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4176 right_y=0.1011 right_z=0.1 right_yaw=0.0415 right_pitch=-0.1544 right_roll=-0.0631 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -0.9915, 7.0085, 1.7949, -0.0464, -0.0513, -0.0122, -0.1983, -7.8017, 8.8274, 1.8632, 0.0562, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23b42ae8c3841ef9aef162721275e034fd8fb762334e34f7bd7e421fb41ce8c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ee476123d542320c6bd5760e25f94c60f051be583b18b991a64997802cc22b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56cb3155e43ecf1828f0793c10423e69616af97a7cc22b123085565e28df0635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStgQKjgEIEhgCKkCH1eLazcTuBlEI1VK1oPMQimf5NcNdK7CEthMJRkrwfinaX3D76R0Mzb4PiabdEXW3h26FIdLPVZ++f3Qe3f68Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdj5y9UGEgxRzEalfc1B/DY+66caDHoj/idALmadQ74SVSIwM5cet6jNmnosBluLPLIvPlbLGE/43aRBYAh+jArXBaQWQM9OcuFhhw7mH8NjCFKZKtQCyJ/n+5DxBhS2KZtsu8pz4kYVQuyfvq4JO1VCQ4D7ossq6gOtGdW/h1vHrBqvzAwOYY2Il/8z0aikX1Fttl6T7xma4TvnZZ74bJG1i+zwszTJa88k0pPYSRbEQ3scqWajJF5ZV/q5IQJnY4gmT18Yb316vI6S/vg2PKYtKI8MNFEusRyJdYeo7O9Msh2WhUxOF7GqViLFIouxDk0mLFoWTjWvA6UC9oxTx9y5iy+g2ZU49qKkNyOpvxsj+0PIhjJyxmuEsP/w6unDM0eb4OQfSpYcNGylSygFobF3iK0Wap/OT6KCqXJaZcvjeKtl497wFhAZPGncnDX3bPcCHCzIWOK4JrYtNbnS+UKcGSwU0EQMAVH4NJVppX/PvaiJUCTatUnJHybHu8XErrLOnT+TepPBE/ZHu77HmGs+koXubE0uLF2lIyQi8Wfj6h/rVSPyLKlkLRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FVox8BfEgiZbx7zPUy2UoZ",
      "input": {
        "note": "The arm barely advanced last move (x only 0.411→0.418), so I'm re-sending the same descend-and-reach target toward the lemon.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.1,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FVox8BfEgiZbx7zPUy2UoZ",
      "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, 0.7975, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, 0.3279, 1.5951, 0.9127, -0.0872, 0.2417, 0.1383, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1705 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4176 right_y=0.1012 right_z=0.1 right_yaw=0.0416 right_pitch=-0.1544 right_roll=-0.0626 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.2376, 7.0085, 1.8193, -0.0513, -0.0659, -0.0122, -0.2803, -7.7744, 9.2103, 1.8877, 0.0611, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3aa59838a75fcdaa9c474ea76fd47c0afca14f7ac3273e9e661d39866a402d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12fddc21d9d4b9b0b21f62e431067ef820d6338d5c046f2fd0c40da8e101c513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d5845092dfa869fc43fdfef8539de209f3d236ec88abebb91cb07eb7ce70f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 4.76 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, 0.7971, 0.6067, -0.4095, -0.0193, -0.0383, 0.9992, 0.3325, 1.5764, 0.8921, -0.0948, 0.2611, 0.1558, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1743 left_yaw=0.0025 left_pitch=-0.0229 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4113 right_y=0.0976 right_z=0.0986 right_yaw=0.02 right_pitch=-0.159 right_roll=-0.0655 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2239, 7.0222, 1.7118, -0.0757, -0.0708, -0.0073, -0.1026, -7.4188, 9.7299, 1.9121, 0.1197, -0.1001, -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, 0.7975, 0.6067, -0.4133, -0.0189, -0.0383, 0.9992, 0.3279, 1.5951, 0.9127, -0.0872, 0.242, 0.1379, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1734 left_yaw=0.0022 left_pitch=-0.0271 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4176 right_y=0.1011 right_z=0.1 right_yaw=0.0415 right_pitch=-0.1544 right_roll=-0.0631 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -0.9915, 7.0085, 1.7949, -0.0464, -0.0513, -0.0122, -0.1983, -7.8017, 8.8274, 1.8632, 0.0562, -0.0073, -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, 0.7975, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, 0.3279, 1.5951, 0.9127, -0.0872, 0.2417, 0.1383, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1705 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4176 right_y=0.1012 right_z=0.1 right_yaw=0.0416 right_pitch=-0.1544 right_roll=-0.0626 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.2376, 7.0085, 1.8193, -0.0513, -0.0659, -0.0122, -0.2803, -7.7744, 9.2103, 1.8877, 0.0611, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3aa59838a75fcdaa9c474ea76fd47c0afca14f7ac3273e9e661d39866a402d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12fddc21d9d4b9b0b21f62e431067ef820d6338d5c046f2fd0c40da8e101c513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d5845092dfa869fc43fdfef8539de209f3d236ec88abebb91cb07eb7ce70f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmAsKjgEIEhgCKkDFvHVQ/UM+/+iPm3wrTjy/NLqx+tQeulrr2c4LjnGwPHfIs+ufWHYaYc9PNTqeDm3f5/CQYSfO2T5msZF8G75ZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeP5y9UGEgziX731V4/0PsWdpVoaDBCaCNvHoDbU1FI9ByIwijCjdSr7PFiO8TyCsqyy8CXIPRFnBe2juquaKovZ7zCric6Wc/p/HEp5vbAsOlNsKrYJM7ViVPa0AMM+amG64cCgG+EuQPN5AUiUDgOP5WPdSXQWSk9ovrKghnhQynnWfwfEW9QhV3vw3osWZ5W8GdQWQKjkon0wmzWlLRbL0Abr/XlMq30MtOlI04Vot+xl8SYen976/Eobx/ixjVLGoN5BS9fABbVs+btYwC5tsQzQpCoOVFsvpUDYTgj1yOpNNaDo5Qr6nMawCOJLhIPxFMG4bfYGEFfOKjIQEIHk7DEqN7FTg+QmYTTfv3X/pDixaW0NUM0F21pqZVoedPcrDhd6cs3K8IlIdu0O/hoIqo3i+FZB+4UhKEpV7aFigqHOWsLPO2zSmj6QsGpKtVWq0Bxco0Pwq5HwIBegAQK/Qy53eta3JlYfyMf3+Sr6/cwoDGAkleK7nIop8zBpbmLiwYYiIeR6vSU08+bOHDTWUUuJ1jetjcGHe742RHzoozaQlKbX6EuAJgRal3dNDXVF41wW3wc8VcuB58K9ECF/StnWd4KWIX1zFNDK6hfaTBjYDfpoAgCzteB0PhpZIGw4wopsWrMQAMWUhbzW2orDvNmEyAUUv0tL/U/Ns9G91Vho/zvPhNvCgtmBNrTjlqj4jI/kd1ONx0q0sKwThSqj+f31gyca2FSJri9ijONLZ2Qhjw2fJW6+F8X8myFQFkZ2pod3zXt7ovN1j8FhVXQAtZWDK9BfZU/KE8VYWUjIKa0Rhgq4inIHgOXHIKyoMIsSDJCrZClNVJZHKNtk4ED7SoOY9zqYHDLGQpZ8P22RXhYB+8s5mQtoNwJ78Kma6KyB33Uia7i5WKkBTYLltdOPIF0QI0t1W6OJBXi2LCylVWQD2E4w1xpo38WusburlK8D9Arc3IHbL1qKmHllkXh4+KQwYHvIwEHrxV04IvFNxfNYOlI0A5UXoTfPBn19DUJzyPGS8Hb+WP+zcDcA2GEcdnvJ1/errETH/Fc5OVRCmMhkgsF2zL3CkPnzgnxnao4wQ3M59E+pFV0iGGkRO7y9tHU2bwGaIedUK27HrBzPxgctnaud1tOoTdwXlmZm84BvhXKdPgjDiJq5C9KbcoGnkJ6tlSdM+Czs1I+DodblOFCYgtLio9HaFoRL48C/Cc0dVYkkUegqT8/mGTqM4fPDFJWjOr6zn0D28oZWx8FiWhlcZr3qjkiEU+4DfUzYLn9AAyWFQm7mhO/4IVYekLGUBJ78My969zqu4PRENGGo36Lyi//wj1hSh5Td/hVQJbgDgcKol08m7HFVPwwVIepT8sQ3eUx2gl84nsDhr+OXVRhE24zkVD+PJ7LEFMsuBrie8CBUjpYs9vgq4mdFt88yDv+lZDMSEIGhhi2I4Dmau/7V7hS/RrvTVgiwKFOH/Y6lY2j3fMwJOtg+4zzfG+5ynO6KtARx9rMpk1x1yaCRX/ZCGUDF8AJiryXYURBxIYAhyR4EEMl9diSrdoq3JPKjmu5D2FVnACC2kZhk8GyBxKfq8li+VjYPlFB1sH8u/xn+QsaxyaSdun4CvUC/nUBBdqEY4PCg/ScrQA9cXenIO0GmNlhewzKDjy7KQvt29ht83Gv6TMjm5ViJFbEIlHu/KMs6P2v+vvYn4UbjUBALeErhRkNGUOJtwvi9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LPgtnifZzDBt4STExnAHhR",
      "input": {
        "note": "The right arm has stopped tracking x entirely, so I'm commanding a pure descent to see whether height alone still moves.",
        "targets": {
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LPgtnifZzDBt4STExnAHhR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3279, 1.7237, 0.7902, 0.0715, 0.2413, 0.1383, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0024 left_pitch=-0.0503 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4021 right_y=0.096 right_z=0.0284 right_yaw=0.0367 right_pitch=-0.243 right_roll=-0.0891 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.306, 7.0085, 1.7314, -0.0464, -0.0562, -0.0122, -0.1436, -8.3624, 6.3248, 2.3028, 0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2a3c1a4b648c0fe59d1c7a246c220cfdf2e306e6e2ef4aa36bab3f3bf7f645",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bdd60b9188f9f09f1d76776c9c2d683eea0634ee9834de415e3fb57bcf3ae13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2b0beea33480ae2cd1da976f287552944e1e413399945b1b031386f503c7058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 7.076 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, 0.7975, 0.6067, -0.4133, -0.0189, -0.0383, 0.9992, 0.3279, 1.5951, 0.9127, -0.0872, 0.242, 0.1379, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1734 left_yaw=0.0022 left_pitch=-0.0271 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4176 right_y=0.1011 right_z=0.1 right_yaw=0.0415 right_pitch=-0.1544 right_roll=-0.0631 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -0.9915, 7.0085, 1.7949, -0.0464, -0.0513, -0.0122, -0.1983, -7.8017, 8.8274, 1.8632, 0.0562, -0.0073, -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, 0.7975, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, 0.3279, 1.5951, 0.9127, -0.0872, 0.2417, 0.1383, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1705 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4176 right_y=0.1012 right_z=0.1 right_yaw=0.0416 right_pitch=-0.1544 right_roll=-0.0626 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.2376, 7.0085, 1.8193, -0.0513, -0.0659, -0.0122, -0.2803, -7.7744, 9.2103, 1.8877, 0.0611, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3279, 1.7237, 0.7902, 0.0715, 0.2413, 0.1383, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0024 left_pitch=-0.0503 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4021 right_y=0.096 right_z=0.0284 right_yaw=0.0367 right_pitch=-0.243 right_roll=-0.0891 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.306, 7.0085, 1.7314, -0.0464, -0.0562, -0.0122, -0.1436, -8.3624, 6.3248, 2.3028, 0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2a3c1a4b648c0fe59d1c7a246c220cfdf2e306e6e2ef4aa36bab3f3bf7f645",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bdd60b9188f9f09f1d76776c9c2d683eea0634ee9834de415e3fb57bcf3ae13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2b0beea33480ae2cd1da976f287552944e1e413399945b1b031386f503c7058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzAMKjgEIEhgCKkCb60r67fjWEwyJyueNyK4V+U0N+phJKqes7h+1MQ21HM8CvMBiw5bhSHM0LTAA4vQlnXb9dBR0DZDzI5PStN8zMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAej5y9UGEgxzglqbE2VhCq4n2C0aDB7wPqkX0ntgOp1E9iIwGYyvEDUzz26ivIOwfj7omM/nyi2QCRxkyAP6MqkECCEPVSpHF2qGpBtWeBNQSXKaKuoBhf+IytcQfnBhGKO4NP2F6E6710GXGPIL4CnAxgtn9FLMkg/9QoI3Rp2/zzEyWz3sF8PCSiMMqnVLyyk2lPDzBxft/+NV4UqbtnE7wT69fODdfnkwfIRH+JuYf6UofdFB+M2KhrNz1QRFY4KeFhNUtrE6q5Tq9yUcBDYNPy7xFmlC6VblpzNuu8/IO2wT1ovdUnDh7GQFf/uYAi73QgwSRtt3cxNpQIQYDlinot7SGKyKguGvPFOYqWx9SRbc7QzXAv7qoawqm66lqj4OTfQ+mpJim1odQiZ2PihwfluwZ7W3m7KbvcgqbfOqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FyzjXRopS2iRcLc6JXVDkP",
      "input": {
        "note": "The lemon sits centred between the two visible jaws in the right wrist view; closing the gripper on it.",
        "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_01FyzjXRopS2iRcLc6JXVDkP",
      "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, 0.7994, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.3279, 1.7412, 0.775, 0.0509, 0.2382, 0.1314, 0.1549]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0024 left_pitch=-0.0667 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3917 right_y=0.093 right_z=0.0132 right_yaw=0.0389 right_pitch=-0.2952 right_roll=-0.1073 right_gripper=0.1549\nstate[joint_eff]: [-0.1026, -1.0325, 6.9949, 1.8242, -0.0415, -0.0464, -0.0073, -0.0615, -9.1009, 6.6803, 1.5653, 0.1587, 0.0171, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0ee875fff46d59b3fa47f5c2871e361731c68290002a9c3cdaff2e512b2331a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2139e520a5fca34d68579f98516a9c6c0f646e3bee7bd4b580d4a5ae528898af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61860474fc8a1da4dcb9e0b25aa63452afbe1bc82bb8699babc10bda6f81a2f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 7.666 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, 0.7975, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, 0.3279, 1.5951, 0.9127, -0.0872, 0.2417, 0.1383, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1705 left_yaw=0.0027 left_pitch=-0.0416 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4176 right_y=0.1012 right_z=0.1 right_yaw=0.0416 right_pitch=-0.1544 right_roll=-0.0626 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.2376, 7.0085, 1.8193, -0.0513, -0.0659, -0.0122, -0.2803, -7.7744, 9.2103, 1.8877, 0.0611, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3279, 1.7237, 0.7902, 0.0715, 0.2413, 0.1383, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0024 left_pitch=-0.0503 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4021 right_y=0.096 right_z=0.0284 right_yaw=0.0367 right_pitch=-0.243 right_roll=-0.0891 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.306, 7.0085, 1.7314, -0.0464, -0.0562, -0.0122, -0.1436, -8.3624, 6.3248, 2.3028, 0.022, -0.0366, -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 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, 0.7994, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.3279, 1.7412, 0.775, 0.0509, 0.2382, 0.1314, 0.1549]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0024 left_pitch=-0.0667 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3917 right_y=0.093 right_z=0.0132 right_yaw=0.0389 right_pitch=-0.2952 right_roll=-0.1073 right_gripper=0.1549\nstate[joint_eff]: [-0.1026, -1.0325, 6.9949, 1.8242, -0.0415, -0.0464, -0.0073, -0.0615, -9.1009, 6.6803, 1.5653, 0.1587, 0.0171, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0ee875fff46d59b3fa47f5c2871e361731c68290002a9c3cdaff2e512b2331a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2139e520a5fca34d68579f98516a9c6c0f646e3bee7bd4b580d4a5ae528898af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61860474fc8a1da4dcb9e0b25aa63452afbe1bc82bb8699babc10bda6f81a2f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISswYKjgEIEhgCKkB6ipDZH5EZdgYzencZI7EuqGzQl0RsJMsBSP3tHQxxcRXQuJ/ZSgkCz9EA1hfekRIV3lIu0xKcbVfxL6Euad0uMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfD5y9UGEgxhxLW/ah+mRsH05MUaDOjFzEUz5gg6KQsAByIwq+XpBGVzdeMxDLVcAuLqNQ+NyUG19e8mJ2B8GwBgFm8BRA6gYJt3pkE2cm3VsmGpKtEEaoDHJJeuPNP9LSJojN3ppBTI2Qg174oF+n3WHNV6SPZQbPNfvjj42NpwkYKeTHjNaYQXHWUaVdetdLg3DZvJY62eRqHhwFivtfzZRj/DojVGuQo3Sy7AITdfbpF52os1tm+pTYfQQHEldQQawL4mIq0MGwu3bMh7b7BqCnx2GWS+dwXpfB/tSqRZonj09YuLWFoEBk4+R73dmDkka9M62yxFo/QzyKz7Op7S6hKbUHhENUQ6M1RbjCAnepOCX0uglfiyY4kraKo1ZPMzLEp/oMiPBlyO8ytTswYwLB6o+sdU/TS4Zc/G28iW3inizyXKMghoz71tzFRvU6bjGBWNUMEzik8Si2CnUeSrluqW5SMgEY8sqo8qEPijgQKDtmj+PNfHZsEBpQmE6wdUfnwap/BGujAOkKfdQCXifcWHLwZu8Wr0h0mNecHjuhI22jdbPV+O98CRQfCJafg34cTShPlCXovdhpqji6ZqJHEY3lUzJoLeWVxYgw+qRpXsxDomr4syI6OvJoSeoEtGHDsp64m5a9g7AteD17FqcX0mg4MYspjwb7znYj/pyW++jWe5MJOkWeRITiODh8KRTcgF+1QPzcaExodd4Tx/QA5R7jvdo6+lKIUvID50cMM/AzsEAh4HjbWfyxLFBXS1MP7wUA3cBONox+juL4pCegHfQc4jhGDVXhs2Ff01fSbUdyF9eCqxNFaEnB3Vzc8019gFdN7H5pQIAxPHE3O9c6940w0bVjPeZhXNmBeHUhBZOaiGC7T3Y2G+yc8OFsg1vbXR4wwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019sp6bKc63DtiwUokB6mg8s",
      "input": {
        "note": "Gripper closed to the commanded 0.15 (≈1.4 cm), which is too narrow for a lemon, suggesting an empty close; lifting to check whether the lemon came with it.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019sp6bKc63DtiwUokB6mg8s",
      "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, 0.7994, 0.6067, -0.458, -0.0193, -0.0387, 0.9992, 0.3279, 1.5597, 0.992, -0.3721, 0.2344, 0.1307, 0.1532]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.164 left_yaw=0.0028 left_pitch=-0.0736 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3895 right_y=0.0929 right_z=0.0997 right_yaw=0.0404 right_pitch=-0.3196 right_roll=-0.112 right_gripper=0.1532\nstate[joint_eff]: [-0.0068, -1.2376, 7.159, 1.7265, -0.0611, -0.0464, -0.0122, -0.3624, -8.5128, 8.4855, 1.5507, 0.1294, -0.0464, -0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80c923639d3a5ca853b442133889cadae1f0d34c4820d0ef9e0fe29e432aaa9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1c34a982a8aaead65ea3df27e995ff9b28c758f3e4cb8f77df54bd2f4afab95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c63b29a6960773d7b0c207dd8cf5577dc0449bc8f2ec5fedd9e2c46ee8f5d461",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 5.912 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, 0.7986, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3279, 1.7237, 0.7902, 0.0715, 0.2413, 0.1383, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0024 left_pitch=-0.0503 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4021 right_y=0.096 right_z=0.0284 right_yaw=0.0367 right_pitch=-0.243 right_roll=-0.0891 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.306, 7.0085, 1.7314, -0.0464, -0.0562, -0.0122, -0.1436, -8.3624, 6.3248, 2.3028, 0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.7994, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.3279, 1.7412, 0.775, 0.0509, 0.2382, 0.1314, 0.1549]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0024 left_pitch=-0.0667 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3917 right_y=0.093 right_z=0.0132 right_yaw=0.0389 right_pitch=-0.2952 right_roll=-0.1073 right_gripper=0.1549\nstate[joint_eff]: [-0.1026, -1.0325, 6.9949, 1.8242, -0.0415, -0.0464, -0.0073, -0.0615, -9.1009, 6.6803, 1.5653, 0.1587, 0.0171, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.458, -0.0193, -0.0387, 0.9992, 0.3279, 1.5597, 0.992, -0.3721, 0.2344, 0.1307, 0.1532]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.164 left_yaw=0.0028 left_pitch=-0.0736 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3895 right_y=0.0929 right_z=0.0997 right_yaw=0.0404 right_pitch=-0.3196 right_roll=-0.112 right_gripper=0.1532\nstate[joint_eff]: [-0.0068, -1.2376, 7.159, 1.7265, -0.0611, -0.0464, -0.0122, -0.3624, -8.5128, 8.4855, 1.5507, 0.1294, -0.0464, -0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80c923639d3a5ca853b442133889cadae1f0d34c4820d0ef9e0fe29e432aaa9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1c34a982a8aaead65ea3df27e995ff9b28c758f3e4cb8f77df54bd2f4afab95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c63b29a6960773d7b0c207dd8cf5577dc0449bc8f2ec5fedd9e2c46ee8f5d461",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISxAYKjgEIEhgCKkAU1y2PWTKXLbEzPtK6/hIoODZ6AgqXWPeZVGHWBl2nCktvlJZH2W5MN/KSAiA7GxvkzTGQ4NZDhl1IVQuwj27sMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfj5y9UGEgxNIGolm4Ub9nZXlhgaDDLKsumAubqpsI76BiIwRLal3SxO68xwEKSyxzXtFz6bXhTejBTMz7ohtLDfC9Qyf/EzmjeLnzgfuSV68P4JKuIEycJ/0qnsS767Us5yK1L/6bAfmNYexCLaHbal7kPW0OGp5f3qoyb7EuuDc4b/AZ6vS30S3UDmUyt6hc6BT1nXV4DLaQ1THFCtjly0OQkfLq1fketJnej3rf3Fyfxr4lndRvrILVlz5DRK3PL9GoyIMaFLwFYyCFiKtKIJ2DYOISF9wgkVui1MbnnZe3yINTJEnXY4yvZeae4o6R/72P5eBejAy6RogyuAO7rsFHP5wj8dp16aEI721IHZ3xS7Krs/C760GljABpARjUEy0iFMh3m7wHwmcnyWAEbYuIN5acDt1Re/WCU1gD/qpxdh6Mh0Z38MPIHK6Zhov8BSy51Imk/EVvTqQFzOF10w7BL4hO/iGMG7wN3Pn3xrc6gTBP1arENBPBtTFKiTLH1WoLc1wu7JjdWjXaBbud79KTkQvgk5+7bSTo2dCvWo8aXyB7uc0A/oibIXyvLIXbImPXFSNoichQwwM0ee6N8ZxAIpoUMbjg5VaE9lbj13tr4UMzExkEds1ENOwUKRUsz4tCwPRbSCo7Yr2Fd2TJpQyBEdbhHTpd4unByA/Dp2US4vSz412fMZkLbDJIyAUwzTvM2xfLC3uP5psFcBIGCNPKN84hZ7tdX82fFCCBrB8ASrkhtn0+O6PU39s6YEbbR1fa0QLwmjeAF5aV03NgftqbTwvN9FaQfYU08xOW+/n3RgqL3ZKL8zYqfNchyIvNnixhRNBfQ5kUUHw12Z8WkDEiI7msCrbx2P/UGSAUy/9jfv153iBIxd+SIfhfLPVbj2ofCMBkzQERMmR3+dpfF6df6OW9GfLxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016GvpbDecuTQH4CpAAvxZ3k",
      "input": {
        "note": "The lemon is still on the table, sitting beyond the fingertips; reopening the gripper and reaching ~6 cm further out at a lower height with the wrist levelled.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.45,
          "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_016GvpbDecuTQH4CpAAvxZ3k",
      "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, 0.7994, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.305, 1.7691, 0.7952, 0.247, 0.2554, 0.0498, 0.9956]\nstate[eef_state]: left_x=0.2822 left_y=0.0016 left_z=0.1611 left_yaw=0.0025 left_pitch=-0.0885 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4316 right_y=0.0928 right_z=0.0419 right_yaw=0.0584 right_pitch=-0.1152 right_roll=-0.1273 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.1556, 7.159, 1.8437, -0.0171, -0.0562, -0.0122, -0.4581, -7.4188, 5.6, 2.21, 0.2662, -0.0171, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96f48a797d589dc1a9e557416f20ba388fe24d2cb45bd7c1dc9c56739a3b3a42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c2c9d2aeeb87ba77be4ac0e89e577273a4b8ebfdff66c4b1b51031bc8eff43d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9e8b49727729c233d31d4e3fa0c73eab25a59aee018802be0f268f6b91aefbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 5.645 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, 0.7994, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.3279, 1.7412, 0.775, 0.0509, 0.2382, 0.1314, 0.1549]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0024 left_pitch=-0.0667 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3917 right_y=0.093 right_z=0.0132 right_yaw=0.0389 right_pitch=-0.2952 right_roll=-0.1073 right_gripper=0.1549\nstate[joint_eff]: [-0.1026, -1.0325, 6.9949, 1.8242, -0.0415, -0.0464, -0.0073, -0.0615, -9.1009, 6.6803, 1.5653, 0.1587, 0.0171, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.458, -0.0193, -0.0387, 0.9992, 0.3279, 1.5597, 0.992, -0.3721, 0.2344, 0.1307, 0.1532]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.164 left_yaw=0.0028 left_pitch=-0.0736 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3895 right_y=0.0929 right_z=0.0997 right_yaw=0.0404 right_pitch=-0.3196 right_roll=-0.112 right_gripper=0.1532\nstate[joint_eff]: [-0.0068, -1.2376, 7.159, 1.7265, -0.0611, -0.0464, -0.0122, -0.3624, -8.5128, 8.4855, 1.5507, 0.1294, -0.0464, -0.188]",
      "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, 0.7994, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.305, 1.7691, 0.7952, 0.247, 0.2554, 0.0498, 0.9956]\nstate[eef_state]: left_x=0.2822 left_y=0.0016 left_z=0.1611 left_yaw=0.0025 left_pitch=-0.0885 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4316 right_y=0.0928 right_z=0.0419 right_yaw=0.0584 right_pitch=-0.1152 right_roll=-0.1273 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.1556, 7.159, 1.8437, -0.0171, -0.0562, -0.0122, -0.4581, -7.4188, 5.6, 2.21, 0.2662, -0.0171, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96f48a797d589dc1a9e557416f20ba388fe24d2cb45bd7c1dc9c56739a3b3a42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c2c9d2aeeb87ba77be4ac0e89e577273a4b8ebfdff66c4b1b51031bc8eff43d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9e8b49727729c233d31d4e3fa0c73eab25a59aee018802be0f268f6b91aefbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0QQKjgEIEhgCKkAOQUVYVy3fehUtvKqMWff9PnTPC98NKsbpzlADotXNHw/QJyUbhuaIwS+l1A3d7fRExxOu4K9ujfdYsFAFJfOKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf/5y9UGEgy8l+TRegt4FAPLuc0aDElqOGFhXUVb9Lu6uiIw6Oq/6RglHvrXGEzog2RBBBf31L+ChkguoFnaWdiOBgnJGPxjQsdenZAaRTpHChALKu8C8gVHXmd3DHqc3xkN6OTapWnE6PNVxmvSwoH8HaHa6qyxtZ6aYqdVp6mgqQsOIqVupdOsKG07drkKb55u9oDOSQtNDqvFO+mNYaO0AYXY4nhDxtWsS0tGZSQuwL9ZJ8zGfOBvsQEdp0bdgo9cm8ulBoDPHQY/90zs3yeCkOzSyGlHWaXzMexG7FnXsFi0863L+BIctv3cPNxjOoS9pww7CLSnv+Sclj7GpxF5OUp9cxidStnJUebyhrxJJ9HyJVnK6fe81WbKby4PLao/6q1+crc8t1LCuM6xVMdEnkamLNjmvjEcGb0nQ0UsLCSwkCfjLiDh+S2B77aBPu1IK9ciPl3bwuQu4oCP3IfDQnAZurCo3Wbx4InFSqkYpaF5ObjRE/YwTHgLT6V0dmFkreJBms9rxm8889fD70mxnfyZnKvMtRWOsLQ1Pu0PZ4Bcx4AG8yxZ6kFLkEhR4g5fWNfzjdL/Y02y1qSJlZvNErfIxBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xonb6FvVikefCpWSUdNiu8",
      "input": {
        "note": "The lemon is now squarely between the jaws in the wrist view; descending slightly and closing to ~4.3 cm to grip it without squeezing it out.",
        "targets": {
          "right_gripper": 0.45,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Xonb6FvVikefCpWSUdNiu8",
      "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, 0.7994, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.3061, 1.8088, 0.7776, 0.2939, 0.2501, 0.0444, 0.4617]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1597 left_yaw=0.0025 left_pitch=-0.0957 left_roll=-0.0023 left_gripper=0.9992 right_x=0.43 right_y=0.0938 right_z=0.0272 right_yaw=0.0666 right_pitch=-0.1265 right_roll=-0.1304 right_gripper=0.4617\nstate[joint_eff]: [-0.0752, -0.9778, 6.9538, 1.7363, -0.0855, -0.0317, -0.0122, -0.2803, -6.7077, 4.9983, 1.7851, 0.1783, 0.0659, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:178e730f4e83c0036c728c1a16c2f760f6521dc1835a37b7b833c63f16959e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffe7ace6dc8f5be50cf18f67019b016a93ae4c67f6a53ce1eb1582304704c4ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d052d714679ca024403b648739454c47e35646ad5eadbc1bc084d1be83b14685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 12.34 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, 0.7994, 0.6067, -0.458, -0.0193, -0.0387, 0.9992, 0.3279, 1.5597, 0.992, -0.3721, 0.2344, 0.1307, 0.1532]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.164 left_yaw=0.0028 left_pitch=-0.0736 left_roll=-0.0026 left_gripper=0.9992 right_x=0.3895 right_y=0.0929 right_z=0.0997 right_yaw=0.0404 right_pitch=-0.3196 right_roll=-0.112 right_gripper=0.1532\nstate[joint_eff]: [-0.0068, -1.2376, 7.159, 1.7265, -0.0611, -0.0464, -0.0122, -0.3624, -8.5128, 8.4855, 1.5507, 0.1294, -0.0464, -0.188]",
      "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, 0.7994, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.305, 1.7691, 0.7952, 0.247, 0.2554, 0.0498, 0.9956]\nstate[eef_state]: left_x=0.2822 left_y=0.0016 left_z=0.1611 left_yaw=0.0025 left_pitch=-0.0885 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4316 right_y=0.0928 right_z=0.0419 right_yaw=0.0584 right_pitch=-0.1152 right_roll=-0.1273 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.1556, 7.159, 1.8437, -0.0171, -0.0562, -0.0122, -0.4581, -7.4188, 5.6, 2.21, 0.2662, -0.0171, -0.0317]",
      "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, 0.7994, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.3061, 1.8088, 0.7776, 0.2939, 0.2501, 0.0444, 0.4617]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1597 left_yaw=0.0025 left_pitch=-0.0957 left_roll=-0.0023 left_gripper=0.9992 right_x=0.43 right_y=0.0938 right_z=0.0272 right_yaw=0.0666 right_pitch=-0.1265 right_roll=-0.1304 right_gripper=0.4617\nstate[joint_eff]: [-0.0752, -0.9778, 6.9538, 1.7363, -0.0855, -0.0317, -0.0122, -0.2803, -6.7077, 4.9983, 1.7851, 0.1783, 0.0659, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:178e730f4e83c0036c728c1a16c2f760f6521dc1835a37b7b833c63f16959e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffe7ace6dc8f5be50cf18f67019b016a93ae4c67f6a53ce1eb1582304704c4ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d052d714679ca024403b648739454c47e35646ad5eadbc1bc084d1be83b14685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwAQKjgEIEhgCKkDsYTcer325uY3ZS0oA2FrgGcqg7Moa6lntvTvRJOqQ7Oga+d8+/beKJ9QW8Ri2ZPcPYyKdf9mC+O+sQW4oAtDCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYb6y9UGEgxiWLlFzK122M8EuIgaDGqZ4bPXZg7XpzgYISIwGmz9RN0/IlyEhXnedAbnDGpZeK6cUYoDGYstrn1gIDc+ept4trBlj26cjjD3Zq9nKt4CzgOoWTSldKj/pTIR1z2fOx6Dhf0DZHdoj7yi7L2PfW7SajWyMq+EBM37ooGuXSPskNrp1hC3GgMfZiVNpxQgquPzOYxWsVPke5NYvePhc7PFHpU6LSULh0a8w4q1lFmca3LoPP48SiJBHciB7GDuqUSofccyYs1VD7q47njljwHWBiO/gbWhXgAds+AmPGijP+T5ClME2249HXHJplMw7lS/0p+ES9f0RuUP9XaqWbxMtj948892nDuUb/KVz2NfGdvPCHGR870Vjld/OvJVz1FANt35No0JelB7tj5VL05JBBezfow1xqtUxdWmV0G4x3XDhvUCWPyNjXNmaR8Hfbmn3rmt/UkGIrGUQzhxv9cbHO62VekKM7cJmE4Imt7IgRL/MDNx2H1xb1p+45kBjySNYK9B/GR65HQxn9LHI3zSBllsOAYq06R8NxO4IFJ75xr9S9vSGEGIT0iamRQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TrWnuWcgp39QBytUXprJFo",
      "input": {
        "note": "Closing a bit more on the lemon and lifting to 18 cm to confirm the grasp.",
        "targets": {
          "right_gripper": 0.38,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TrWnuWcgp39QBytUXprJFo",
      "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, 0.7994, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 0.3061, 1.5612, 1.1114, -0.3325, 0.2459, 0.0395, 0.442]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1566 left_yaw=0.0025 left_pitch=-0.1117 left_roll=-0.002 left_gripper=0.9992 right_x=0.4271 right_y=0.0937 right_z=0.1535 right_yaw=0.0712 right_pitch=-0.1713 right_roll=-0.142 right_gripper=0.442\nstate[joint_eff]: [-0.0068, -1.1829, 6.9538, 1.79, -0.0708, -0.0562, -0.0122, -0.212, -9.306, 9.265, 1.707, 0.1587, -0.0171, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04e6cd5a78031f2b3d55388bf28b4451d3779a073995180b6286d796849bec19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b376727356901dad79c6419ce13c5976811bbbf2d640a45b97d3206dd1dddbb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a4fa56fa48b3716a3dee8c1ae8ae26a0d133814f6601a49ee6ac14f71004dea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 9.125 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, 0.7994, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.305, 1.7691, 0.7952, 0.247, 0.2554, 0.0498, 0.9956]\nstate[eef_state]: left_x=0.2822 left_y=0.0016 left_z=0.1611 left_yaw=0.0025 left_pitch=-0.0885 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4316 right_y=0.0928 right_z=0.0419 right_yaw=0.0584 right_pitch=-0.1152 right_roll=-0.1273 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.1556, 7.159, 1.8437, -0.0171, -0.0562, -0.0122, -0.4581, -7.4188, 5.6, 2.21, 0.2662, -0.0171, -0.0317]",
      "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, 0.7994, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.3061, 1.8088, 0.7776, 0.2939, 0.2501, 0.0444, 0.4617]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1597 left_yaw=0.0025 left_pitch=-0.0957 left_roll=-0.0023 left_gripper=0.9992 right_x=0.43 right_y=0.0938 right_z=0.0272 right_yaw=0.0666 right_pitch=-0.1265 right_roll=-0.1304 right_gripper=0.4617\nstate[joint_eff]: [-0.0752, -0.9778, 6.9538, 1.7363, -0.0855, -0.0317, -0.0122, -0.2803, -6.7077, 4.9983, 1.7851, 0.1783, 0.0659, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 0.3061, 1.5612, 1.1114, -0.3325, 0.2459, 0.0395, 0.442]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1566 left_yaw=0.0025 left_pitch=-0.1117 left_roll=-0.002 left_gripper=0.9992 right_x=0.4271 right_y=0.0937 right_z=0.1535 right_yaw=0.0712 right_pitch=-0.1713 right_roll=-0.142 right_gripper=0.442\nstate[joint_eff]: [-0.0068, -1.1829, 6.9538, 1.79, -0.0708, -0.0562, -0.0122, -0.212, -9.306, 9.265, 1.707, 0.1587, -0.0171, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04e6cd5a78031f2b3d55388bf28b4451d3779a073995180b6286d796849bec19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b376727356901dad79c6419ce13c5976811bbbf2d640a45b97d3206dd1dddbb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a4fa56fa48b3716a3dee8c1ae8ae26a0d133814f6601a49ee6ac14f71004dea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GtJB1DPEWSJxcBEBkYcCoc",
      "input": {
        "note": "Lemon is grasped (gripper settled at 0.44 ≈ 4.2 cm with high effort). Carrying it high over to above the open safe's interior.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.28,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01GtJB1DPEWSJxcBEBkYcCoc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6067, -0.514, -0.0189, -0.0387, 0.9992, 0.7574, 1.9415, 1.9076, -0.9131, 0.5167, 0.3721, 0.4445]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1529 left_yaw=0.0026 left_pitch=-0.1308 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4159 right_y=0.278 right_z=0.2283 right_yaw=0.1093 right_pitch=-0.2043 right_roll=-0.1615 right_gripper=0.4445\nstate[joint_eff]: [-0.294, -1.265, 6.9265, 1.8535, -0.0708, -0.0562, -0.0122, 0.1573, -9.9487, 8.5538, 1.2332, 0.4225, 0.2271, 0.5739]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af632f49993f918d4320b24ac4ca1a0b097d066356f115de36d64ca152e443bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a70f3d30c58ccb910238ea0caffddb094788c90e9fa6a2bc6ef36b9781c384d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb467120f8cae5e9e96bc08dc5308e88a72f1e5dbd4353bbf54470ae93ca994a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 5.354 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, 0.7994, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.3061, 1.8088, 0.7776, 0.2939, 0.2501, 0.0444, 0.4617]\nstate[eef_state]: left_x=0.281 left_y=0.0016 left_z=0.1597 left_yaw=0.0025 left_pitch=-0.0957 left_roll=-0.0023 left_gripper=0.9992 right_x=0.43 right_y=0.0938 right_z=0.0272 right_yaw=0.0666 right_pitch=-0.1265 right_roll=-0.1304 right_gripper=0.4617\nstate[joint_eff]: [-0.0752, -0.9778, 6.9538, 1.7363, -0.0855, -0.0317, -0.0122, -0.2803, -6.7077, 4.9983, 1.7851, 0.1783, 0.0659, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 0.3061, 1.5612, 1.1114, -0.3325, 0.2459, 0.0395, 0.442]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1566 left_yaw=0.0025 left_pitch=-0.1117 left_roll=-0.002 left_gripper=0.9992 right_x=0.4271 right_y=0.0937 right_z=0.1535 right_yaw=0.0712 right_pitch=-0.1713 right_roll=-0.142 right_gripper=0.442\nstate[joint_eff]: [-0.0068, -1.1829, 6.9538, 1.79, -0.0708, -0.0562, -0.0122, -0.212, -9.306, 9.265, 1.707, 0.1587, -0.0171, 1.0281]",
      "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, 0.8005, 0.6067, -0.514, -0.0189, -0.0387, 0.9992, 0.7574, 1.9415, 1.9076, -0.9131, 0.5167, 0.3721, 0.4445]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1529 left_yaw=0.0026 left_pitch=-0.1308 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4159 right_y=0.278 right_z=0.2283 right_yaw=0.1093 right_pitch=-0.2043 right_roll=-0.1615 right_gripper=0.4445\nstate[joint_eff]: [-0.294, -1.265, 6.9265, 1.8535, -0.0708, -0.0562, -0.0122, 0.1573, -9.9487, 8.5538, 1.2332, 0.4225, 0.2271, 0.5739]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af632f49993f918d4320b24ac4ca1a0b097d066356f115de36d64ca152e443bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a70f3d30c58ccb910238ea0caffddb094788c90e9fa6a2bc6ef36b9781c384d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb467120f8cae5e9e96bc08dc5308e88a72f1e5dbd4353bbf54470ae93ca994a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8wYKjgEIEhgCKkC9JqxTgqC4kKdllHEcfpxpjq29G8HmsbyjQwwbbgVskEgsTMW7bruRav9BNe8wwu77de44GXoM6VURHd/EdYXQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZz6y9UGEgwQNmIclU5QUYod9AYaDLlHEECbKAOkCWCskiIwZYM9FXCBMuYbiKZ2XsJKrzNYknbF7C8rWUt0vUE8U4OL9BbuXwauzRVTzqVobnOlKpEFYA7H68V0iMUF9nPI0o3jBGIPMI9n5gvYikNK6iJNgiy7NHXwVBIk3AJI4tRHVqD9YoRVwW7TE1UzF5c5aYDwrxDbALHASWFamVPcL5kL6BmIFIG82NvxrruyfkehQo7O+lAsDoutLxauHs+wC0NLfcSlmkChpAHAgYRXkRI/+BMbtI16h8XwAovGvyfdbpzqUCzICZ75I5Udetq6ewccjehUuRJU+AEH5hjci5UEk/jeca/BGsJqbICVj9WBka5ouPJVMm91drbpOqD6e63BZFzeo4mmhYQg6tqnMArLVsunrifGmJ/xDMq6cwMYCAT8NWWH0Fgb8WvI8yY6I4qdFEhDFI26pAYmCEmXZeL1FNTBcwqmeoEJZcEaSU/euY0ZKpCAiKyyRR4r/w6ReIxhp5TMa4JbHD5YCQ8jpgKltSrffJHlJvKtewBrl2rUh16zQJjnnpfzThDlRwpSW8jNmYiQdSL+pNIeCon0i1EunsGKMO+SrMXsM9s2ACdjjeHQLjM73kAODDENFkW+d4V27LTSUtsBvhnJDbU/2f30nJfupktx4DXKHfsGHTRBD5raPMMBZ26aGrJxVQPzy1moIFqM+9JdBBe/+57HSS5HW7AE89AUlgchoviUZV4hi/dYWwDD6jfNWtXm4orgrLn0TN5hxhsxEgBoSY1Pbb37UVhbYumSxFP6DLbFDWYJQTOE5MUBmLHTpO29P5D7uK8r6P33M6Gdu+0YNdiPzaz/0meFw5oWujr26M6E6vBCu9Yp4MMR7Hsv72wbCU32R+i2T5G+ARkwllS3wJylVMBZAOhlMmIoYmVgbFigMuGK7Pl1k7Gc0q6ODPyKIbSMOol8KS1TxYMmPKr6t8izYT8Ef2rNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BSxAqnVKbEYTjc8FPGczDt",
      "input": {
        "note": "Wrist view shows the safe's red interior to the left of the held lemon, so shifting 4 cm further left (into the safe) and lowering toward the box floor.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.32,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BSxAqnVKbEYTjc8FPGczDt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.522, -0.0189, -0.0387, 0.9992, 0.815, 2.0544, 1.8137, -0.8059, 0.5339, 0.4076, 0.4442]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1507 left_yaw=0.0026 left_pitch=-0.1415 left_roll=-0.0013 left_gripper=0.9992 right_x=0.41 right_y=0.3092 right_z=0.1534 right_yaw=0.1199 right_pitch=-0.2697 right_roll=-0.212 right_gripper=0.4442\nstate[joint_eff]: [-0.0342, -1.388, 6.9128, 1.6581, -0.0024, -0.0708, -0.0122, 0.253, -11.3709, 7.2957, 1.4676, 0.3785, 0.1099, 0.6374]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:379cae1279908a64b42f0f746fc0137514b825b26230b88fc5eebbf20d4a0c53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a2cfb730ac90832b78f9238c5dd89c2a727b1fd9fd0d3d0a9a9ae4df627d29e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5517db9ffcdaa3b3fbcefc4debdb24d33bd1d7849d36f197589fe0894bf9e2f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 8.061 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, 0.7994, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 0.3061, 1.5612, 1.1114, -0.3325, 0.2459, 0.0395, 0.442]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1566 left_yaw=0.0025 left_pitch=-0.1117 left_roll=-0.002 left_gripper=0.9992 right_x=0.4271 right_y=0.0937 right_z=0.1535 right_yaw=0.0712 right_pitch=-0.1713 right_roll=-0.142 right_gripper=0.442\nstate[joint_eff]: [-0.0068, -1.1829, 6.9538, 1.79, -0.0708, -0.0562, -0.0122, -0.212, -9.306, 9.265, 1.707, 0.1587, -0.0171, 1.0281]",
      "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, 0.8005, 0.6067, -0.514, -0.0189, -0.0387, 0.9992, 0.7574, 1.9415, 1.9076, -0.9131, 0.5167, 0.3721, 0.4445]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1529 left_yaw=0.0026 left_pitch=-0.1308 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4159 right_y=0.278 right_z=0.2283 right_yaw=0.1093 right_pitch=-0.2043 right_roll=-0.1615 right_gripper=0.4445\nstate[joint_eff]: [-0.294, -1.265, 6.9265, 1.8535, -0.0708, -0.0562, -0.0122, 0.1573, -9.9487, 8.5538, 1.2332, 0.4225, 0.2271, 0.5739]",
      "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, 0.8032, 0.6067, -0.522, -0.0189, -0.0387, 0.9992, 0.815, 2.0544, 1.8137, -0.8059, 0.5339, 0.4076, 0.4442]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1507 left_yaw=0.0026 left_pitch=-0.1415 left_roll=-0.0013 left_gripper=0.9992 right_x=0.41 right_y=0.3092 right_z=0.1534 right_yaw=0.1199 right_pitch=-0.2697 right_roll=-0.212 right_gripper=0.4442\nstate[joint_eff]: [-0.0342, -1.388, 6.9128, 1.6581, -0.0024, -0.0708, -0.0122, 0.253, -11.3709, 7.2957, 1.4676, 0.3785, 0.1099, 0.6374]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:379cae1279908a64b42f0f746fc0137514b825b26230b88fc5eebbf20d4a0c53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a2cfb730ac90832b78f9238c5dd89c2a727b1fd9fd0d3d0a9a9ae4df627d29e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5517db9ffcdaa3b3fbcefc4debdb24d33bd1d7849d36f197589fe0894bf9e2f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAMKjgEIEhgCKkD20fSBXpLUKQo+2RZCZ14X1aczOT0GLYAf1B6vnvClOnT+7MK2cTBRCJeKw8YL/DWQYA9eCHvHn8OJVkVDWl/DMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaP6y9UGEgxHgDxCeKfzsg+z6UwaDJ0G7ARnciyf4qXy2yIwjNZoHJ7Yny2F9XBcFOjMZf9KPyXaMND5pUgCVoxUlgIHClr0zwVx90DQsUVsPgK/KroBhJMkED/MUoKlBmpf3dyPXhV5szKxdTiMtZeRjIXl8supcShIHTvi/2OF7y/GrpkFy4498SKfLYd0SbFuvXodCxiwz1pZcHVwUTbjuoo5JwTIHHHAf9XePmWbXEowPG3BuJTCo5nTJJTiNVsxcIH7FpPePi1ZP8MHgI7ad1pbqsOz7SX0XNIJ9Hmmi9MVMJ7i3287Q9zAbHtKwpXGxkZrWtF4ET8r4aE64KsoYFtfQXwkf73Muh7uFM+8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YT8cXXe2XhNrGTsG8B6tVT",
      "input": {
        "note": "Gripper with lemon is centred over the red safe interior; lowering it into the box before releasing.",
        "targets": {
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YT8cXXe2XhNrGTsG8B6tVT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.8234, 2.0705, 1.8114, -0.7631, 0.535, 0.4164, 0.4455]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.15 left_yaw=0.0024 left_pitch=-0.1453 left_roll=-0.001 left_gripper=0.9992 right_x=0.4131 right_y=0.3186 right_z=0.1496 right_yaw=0.1267 right_pitch=-0.2494 right_roll=-0.1905 right_gripper=0.4455\nstate[joint_eff]: [-0.0205, -1.0325, 7.0359, 1.6581, -0.0806, -0.0122, -0.0122, -0.5538, -12.1778, 6.9538, 1.4969, 0.359, 0.1197, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fc0ec86bdbf5adbb74d00ce988ebcc4044ca2c30b4341ab0767d373fa3f3265",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d54abaf0dc507bd1da54f632eeacda3eeaf3627d2d9d22a412817b792e9a770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8251ee28f50e2415cadbcbe1682e8cb7aa9a1c0d6196a8fec6ee46b47bab5eda",
        "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 · 13.31 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6067, -0.514, -0.0189, -0.0387, 0.9992, 0.7574, 1.9415, 1.9076, -0.9131, 0.5167, 0.3721, 0.4445]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1529 left_yaw=0.0026 left_pitch=-0.1308 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4159 right_y=0.278 right_z=0.2283 right_yaw=0.1093 right_pitch=-0.2043 right_roll=-0.1615 right_gripper=0.4445\nstate[joint_eff]: [-0.294, -1.265, 6.9265, 1.8535, -0.0708, -0.0562, -0.0122, 0.1573, -9.9487, 8.5538, 1.2332, 0.4225, 0.2271, 0.5739]",
      "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, 0.8032, 0.6067, -0.522, -0.0189, -0.0387, 0.9992, 0.815, 2.0544, 1.8137, -0.8059, 0.5339, 0.4076, 0.4442]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1507 left_yaw=0.0026 left_pitch=-0.1415 left_roll=-0.0013 left_gripper=0.9992 right_x=0.41 right_y=0.3092 right_z=0.1534 right_yaw=0.1199 right_pitch=-0.2697 right_roll=-0.212 right_gripper=0.4442\nstate[joint_eff]: [-0.0342, -1.388, 6.9128, 1.6581, -0.0024, -0.0708, -0.0122, 0.253, -11.3709, 7.2957, 1.4676, 0.3785, 0.1099, 0.6374]",
      "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, 0.8032, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.8234, 2.0705, 1.8114, -0.7631, 0.535, 0.4164, 0.4455]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.15 left_yaw=0.0024 left_pitch=-0.1453 left_roll=-0.001 left_gripper=0.9992 right_x=0.4131 right_y=0.3186 right_z=0.1496 right_yaw=0.1267 right_pitch=-0.2494 right_roll=-0.1905 right_gripper=0.4455\nstate[joint_eff]: [-0.0205, -1.0325, 7.0359, 1.6581, -0.0806, -0.0122, -0.0122, -0.5538, -12.1778, 6.9538, 1.4969, 0.359, 0.1197, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fc0ec86bdbf5adbb74d00ce988ebcc4044ca2c30b4341ab0767d373fa3f3265",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d54abaf0dc507bd1da54f632eeacda3eeaf3627d2d9d22a412817b792e9a770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8251ee28f50e2415cadbcbe1682e8cb7aa9a1c0d6196a8fec6ee46b47bab5eda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShwUKjgEIEhgCKkC4WxLiRblouW1lRY7UMTl5HyYPQbBGf5BWuk4e/YrwxjBdg8TcHhvCE5tQFyBSAHhISxRBNFYnT8EkL/x47n4LMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaz6y9UGEgxjxoOEFQL9JtYAhMkaDKct3IhxE+kSNeilAiIw4zdN6HIFkohJff9GWkbtBc3oupWw790gJJhflyBpiBcpdPXKlKiGrFfqXAqaDNNmKqUDK5KJuplY3FaOyNMhAoyVQUdndUicq7+QTPuRaJgrqv3yOOYqf/+bzlXPBnmIilrDpOB+5ah59EqJx2oneFXkZPNZtUVhlZWulFjHIQm0nXbXYLVf82EkwlN40m05krojsZd49B7bdiQ+yfisOLQu3cq/WeqsDCK6FSAI7QRKndUiW1JpjLCd37WexvBmx/Cx4eXnVWHguWmGrtPVnfpryTUiHYlBFNJGPqYDrvVRCy9st9OLOZXqrXfkYMEuiIBXb7hSSBf8w3K0ROMrIBQkCoqJTKmd0NwB3O8oixlkZ7IjUd000kGabm5g0XHu0teJysFc45P1gfzQUevcb0ZqKJawn/iGtCIZpT6lBxfxz3Dk75my5aIr+A5+TWuT8mKmZ0+dDqR4qQKsWaaG6laKQLxbZ3r6bOdsFSUxOz6NNjLkiMij/+32CHjV8x7ZBmEYiXUovk+v4WRVBhE3KXvAKCnCM+byDocrpTo7OxcMmbYp4M8MdZlCjWbZnvRqK/IcUGEv2u067wrrsoiotbg7oPhJJ2BpWdR3YZn/UhrIllMKHODRexgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AVjiu8tcWEq97GwCkXn3bp",
      "input": {
        "note": "The descent stalled, but the lemon is centred directly over the open safe interior; releasing it to drop into the box.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AVjiu8tcWEq97GwCkXn3bp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5369, -0.0189, -0.0387, 0.9992, 0.8238, 2.0705, 1.8114, -0.7685, 0.5339, 0.416, 0.9947]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.148 left_yaw=0.0026 left_pitch=-0.1564 left_roll=-0.001 left_gripper=0.9992 right_x=0.4122 right_y=0.3181 right_z=0.1489 right_yaw=0.1272 right_pitch=-0.2542 right_roll=-0.1936 right_gripper=0.9947\nstate[joint_eff]: [-0.212, -1.1829, 6.8991, 1.7167, -0.0171, -0.0464, -0.0122, -0.1162, -11.7265, 6.5436, 1.2332, 0.2466, 0.0464, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c14571edd92166e5c39b240d7a7fe96fd15fb3ae319ff372e00f4623435ccde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b253728511e4575c36183f67b5a77580ef67b57ba38cf579105b2ec36026820d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ec0d5630f80b03939c62bb73d4a2a9e07ccc1d04bbe979a75cb54a0b55b731d",
        "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 · 7.789 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, 0.8032, 0.6067, -0.522, -0.0189, -0.0387, 0.9992, 0.815, 2.0544, 1.8137, -0.8059, 0.5339, 0.4076, 0.4442]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1507 left_yaw=0.0026 left_pitch=-0.1415 left_roll=-0.0013 left_gripper=0.9992 right_x=0.41 right_y=0.3092 right_z=0.1534 right_yaw=0.1199 right_pitch=-0.2697 right_roll=-0.212 right_gripper=0.4442\nstate[joint_eff]: [-0.0342, -1.388, 6.9128, 1.6581, -0.0024, -0.0708, -0.0122, 0.253, -11.3709, 7.2957, 1.4676, 0.3785, 0.1099, 0.6374]",
      "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, 0.8032, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.8234, 2.0705, 1.8114, -0.7631, 0.535, 0.4164, 0.4455]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.15 left_yaw=0.0024 left_pitch=-0.1453 left_roll=-0.001 left_gripper=0.9992 right_x=0.4131 right_y=0.3186 right_z=0.1496 right_yaw=0.1267 right_pitch=-0.2494 right_roll=-0.1905 right_gripper=0.4455\nstate[joint_eff]: [-0.0205, -1.0325, 7.0359, 1.6581, -0.0806, -0.0122, -0.0122, -0.5538, -12.1778, 6.9538, 1.4969, 0.359, 0.1197, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8032, 0.6067, -0.5369, -0.0189, -0.0387, 0.9992, 0.8238, 2.0705, 1.8114, -0.7685, 0.5339, 0.416, 0.9947]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.148 left_yaw=0.0026 left_pitch=-0.1564 left_roll=-0.001 left_gripper=0.9992 right_x=0.4122 right_y=0.3181 right_z=0.1489 right_yaw=0.1272 right_pitch=-0.2542 right_roll=-0.1936 right_gripper=0.9947\nstate[joint_eff]: [-0.212, -1.1829, 6.8991, 1.7167, -0.0171, -0.0464, -0.0122, -0.1162, -11.7265, 6.5436, 1.2332, 0.2466, 0.0464, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c14571edd92166e5c39b240d7a7fe96fd15fb3ae319ff372e00f4623435ccde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b253728511e4575c36183f67b5a77580ef67b57ba38cf579105b2ec36026820d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ec0d5630f80b03939c62bb73d4a2a9e07ccc1d04bbe979a75cb54a0b55b731d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISig4KjgEIEhgCKkB4dApu0zqD574zrqJ2hogmhpXFP4UyLZeaWocuvHqHdWjOrlVKHMyPKKZbqWwZxEZgZv1/VwPDCpzdrLlR/yvOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbn6y9UGEgwIf1GOmQzuPRfCBPcaDJDbvx/lyc4AeJfbOCIwZNg3fu54pGEFs2+p2ghf90PGigaAjiIGHZcyAQhI0/dVz9oUr7ayMMQ007NFGpuJKqgMtjH0/63oRaLPmoOPpsos686MhWMEQvVWxEB9YZUOuNjL9BT5RWm7iiVNOyFvRZZBZcKdcLTty1cOcmSF+dvZFx3R74DqwTdAP72QMu7Vg8Kl4wky8TPUQoqYziOjg8FlIUTgISdErxhg1HtsK9AWAeETHDg/IFRr/mf+f/vVl2BzmkPvFXy2PFv9GTpa1WKGk75ac80miV83NZ6/0y0qH0m12Yg/lNCYbAQwzkY/QHs2s2kJNLMJygn6yLgmKW41XA0FcTdF+xU034WTLnjerzhpELuujfgeO8YSjLrB6Z0sY/TgpBjMRy1yQdgTi/uGbadxbwDlR1aoP1MMo/xNLGeO3OX5MscbXnutLK+5yU1rf6xeJNXdJfbuL7I6oYNKQ+03JwLgC1LBKJkElmAE4iTVfQ8ZXSK7aweCV4rbdsYNExyxXifBaHdkbGixih/jzW/ms+wNQUUVOyszHxApVzwR9RwPk2qKxssA4Bq2uBZaLN4VfXr8DFUGlQOtz+P+e5+E2yJbMypZMf0DRoScJylts5GSPV1shBCnkP+bvjvUEzIVxksy+8GsrsrNs8WztNf0HauXXcWq5KWzqL5ZhcuykigPZdU5I7QKiy2w2SB7ZWofxO8wS8JdMaKNUrMOFgm1INf+lKxW+mLwBHCRqDx8PG8xtDjWgVOPGW1WWsUDanpiMXFCjJLRyDL6O6tey3ulYk1hgDRWP4v4a7W5Hn3imQIzWpd3p6dCkPVY4Z1fMynxwU49EX1EBroKt1a5ULtocHTxoxGYu7T4+8Cx/UM9btmtSQWF2wLawfXAObnfzDgIT6RoWTVTKFlwjKvn3bXs8ZGfM4DoFi+m2yIXcJqkC8CHsC+So6waEAUhHK7lTRevfqxyl0zRcY0E1gfKra1C4esAN37mk9AXeJ4pnljMOA0FlmTvJ/gWVcasREDDhXsDocnBxKrQAJ3+Dp0uRnvK6XYNmJvNAK6wh9bPTLYjHfu+ncQs2yQyugkRfZOSBIC7psgHhKKJKGPcvTVcGpKb6+rSi4+Cz8HmO/QWOww4dMRdrcEPdrwkzc+ZeCe6W+wJvjnyXmGosDu6o9Cp1ZFc0+prv1jchsAAt23zEI1R0QS1VM9liq6+mtyADCqdlWLk0pDWUIh0aV712x6anpWInyOBRs/3llQMPylWzStzirKpu+qGUnbu8ZTKGw9UJup0qr1DidoJqeX8+Ri3+lT4wghwMRPYMTpwofQufTx+TWKztJ89QAOzwcp/GqyVp/9l6euOtA5kexEhr2CumLwWiCFFLL4g/vofCuD50bO3AvvMcphM/GecMX5SaNXADzW/VHZYJN2dfISKRZap6a9MW81Ts8CyDUoEoTOgydF+xS0mTuPgtwQtXoWmNfjteQsekWad+tZTmQ9X/5NEn7K7NgEtyNMxLV9s9KRhTjXITxySgkyDRhDmHox7M7U+sTLREBRlw6Vik2IfQ4uN/wPScrpchfbOq0JUoPZYVOuMPWH5jT+v7I5wF4uvAVVhrSQzQfgsvrgMVtbwg0TMbwJxm6uADfMGwMa9EBgIEErVu7M1JF77L4lNfDlgkkpxT2vgT16Ouct6fZkQ0ZNVVweySURdRHXgllbMCxsdfvS5XpsMIWot5uRgLnwipGnm7eqjXgzb0Of487k1wrN0Xa8ZLVcjGTbgGGBNuy7BYd8rifPt4dZE+2JA770FCgIbxvxiUIs+jzgA699K3woBdo+uVl7jeruY1W2peWmVwA5krNs+jwfIzcN0CjF0ev6fzdo/K6OisNnkrs2lvctQssHDWWNGQz37pqSwCOTWd24tz9mXIjKQIh/5RhF9ZUQIEAbxE+ntV8Ih3YiTfbEVwY0SQhxYi2fKBLxBSDa9FMrNOtQUEDmnq+KpG6xyRlnx3Is+X6ckgb0cgGjSxTbOlRDJKf5dQL/pErm5vIXYaXy1PldY3O7lji7lhh4sG0uwhH1k3IF+gFfzLmsrpmELZ19g/7hVC6tCYoJWrMKuyGEOutUxXpciiixOrNzsg+GQIirRVmTBuJmGra0Kl1rUj/o3/MKvz3vZiasSfT0hf4cyi53z9Z0cqdoreZtKbUTrcqAcMJCYVBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019Q2KXGAb8kd3CnNBLeeqd5",
      "input": {
        "note": "Lemon is now sitting in the safe. Retracting the right arm out of the way and bringing the left arm above the small white bear to the left of the safe.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.19,
          "left_z": 0.15,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_019Q2KXGAb8kd3CnNBLeeqd5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.659, 1.5635, 1.0706, -0.416, -0.4587, -0.5106, 0.9992, 0.2859, 1.0935, 0.9882, -0.7647, 0.2352, -0.02, 0.9953]\nstate[eef_state]: left_x=0.3685 left_y=-0.1819 left_z=0.1329 left_yaw=-0.0016 left_pitch=-0.209 left_roll=0.0189 left_gripper=0.9992 right_x=0.3029 right_y=0.0499 right_z=0.1957 right_yaw=0.0892 right_pitch=-0.2641 right_roll=-0.1957 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -7.159, 9.2239, 1.4969, -0.442, 0.0024, -0.0122, -0.1709, -3.6855, 6.735, 1.7021, 0.0366, -0.0366, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62607d708c777723e22c9d6a842a96b5957cba5854430c98d012bee980007342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc8a0bc5dbdf09285e046a7c760f06612adf51383339e4edb3b9a102932b755e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6c40389a9ea845e9e5c43c0a5f65d8236172864f151689e28d465a03700ca0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 6.241 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, 0.8032, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.8234, 2.0705, 1.8114, -0.7631, 0.535, 0.4164, 0.4455]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.15 left_yaw=0.0024 left_pitch=-0.1453 left_roll=-0.001 left_gripper=0.9992 right_x=0.4131 right_y=0.3186 right_z=0.1496 right_yaw=0.1267 right_pitch=-0.2494 right_roll=-0.1905 right_gripper=0.4455\nstate[joint_eff]: [-0.0205, -1.0325, 7.0359, 1.6581, -0.0806, -0.0122, -0.0122, -0.5538, -12.1778, 6.9538, 1.4969, 0.359, 0.1197, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8032, 0.6067, -0.5369, -0.0189, -0.0387, 0.9992, 0.8238, 2.0705, 1.8114, -0.7685, 0.5339, 0.416, 0.9947]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.148 left_yaw=0.0026 left_pitch=-0.1564 left_roll=-0.001 left_gripper=0.9992 right_x=0.4122 right_y=0.3181 right_z=0.1489 right_yaw=0.1272 right_pitch=-0.2542 right_roll=-0.1936 right_gripper=0.9947\nstate[joint_eff]: [-0.212, -1.1829, 6.8991, 1.7167, -0.0171, -0.0464, -0.0122, -0.1162, -11.7265, 6.5436, 1.2332, 0.2466, 0.0464, -0.0904]\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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.659, 1.5635, 1.0706, -0.416, -0.4587, -0.5106, 0.9992, 0.2859, 1.0935, 0.9882, -0.7647, 0.2352, -0.02, 0.9953]\nstate[eef_state]: left_x=0.3685 left_y=-0.1819 left_z=0.1329 left_yaw=-0.0016 left_pitch=-0.209 left_roll=0.0189 left_gripper=0.9992 right_x=0.3029 right_y=0.0499 right_z=0.1957 right_yaw=0.0892 right_pitch=-0.2641 right_roll=-0.1957 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -7.159, 9.2239, 1.4969, -0.442, 0.0024, -0.0122, -0.1709, -3.6855, 6.735, 1.7021, 0.0366, -0.0366, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62607d708c777723e22c9d6a842a96b5957cba5854430c98d012bee980007342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc8a0bc5dbdf09285e046a7c760f06612adf51383339e4edb3b9a102932b755e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6c40389a9ea845e9e5c43c0a5f65d8236172864f151689e28d465a03700ca0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AUKjgEIEhgCKkDary+YI0s9FkzukMcjh07SYn2p+6FvMPDs5Nfda+BfoGwsAYLnFuAeCdNA7RFp0ZeGqHqTbeKigMUdByN5B8IYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcP6y9UGEgzD9xh7UNXwAsEt9nUaDIxGBB8SksRCdkpzcCIw4VkaakP7GQKRv2gK9iXIAJ8BjPU8/smMbKi75QQH0PBJnW3Fzw3tfbRGcI1DS1XmKoYE6rLdzUf3qr7e0d/sTrRKg+oRIUjSXfvFImyfNS5OmxScwY72449YTGT4IxFlVlN/oOiSjkQeWDleEluMUI309oq9X7McEnWhEbjk2xqJBmr+9Ig7fEdg0LHh1bGs6MKnvJFt+8GJUvB7z90Ze9Xj8kfJbD1VXIeJd99oKPzbJdDTPoBu+m5WmeSVFjGd97IG9e/mcm0ZXt3RGO9vcIFX28BUa8xcWGtFTeeYYiRaDXmki1vn4qq5NnW70GJkjpVE9qMkxrwbEjfDdKpGxWbAzusIzKKkRC7n82k1jkhRHcnipRwKia8LpfhHAZ1TY7ZmkoixEbQmVp+teUdFuSRvoPPvxCUiXnw3CyXTnFkqWjhCy4ym26etc+YyzjFtGLG87C3P6NY1NgBwUXgNGZ427aEdODv/IhA1eKs/lqQpriZq1A2Qs89TxwQsNqcqTYBz4HWNJsW5jpeARu+FiP23dhG8+0nsU6CuTCCAlFj8uJhb0eq97Mi5pWtuVjd0/GTeVkCetrTbL8ioDADfmTsvzJ/hzSTezIFx6H5Y25Z2FtSvzJlm/RIG+vnvl3v0dWf/aolW3URItlz+QgDWrDAg6hWsxYvCbxZ+v9OWjg8HqUwW0EPeQmDEz3bUsQT+0BUPH/mdOuDMMKag2LDIO8BmFf81pF53ykc0WfMauH7tisnkU9GMabIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D6tdDXspoxEnHGUXdPYS8G",
      "input": {
        "note": "Left wrist view shows the white bear just left of the jaw column and slightly beyond the fingertips; shifting 2.5 cm left, 3 cm out and descending toward grasp height.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.158,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01D6tdDXspoxEnHGUXdPYS8G",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.548, 1.6913, 0.9474, -0.2016, -0.4019, -0.44, 0.9992, 0.2829, 1.0977, 0.9867, -0.791, 0.2203, -0.0406, 0.9954]\nstate[eef_state]: left_x=0.3868 left_y=-0.151 left_z=0.0638 left_yaw=0.0319 left_pitch=-0.2668 left_roll=0.0525 left_gripper=0.9992 right_x=0.2981 right_y=0.0502 right_z=0.1894 right_yaw=0.1088 right_pitch=-0.2999 right_roll=-0.2039 right_gripper=0.9954\nstate[joint_eff]: [0.3487, -7.8017, 6.2701, 1.6337, -0.1685, 0.1099, -0.0122, -0.1299, -3.4667, 6.7624, 1.6532, 0.1587, 0.2222, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38e618e7c26f396f8e3fdf4e56f7a269636c5e25cd2a15e9f486240319d4e468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4762eb27c8271af7fb043256996ddcfe225843c3f502cd6bbb4548b38a10eccb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05ffe4577341c93a3884d12a8eeea25c4ea2b58d7cae97f18ca696a07383c45c",
        "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 · 6.743 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, 0.8032, 0.6067, -0.5369, -0.0189, -0.0387, 0.9992, 0.8238, 2.0705, 1.8114, -0.7685, 0.5339, 0.416, 0.9947]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.148 left_yaw=0.0026 left_pitch=-0.1564 left_roll=-0.001 left_gripper=0.9992 right_x=0.4122 right_y=0.3181 right_z=0.1489 right_yaw=0.1272 right_pitch=-0.2542 right_roll=-0.1936 right_gripper=0.9947\nstate[joint_eff]: [-0.212, -1.1829, 6.8991, 1.7167, -0.0171, -0.0464, -0.0122, -0.1162, -11.7265, 6.5436, 1.2332, 0.2466, 0.0464, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.659, 1.5635, 1.0706, -0.416, -0.4587, -0.5106, 0.9992, 0.2859, 1.0935, 0.9882, -0.7647, 0.2352, -0.02, 0.9953]\nstate[eef_state]: left_x=0.3685 left_y=-0.1819 left_z=0.1329 left_yaw=-0.0016 left_pitch=-0.209 left_roll=0.0189 left_gripper=0.9992 right_x=0.3029 right_y=0.0499 right_z=0.1957 right_yaw=0.0892 right_pitch=-0.2641 right_roll=-0.1957 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -7.159, 9.2239, 1.4969, -0.442, 0.0024, -0.0122, -0.1709, -3.6855, 6.735, 1.7021, 0.0366, -0.0366, 0.0513]",
      "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]: [-0.548, 1.6913, 0.9474, -0.2016, -0.4019, -0.44, 0.9992, 0.2829, 1.0977, 0.9867, -0.791, 0.2203, -0.0406, 0.9954]\nstate[eef_state]: left_x=0.3868 left_y=-0.151 left_z=0.0638 left_yaw=0.0319 left_pitch=-0.2668 left_roll=0.0525 left_gripper=0.9992 right_x=0.2981 right_y=0.0502 right_z=0.1894 right_yaw=0.1088 right_pitch=-0.2999 right_roll=-0.2039 right_gripper=0.9954\nstate[joint_eff]: [0.3487, -7.8017, 6.2701, 1.6337, -0.1685, 0.1099, -0.0122, -0.1299, -3.4667, 6.7624, 1.6532, 0.1587, 0.2222, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38e618e7c26f396f8e3fdf4e56f7a269636c5e25cd2a15e9f486240319d4e468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4762eb27c8271af7fb043256996ddcfe225843c3f502cd6bbb4548b38a10eccb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05ffe4577341c93a3884d12a8eeea25c4ea2b58d7cae97f18ca696a07383c45c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwAQKjgEIEhgCKkCi0Pzbb+1v67UAVjfAMxxk9TSVhEMLhsrt8ESE59hun1f8sRimN0fCeuCr4ZKMWUMtLa338rqVYq2CZaZP5isAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcr6y9UGEgxaHzvStqsPX+wo+88aDGCUudnfbIZV5vmjDCIwMA8G/I61XbyiuZ4F6Oo1cET9Q7ASMTb4RJp9rTaiF0JnsgVXh+MWUy/j/k2aZkUkKt4CNg0Em12mrkeQkm/RgwClNFFCb/3KIQ4UjqBLH/YzLxGK6ZRHIdWw806vWdp8qPxr8mYy0b4kzulcEkqdlTEAlOiPv0JcacB0iexiJHBSbrcgxv83hkO+FODG9dJlZN5XL8I5t0v5SU4xIDpgM/W7uibT52MXjuHEHk/bCUEMewfSJV7XTk43fxCCXK0ziEXqSHvOYFf+6ciyPKazN1qPAje1i7s7lL9ehZVQbdQlz8tOTrPuF0mgMNK+IDlq0pt53PqrRshya09lt5eCWPIMza4K2I+34hQmfBu1LoGSI9sGmw52Iapcb/Oxk11L9A+zJ86yqsKqRAI5DgmcdC6FvkrcM/DfRQGWr7yfTk6HQWgNVx/rJ3w7pNwnaTfTSnF1Sw6yUaR9gLcokkpeGPN8CJjjugXCxDUqISyYGJG6RLpw5/cWy31bEr0jwK0Vlf2J4/UlyoI8+M5Vhb03114YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UQf1YxsvrG9a1UNeY2gKeb",
      "input": {
        "note": "The white bear is at the bottom of the left wrist view slightly left of the jaw column; shifting 2 cm left and descending to grasp height.",
        "targets": {
          "left_y": -0.132,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UQf1YxsvrG9a1UNeY2gKeb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5068, 1.7195, 0.8566, -0.0818, -0.3805, -0.4137, 0.9992, 0.2821, 1.0977, 0.9867, -0.7952, 0.2199, -0.0425, 0.9954]\nstate[eef_state]: left_x=0.3844 left_y=-0.1342 left_z=0.0364 left_yaw=0.0415 left_pitch=-0.2763 left_roll=0.0549 left_gripper=0.9992 right_x=0.2973 right_y=0.0498 right_z=0.1888 right_yaw=0.1092 right_pitch=-0.3043 right_roll=-0.2056 right_gripper=0.9954\nstate[joint_eff]: [0.4171, -6.9949, 5.7368, 1.7509, -0.1001, 0.1197, -0.0122, -0.0068, -3.0427, 6.653, 1.4188, 0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a0aeaea235381d76c5b663c1b8bc919e002e0ac6dae769603285c969d46577e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59040b0637ab5e987a1a77d655dd492a2eb9c22a11676b473b275ca2f83dd91a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45c5b590e63d2330209ca772d8557434a7fe1a129319c4cc3c7cdcf0d145b87d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 6.031 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]: [-0.659, 1.5635, 1.0706, -0.416, -0.4587, -0.5106, 0.9992, 0.2859, 1.0935, 0.9882, -0.7647, 0.2352, -0.02, 0.9953]\nstate[eef_state]: left_x=0.3685 left_y=-0.1819 left_z=0.1329 left_yaw=-0.0016 left_pitch=-0.209 left_roll=0.0189 left_gripper=0.9992 right_x=0.3029 right_y=0.0499 right_z=0.1957 right_yaw=0.0892 right_pitch=-0.2641 right_roll=-0.1957 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -7.159, 9.2239, 1.4969, -0.442, 0.0024, -0.0122, -0.1709, -3.6855, 6.735, 1.7021, 0.0366, -0.0366, 0.0513]",
      "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]: [-0.548, 1.6913, 0.9474, -0.2016, -0.4019, -0.44, 0.9992, 0.2829, 1.0977, 0.9867, -0.791, 0.2203, -0.0406, 0.9954]\nstate[eef_state]: left_x=0.3868 left_y=-0.151 left_z=0.0638 left_yaw=0.0319 left_pitch=-0.2668 left_roll=0.0525 left_gripper=0.9992 right_x=0.2981 right_y=0.0502 right_z=0.1894 right_yaw=0.1088 right_pitch=-0.2999 right_roll=-0.2039 right_gripper=0.9954\nstate[joint_eff]: [0.3487, -7.8017, 6.2701, 1.6337, -0.1685, 0.1099, -0.0122, -0.1299, -3.4667, 6.7624, 1.6532, 0.1587, 0.2222, -0.0073]",
      "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]: [-0.5068, 1.7195, 0.8566, -0.0818, -0.3805, -0.4137, 0.9992, 0.2821, 1.0977, 0.9867, -0.7952, 0.2199, -0.0425, 0.9954]\nstate[eef_state]: left_x=0.3844 left_y=-0.1342 left_z=0.0364 left_yaw=0.0415 left_pitch=-0.2763 left_roll=0.0549 left_gripper=0.9992 right_x=0.2973 right_y=0.0498 right_z=0.1888 right_yaw=0.1092 right_pitch=-0.3043 right_roll=-0.2056 right_gripper=0.9954\nstate[joint_eff]: [0.4171, -6.9949, 5.7368, 1.7509, -0.1001, 0.1197, -0.0122, -0.0068, -3.0427, 6.653, 1.4188, 0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a0aeaea235381d76c5b663c1b8bc919e002e0ac6dae769603285c969d46577e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59040b0637ab5e987a1a77d655dd492a2eb9c22a11676b473b275ca2f83dd91a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45c5b590e63d2330209ca772d8557434a7fe1a129319c4cc3c7cdcf0d145b87d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0gIKjgEIEhgCKkAp34bjXtSGrqzdQNn22rq5Iqs48og15i/nneG5TT7Rm5F6Psb/u2vvaoELJw59hnaQwsKaHaRrWoKx2c4kU/mHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdH6y9UGEgxnQJrCMeRaANMpyP0aDKzqqmfGGapmzsblSSIwx32CcbvMBTc1AN6iTGP23jx3NSOnwU5//3eGI1LgKMtJXpjfF/DMxN6ZmSdRuFvsKnF59G3Mf/99oKWoWeprijASdbUm2QsvXb6UbzPwpVgBvcF7nMrrOvgnIMXeEd6QvAhvLOMfC46ey05rUBkAHAgFJxZ9iLFAX/XL2kmUPw9uNdVlXFyE1Pg69DkYkIPInb0SvEDRkAhnhEgXb7mMql2SQxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dypv8nnH8E7HZznTdHcsco",
      "input": {
        "note": "The white bear is centred between the jaws at the bottom of the left wrist view; closing on it.",
        "targets": {
          "left_gripper": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Dypv8nnH8E7HZznTdHcsco",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4957, 1.7401, 0.8307, -0.0513, -0.3782, -0.4015, 0.1318, 0.2821, 1.0977, 0.9867, -0.8143, 0.2199, -0.0452, 0.9954]\nstate[eef_state]: left_x=0.3815 left_y=-0.1281 left_z=0.0239 left_yaw=0.0463 left_pitch=-0.2914 left_roll=0.0702 left_gripper=0.1318 right_x=0.2938 right_y=0.0488 right_z=0.1859 right_yaw=0.1097 right_pitch=-0.3234 right_roll=-0.2108 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -8.2256, 5.8735, 1.5507, -0.1001, 0.0464, 0.3736, -0.1846, -2.947, 6.8308, 1.5311, 0.0513, -0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79343eac57b7b58ae3518dc80469561cb1e4368afd9b9c21533db0c9ddb44718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be31da5de113d85ad8c634656f1c49ae1a1eedff1f18f3c890604b1b2bd80148",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38089a7bd415fa231c9e32eda69cf385facfdad58d810e7bca28ef79ee894211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 4.599 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]: [-0.548, 1.6913, 0.9474, -0.2016, -0.4019, -0.44, 0.9992, 0.2829, 1.0977, 0.9867, -0.791, 0.2203, -0.0406, 0.9954]\nstate[eef_state]: left_x=0.3868 left_y=-0.151 left_z=0.0638 left_yaw=0.0319 left_pitch=-0.2668 left_roll=0.0525 left_gripper=0.9992 right_x=0.2981 right_y=0.0502 right_z=0.1894 right_yaw=0.1088 right_pitch=-0.2999 right_roll=-0.2039 right_gripper=0.9954\nstate[joint_eff]: [0.3487, -7.8017, 6.2701, 1.6337, -0.1685, 0.1099, -0.0122, -0.1299, -3.4667, 6.7624, 1.6532, 0.1587, 0.2222, -0.0073]",
      "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]: [-0.5068, 1.7195, 0.8566, -0.0818, -0.3805, -0.4137, 0.9992, 0.2821, 1.0977, 0.9867, -0.7952, 0.2199, -0.0425, 0.9954]\nstate[eef_state]: left_x=0.3844 left_y=-0.1342 left_z=0.0364 left_yaw=0.0415 left_pitch=-0.2763 left_roll=0.0549 left_gripper=0.9992 right_x=0.2973 right_y=0.0498 right_z=0.1888 right_yaw=0.1092 right_pitch=-0.3043 right_roll=-0.2056 right_gripper=0.9954\nstate[joint_eff]: [0.4171, -6.9949, 5.7368, 1.7509, -0.1001, 0.1197, -0.0122, -0.0068, -3.0427, 6.653, 1.4188, 0.0317, -0.0415, -0.0122]",
      "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]: [-0.4957, 1.7401, 0.8307, -0.0513, -0.3782, -0.4015, 0.1318, 0.2821, 1.0977, 0.9867, -0.8143, 0.2199, -0.0452, 0.9954]\nstate[eef_state]: left_x=0.3815 left_y=-0.1281 left_z=0.0239 left_yaw=0.0463 left_pitch=-0.2914 left_roll=0.0702 left_gripper=0.1318 right_x=0.2938 right_y=0.0488 right_z=0.1859 right_yaw=0.1097 right_pitch=-0.3234 right_roll=-0.2108 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -8.2256, 5.8735, 1.5507, -0.1001, 0.0464, 0.3736, -0.1846, -2.947, 6.8308, 1.5311, 0.0513, -0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79343eac57b7b58ae3518dc80469561cb1e4368afd9b9c21533db0c9ddb44718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be31da5de113d85ad8c634656f1c49ae1a1eedff1f18f3c890604b1b2bd80148",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38089a7bd415fa231c9e32eda69cf385facfdad58d810e7bca28ef79ee894211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6gMKjgEIEhgCKkC8p37lmAu4VFI3f9oSt0ix5oKvLJbI/iKNFT4TzbIC+spN0jN/eU5xWAzQmhHvWtxDNzfP2Nh9IXEO/QT9susVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdj6y9UGEgw8I8hk+ftUEWslkPYaDMRs6LuYLkEBXZ3pnCIwdfhQHirHmhgRGH34Psistg/c5FuX2qBX4b1RJMJ2oGNMlvd8kFVvhrvPJ3KaPB+EKogC6TklMUyaSvhnSshXRhuSqqERaMeJzvYqGimdcJWVlbD/Zqy1sCcpNpZN+jQWPJ2zBbdn7W8+gST0Y74uf3n8hCqdruNWOGQ921zybJl3EnSSQxyny82XfeMiYDOV3cJ5Xof7i4eXwHZt2zCNNHpKfvf6/qEMc7R24OttfVCLAsTtHyzbOyysVjI6s9jsImA/HYFKSslaqUK2UxP4rdcbr9sc4OXt77QacTLQOUdD6ezdea0NNePg9MSPKTHgn2A7vjcvEPkEvmnspmL3hHk9iTuSAFkCkPXqgWlvhP7jGfetbcr10yxGEePhibYYbn+aCylTah7cL1kfiNbTr6kUpfq7UKcwFLDSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017gJHdHLmUxD9PEDQdPfGYx",
      "input": {
        "note": "White bear appears gripped (jaws closed to 0.13 on the plush); lifting and carrying it over the open safe.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.33,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_017gJHdHLmUxD9PEDQdPfGYx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8574, 2.2112, 2.2333, -1.1156, -0.5404, -0.7578, 0.1344, 0.2821, 1.0996, 0.9867, -0.8383, 0.2199, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.4138 left_y=-0.3337 left_z=0.1924 left_yaw=0.0294 left_pitch=-0.2896 left_roll=0.03 left_gripper=0.1344 right_x=0.2894 right_y=0.0475 right_z=0.182 right_yaw=0.1083 right_pitch=-0.349 right_roll=-0.2158 right_gripper=0.9954\nstate[joint_eff]: [-0.6769, -12.1641, 7.7197, 0.486, -0.5934, 0.0415, 0.2564, -0.253, -3.2479, 6.5709, 1.536, 0.0806, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d609fe108ed38c83239900478c5faf5aa8fe8fb42a9f636323e66dfb7ab716c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9db0dd97f848ea99b9d83ded42e4c6801f4cf3568fabc3ba81eb13a5aaab1aa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e274ab0b7aaa164e3107f40a1d786a38ee06f1bde9c9c2e3d32a63344e6929d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 10.14 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]: [-0.5068, 1.7195, 0.8566, -0.0818, -0.3805, -0.4137, 0.9992, 0.2821, 1.0977, 0.9867, -0.7952, 0.2199, -0.0425, 0.9954]\nstate[eef_state]: left_x=0.3844 left_y=-0.1342 left_z=0.0364 left_yaw=0.0415 left_pitch=-0.2763 left_roll=0.0549 left_gripper=0.9992 right_x=0.2973 right_y=0.0498 right_z=0.1888 right_yaw=0.1092 right_pitch=-0.3043 right_roll=-0.2056 right_gripper=0.9954\nstate[joint_eff]: [0.4171, -6.9949, 5.7368, 1.7509, -0.1001, 0.1197, -0.0122, -0.0068, -3.0427, 6.653, 1.4188, 0.0317, -0.0415, -0.0122]",
      "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]: [-0.4957, 1.7401, 0.8307, -0.0513, -0.3782, -0.4015, 0.1318, 0.2821, 1.0977, 0.9867, -0.8143, 0.2199, -0.0452, 0.9954]\nstate[eef_state]: left_x=0.3815 left_y=-0.1281 left_z=0.0239 left_yaw=0.0463 left_pitch=-0.2914 left_roll=0.0702 left_gripper=0.1318 right_x=0.2938 right_y=0.0488 right_z=0.1859 right_yaw=0.1097 right_pitch=-0.3234 right_roll=-0.2108 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -8.2256, 5.8735, 1.5507, -0.1001, 0.0464, 0.3736, -0.1846, -2.947, 6.8308, 1.5311, 0.0513, -0.0024, -0.0171]",
      "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]: [-0.8574, 2.2112, 2.2333, -1.1156, -0.5404, -0.7578, 0.1344, 0.2821, 1.0996, 0.9867, -0.8383, 0.2199, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.4138 left_y=-0.3337 left_z=0.1924 left_yaw=0.0294 left_pitch=-0.2896 left_roll=0.03 left_gripper=0.1344 right_x=0.2894 right_y=0.0475 right_z=0.182 right_yaw=0.1083 right_pitch=-0.349 right_roll=-0.2158 right_gripper=0.9954\nstate[joint_eff]: [-0.6769, -12.1641, 7.7197, 0.486, -0.5934, 0.0415, 0.2564, -0.253, -3.2479, 6.5709, 1.536, 0.0806, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d609fe108ed38c83239900478c5faf5aa8fe8fb42a9f636323e66dfb7ab716c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9db0dd97f848ea99b9d83ded42e4c6801f4cf3568fabc3ba81eb13a5aaab1aa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e274ab0b7aaa164e3107f40a1d786a38ee06f1bde9c9c2e3d32a63344e6929d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvAMKjgEIEhgCKkBDqZHStum5ExvBM91UNgaTZcCvLtd9MzUrpx9zdvDj3fFX174Cjf/jf6GWoWVfnTWzW8W9MSuQtOm1vGUj8JzsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd/6y9UGEgwWTZFnHfrBheZcdEQaDANbjQj34ZDCgIHDuCIw1sMRQ24relGDDflBeqTSIlmJ2HOD1yD3M1PqlQSfzUCNtggNVvEXR6A2Cxsp9UeiKtoBhPsWH2abd2tyqnKS39TLkDw4ahtJ7wjQ6hdpLQftjFW7PSP7NfzqEuQjFy4Y/VmRomSnOCCIp8WAGDKpiSKagyVmD6cdaaA0SvAvj/ylgx4JIdx8IJNny050LVcaJjiBxWFFID+L5Nige+/UamgvJhLnQhjhdIAFNyYYt7lcz1y4bwP77WkoUxNphj/yLHFbG9K2+sIDcilGByz5QIPSDAua3MZQRe1VkejoV15M31vl6t5suv67sIncD1ojnrweD7y0w8NDSbVgPJvgZmQIAom9ccVm4+0nrzEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WutS96ADtXA1rdnhfooE97",
      "input": {
        "note": "The white bear hangs directly over the red safe interior; releasing it into the box.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01WutS96ADtXA1rdnhfooE97",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8585, 2.2238, 2.2322, -1.137, -0.5358, -0.7685, 0.9959, 0.2821, 1.0996, 0.9867, -0.8558, 0.2199, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.4107 left_y=-0.3322 left_z=0.1833 left_yaw=0.04 left_pitch=-0.3145 left_roll=0.0488 left_gripper=0.9959 right_x=0.286 right_y=0.0465 right_z=0.1795 right_yaw=0.1072 right_pitch=-0.3663 right_roll=-0.219 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -13.5179, 6.2974, 1.2381, -0.3297, 0.0757, -0.1197, -0.1709, -3.0838, 6.6667, 1.5018, 0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c785c9cf8adc473c24daaa729514deb05fca2140c289c5f9fafd8fd12ae9c9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed543418f79448667092e348f3d49ee5c0e8a31201a837b043fb7097496e824e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6920bbe71b81d81df557276b25f9978e49112cfd4fac7d0a45da5c9c3c787f88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.785 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]: [-0.4957, 1.7401, 0.8307, -0.0513, -0.3782, -0.4015, 0.1318, 0.2821, 1.0977, 0.9867, -0.8143, 0.2199, -0.0452, 0.9954]\nstate[eef_state]: left_x=0.3815 left_y=-0.1281 left_z=0.0239 left_yaw=0.0463 left_pitch=-0.2914 left_roll=0.0702 left_gripper=0.1318 right_x=0.2938 right_y=0.0488 right_z=0.1859 right_yaw=0.1097 right_pitch=-0.3234 right_roll=-0.2108 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -8.2256, 5.8735, 1.5507, -0.1001, 0.0464, 0.3736, -0.1846, -2.947, 6.8308, 1.5311, 0.0513, -0.0024, -0.0171]",
      "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]: [-0.8574, 2.2112, 2.2333, -1.1156, -0.5404, -0.7578, 0.1344, 0.2821, 1.0996, 0.9867, -0.8383, 0.2199, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.4138 left_y=-0.3337 left_z=0.1924 left_yaw=0.0294 left_pitch=-0.2896 left_roll=0.03 left_gripper=0.1344 right_x=0.2894 right_y=0.0475 right_z=0.182 right_yaw=0.1083 right_pitch=-0.349 right_roll=-0.2158 right_gripper=0.9954\nstate[joint_eff]: [-0.6769, -12.1641, 7.7197, 0.486, -0.5934, 0.0415, 0.2564, -0.253, -3.2479, 6.5709, 1.536, 0.0806, -0.0122, -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]: [-0.8585, 2.2238, 2.2322, -1.137, -0.5358, -0.7685, 0.9959, 0.2821, 1.0996, 0.9867, -0.8558, 0.2199, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.4107 left_y=-0.3322 left_z=0.1833 left_yaw=0.04 left_pitch=-0.3145 left_roll=0.0488 left_gripper=0.9959 right_x=0.286 right_y=0.0465 right_z=0.1795 right_yaw=0.1072 right_pitch=-0.3663 right_roll=-0.219 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -13.5179, 6.2974, 1.2381, -0.3297, 0.0757, -0.1197, -0.1709, -3.0838, 6.6667, 1.5018, 0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c785c9cf8adc473c24daaa729514deb05fca2140c289c5f9fafd8fd12ae9c9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed543418f79448667092e348f3d49ee5c0e8a31201a837b043fb7097496e824e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6920bbe71b81d81df557276b25f9978e49112cfd4fac7d0a45da5c9c3c787f88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkgkKjgEIEhgCKkCXiDNRMYj6ppOM4KRnThBQfefOxFnwmKUXXkSlERQ2NF9YG8VMXK7sxpxBjbRRyxUDm67rhJT0XHf3c+bN3/rNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAen6y9UGEgxkCB1cZ7xEuVHNZrwaDFruWH9nr2S7I4QEVSIw58BZJpWbdNfjbv2QDaUOtIs0hzXJQC5Z2YJeN0+DLg+JcF1UMrZ1B+ThwvF9sn85KrAHVx7W6XoOPonOe1jNyJFtyZy0rdQXmtjficyumYhwjyMpY9d4zQPQR2p/WV6C42HrYbekt+mSbG5BvQILmlatfoNVDwt5QoDHS0NZykiYtl6wZjw4Q+pvUBPMNP9gCyFBGD3aOtVYvuUdZ7wNzUxnnOSwszGt3ZWa0b4W8xgL9DisJt+AjDINxnKjTqOCZ7T5P0Wcgyp12RTViID6Jvfrbwvk5ZadE1wBMAyJZFbC0/V+BplxZDdvBhy08KS5bipSP4sgxgNmNg7O988ZXlgaqH6vbukZhvA7dGdEATkHBVFRwCPkxBWHWl3W52J1YQPZExQyDcvmyGW9dF8LvoKpKfUJCN1bMYq2Fz0lRCaHRuB0gar61YItwEjnLrrrc/cM+8PD5sB8AYQ0V6LDqFxjcD2UkqZbiqF6hN/o84ixUVdCDkW6KortJUBVcvXeLW1f71iAyBbx938ujKpUROwj35XUDcfuqZi7swS1+G9iqZdTZ0vIEEzrXCDlCntqlj5Lslc7HE3ZhLFY1iOGMRbyMo6UDHhhUi0xuJPQYHcG5N4jLekfO3Dc3SgyxfUfTzmKlPeg9lc9vLdfsA0NmNNMA8L2ovHmh+13FwQoTU3QXOmUfkHOirLV3gGZfACs9JhfHO51dPUHcGnbb/NPQPyGeniaWaswHd8DSoq1cuXlS8va8C4Udc9lUaebNhkJI8rgdYvKKC+Rcre9ePJpTm7E6Pwv/z3p19TZHrup3bGKw9doOnbut/3LvIewDnZxTaIpicGsdh+vqWjjwh7TyDQ4zRTaxJ3OH/CwIEklsfDaIBHaBenuvjLW3JnODIC4Ej0V2bs8O5PYEWcliZu8J01Sc+7FKBof6S4vIVqupWhICeFUvZhJGP8KFI5WebjeqTxn3VNpk+KR42QNj8VZYmVT5FSyToTLzxGG/UsUQvfbTwLu/0gvZ0TFE+Q2LisW4RbZb1+j9CzcxXrHMGHuXQ81fM56TVwIXOd3lsBQGR9Wu+rsyC678pixkoyZnPhzN3e+5wTHpsIhrUtMU45xaAfkdJSmZiOo8CbH/3lyn628QQBkbUUgKXTaAAzUrfbkTkHtP+g2zjzHsT7U2Aqbtb6LNHJRq7I+SXzDu/Vt1sC+Xfpe4uX3FvU/ZrC+ViiQaz7ySOQkDbJC7grPWCJX3tbygFN88Md68/FWUujLcn0g0vToLTctLRehWbgoZ8Ui40X6eO4TAgNzi9b2HvEuH91tvinZoomFWP0raD/tjp0VPkUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012mSd9sKW7DitLso36CMzXi",
      "input": {
        "note": "Lemon and white bear are both inside the safe. Now moving the left arm over the brown teddy bear that sits in front of the safe.",
        "targets": {
          "left_x": 0.28,
          "left_y": -0.35,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_012mSd9sKW7DitLso36CMzXi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1278, 2.0422, 1.8919, -1.1717, -0.6067, -1.0416, 0.9969, 0.2821, 1.0996, 0.9867, -0.8795, 0.2199, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.2845 left_y=-0.3564 left_z=0.1614 left_yaw=0.0217 left_pitch=-0.3475 left_roll=0.0828 left_gripper=0.9969 right_x=0.2815 right_y=0.0452 right_z=0.1763 right_yaw=0.1056 right_pitch=-0.3896 right_roll=-0.2235 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -14.106, 6.2017, 0.6471, -0.5592, -0.1343, 0.0952, -0.0342, -3.0701, 6.5299, 1.4725, 0.0464, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd861f292379c6039f83a59064341a44913ed97dadd391b89562bb3d7c2df793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efd769e9e913cfa5ad06261d4a56b76584b54ecd33f02e51d9bd851b4972b1fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f970f45a591188fa73482ca704b6f071e73487a2cf5d2350d7fcd7aa5b84ec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 4.172 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]: [-0.8574, 2.2112, 2.2333, -1.1156, -0.5404, -0.7578, 0.1344, 0.2821, 1.0996, 0.9867, -0.8383, 0.2199, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.4138 left_y=-0.3337 left_z=0.1924 left_yaw=0.0294 left_pitch=-0.2896 left_roll=0.03 left_gripper=0.1344 right_x=0.2894 right_y=0.0475 right_z=0.182 right_yaw=0.1083 right_pitch=-0.349 right_roll=-0.2158 right_gripper=0.9954\nstate[joint_eff]: [-0.6769, -12.1641, 7.7197, 0.486, -0.5934, 0.0415, 0.2564, -0.253, -3.2479, 6.5709, 1.536, 0.0806, -0.0122, -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]: [-0.8585, 2.2238, 2.2322, -1.137, -0.5358, -0.7685, 0.9959, 0.2821, 1.0996, 0.9867, -0.8558, 0.2199, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.4107 left_y=-0.3322 left_z=0.1833 left_yaw=0.04 left_pitch=-0.3145 left_roll=0.0488 left_gripper=0.9959 right_x=0.286 right_y=0.0465 right_z=0.1795 right_yaw=0.1072 right_pitch=-0.3663 right_roll=-0.219 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -13.5179, 6.2974, 1.2381, -0.3297, 0.0757, -0.1197, -0.1709, -3.0838, 6.6667, 1.5018, 0.0366, -0.0415, -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]: [-1.1278, 2.0422, 1.8919, -1.1717, -0.6067, -1.0416, 0.9969, 0.2821, 1.0996, 0.9867, -0.8795, 0.2199, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.2845 left_y=-0.3564 left_z=0.1614 left_yaw=0.0217 left_pitch=-0.3475 left_roll=0.0828 left_gripper=0.9969 right_x=0.2815 right_y=0.0452 right_z=0.1763 right_yaw=0.1056 right_pitch=-0.3896 right_roll=-0.2235 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -14.106, 6.2017, 0.6471, -0.5592, -0.1343, 0.0952, -0.0342, -3.0701, 6.5299, 1.4725, 0.0464, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd861f292379c6039f83a59064341a44913ed97dadd391b89562bb3d7c2df793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efd769e9e913cfa5ad06261d4a56b76584b54ecd33f02e51d9bd851b4972b1fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f970f45a591188fa73482ca704b6f071e73487a2cf5d2350d7fcd7aa5b84ec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQUKjgEIEhgCKkBXyT7B2Ue3C+wNl+DpqXyDwFsT5OFLXwEF5q/Fmgv/3KDUY/FGQuD23u2rFxdRdIDoZHAs/q2a0ilSkTYhzYjmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfH6y9UGEgzKYxzJmzpQjIs/Z9waDPmmamKHvFrJOQ2+ICIwEsMe/3UI0DMPruVqJYtlL6uSfEycwOAqGYjjTMr8FZ+ASTOzMZuap14nnH6JF6+eKscDlY5nJbnvT3iFk4zRVLWh99TaDyxhqnf/m63+90enYvmOGj5yjSDGlfEU7iW4rdigGy/9sxMZiHyFUndi0NgWinOKZ+qsn96FqzUXCr1kmjSscCGooydcoFfI8Ml0bAIyHO0foEF5qgTY1GKw0qshVwa7YRrV+SaH1YjywU5L5+UMPJmGVXQjOpdMF7Z522sy9zR783Os3guPyuhmh3gjPtY0cRfGEQTlmUFrajduGrC+g8NZ/AwtoBFo9OySebm2uvFJIBiVFj/Ktz9J43iL7ZNgHTVg7AUAEtdjH0pmoF9FZFABZpzWrlZA+m4+ZKlTyfHpCBO0oyzKixMFe3+EnPG2MhvZVSGZWZUT9gV6cHuZYiXmDYK6dk7/ttf+ImiPZRETKXdy5uYEll7q/aWReyd5wJLcRwNfh0bWqNfKOumRoTGg185Th+p0vze3xhyUrU7tWqHuR/kmWEdd5ND7bfjjAemxfj0PDJcifV3oXkAvgDp26KIfXaVr/RgJhjgxIcqum6q0+hLXa0Jk+xJFlOrPpW5yXxJ/92YKmBZWQALPbjE5Pzui/glzOGZl/qx15uRHNPM/j2h/pcUM2QewW1dhd7uRB8UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TvCFXe7JMd5KnYQBwyVPzb",
      "input": {
        "note": "The brown teddy is directly below the jaws in the left wrist view; descending onto it before closing.",
        "targets": {
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TvCFXe7JMd5KnYQBwyVPzb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1309, 2.0739, 1.5429, -0.8146, -0.6025, -1.0492, 0.9971, 0.2821, 1.0996, 0.9867, -0.9043, 0.2203, -0.046, 0.9954]\nstate[eef_state]: left_x=0.2799 left_y=-0.3512 left_z=0.0609 left_yaw=0.0295 left_pitch=-0.3604 left_roll=0.0993 left_gripper=0.9971 right_x=0.2766 right_y=0.0437 right_z=0.1731 right_yaw=0.1036 right_pitch=-0.414 right_roll=-0.2288 right_gripper=0.9954\nstate[joint_eff]: [0.1573, -9.4701, 5.6, 0.7839, -0.3199, 0.0366, 0.0024, -0.0205, -3.0154, 6.694, 1.4383, 0.0611, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca83d115e9e7efaaaf28ee70299a65096dfb16488640cfde5f0e89eecee3f3e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6beff3596fee78c862b5aa16db3baf49e0ea962a1acf02da6e19fd02b0f67354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13962e95101d54b2a6ae551fd05ff91fc6c74860ce9ad4d379734ed6ee4dadaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.459 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]: [-0.8585, 2.2238, 2.2322, -1.137, -0.5358, -0.7685, 0.9959, 0.2821, 1.0996, 0.9867, -0.8558, 0.2199, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.4107 left_y=-0.3322 left_z=0.1833 left_yaw=0.04 left_pitch=-0.3145 left_roll=0.0488 left_gripper=0.9959 right_x=0.286 right_y=0.0465 right_z=0.1795 right_yaw=0.1072 right_pitch=-0.3663 right_roll=-0.219 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -13.5179, 6.2974, 1.2381, -0.3297, 0.0757, -0.1197, -0.1709, -3.0838, 6.6667, 1.5018, 0.0366, -0.0415, -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]: [-1.1278, 2.0422, 1.8919, -1.1717, -0.6067, -1.0416, 0.9969, 0.2821, 1.0996, 0.9867, -0.8795, 0.2199, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.2845 left_y=-0.3564 left_z=0.1614 left_yaw=0.0217 left_pitch=-0.3475 left_roll=0.0828 left_gripper=0.9969 right_x=0.2815 right_y=0.0452 right_z=0.1763 right_yaw=0.1056 right_pitch=-0.3896 right_roll=-0.2235 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -14.106, 6.2017, 0.6471, -0.5592, -0.1343, 0.0952, -0.0342, -3.0701, 6.5299, 1.4725, 0.0464, -0.0317, -0.0171]",
      "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]: [-1.1309, 2.0739, 1.5429, -0.8146, -0.6025, -1.0492, 0.9971, 0.2821, 1.0996, 0.9867, -0.9043, 0.2203, -0.046, 0.9954]\nstate[eef_state]: left_x=0.2799 left_y=-0.3512 left_z=0.0609 left_yaw=0.0295 left_pitch=-0.3604 left_roll=0.0993 left_gripper=0.9971 right_x=0.2766 right_y=0.0437 right_z=0.1731 right_yaw=0.1036 right_pitch=-0.414 right_roll=-0.2288 right_gripper=0.9954\nstate[joint_eff]: [0.1573, -9.4701, 5.6, 0.7839, -0.3199, 0.0366, 0.0024, -0.0205, -3.0154, 6.694, 1.4383, 0.0611, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca83d115e9e7efaaaf28ee70299a65096dfb16488640cfde5f0e89eecee3f3e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6beff3596fee78c862b5aa16db3baf49e0ea962a1acf02da6e19fd02b0f67354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13962e95101d54b2a6ae551fd05ff91fc6c74860ce9ad4d379734ed6ee4dadaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAIKjgEIEhgCKkDAp3NeKF1BP7I0jKzV3u8pGNMVmLHjzqr9Z3WnsVv/Fw0O31UIqQpeL/U/rvC9oVNMHUCkLm8ZaMmZdkrM3hi2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfb6y9UGEgxyU1iCINh0lMi8S5caDOQYInEpVbbbuYAjjCIwwo72gFuoYzagXAIKYjjsXQ2+lTF1y+r4gDkdneCXFp/brPHweFuBcytx3B2xIJF+KlcaS7DjWiR174UmJR6ezZ9zNk3YQaHuSQ1MjFJ6u5Ujuf3QnSpH+fgseki49yyqd1HiWYL3w+ee9Ol/OGqH9g9YrvD5J4mjTm4PrpGf3eO8tkFMUcfqZtoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SfrT78fRDp7xr9N8j9P58m",
      "input": {
        "note": "Jaws are straddling the brown teddy's body; closing to grip its plush.",
        "targets": {
          "left_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_01SfrT78fRDp7xr9N8j9P58m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1309, 2.0953, 1.5303, -0.8154, -0.5987, -1.0527, 0.104, 0.2821, 1.1027, 0.9852, -0.9131, 0.2203, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.2773 left_y=-0.3469 left_z=0.0481 left_yaw=0.0425 left_pitch=-0.3773 left_roll=0.1298 left_gripper=0.104 right_x=0.2748 right_y=0.0432 right_z=0.1707 right_yaw=0.1046 right_pitch=-0.4276 right_roll=-0.2334 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -12.8752, 6.7761, 0.6667, -0.4127, 0.0317, 0.105, -0.1162, -3.2615, 6.8171, 1.2576, 0.0952, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2960fee3d6a2ae9cbc227d9c7e075a61972958e77cc1492d08b4d9ea4ba8b96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aa608baa02654b27c53b38d39cbbec0268c76511025fbf98ec6b91e5f23687f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b554e46bef81438cffb2ca129abf6d4c875c345fcb571c36f5b5248c4fd885db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 5.74 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]: [-1.1278, 2.0422, 1.8919, -1.1717, -0.6067, -1.0416, 0.9969, 0.2821, 1.0996, 0.9867, -0.8795, 0.2199, -0.0456, 0.9954]\nstate[eef_state]: left_x=0.2845 left_y=-0.3564 left_z=0.1614 left_yaw=0.0217 left_pitch=-0.3475 left_roll=0.0828 left_gripper=0.9969 right_x=0.2815 right_y=0.0452 right_z=0.1763 right_yaw=0.1056 right_pitch=-0.3896 right_roll=-0.2235 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -14.106, 6.2017, 0.6471, -0.5592, -0.1343, 0.0952, -0.0342, -3.0701, 6.5299, 1.4725, 0.0464, -0.0317, -0.0171]",
      "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]: [-1.1309, 2.0739, 1.5429, -0.8146, -0.6025, -1.0492, 0.9971, 0.2821, 1.0996, 0.9867, -0.9043, 0.2203, -0.046, 0.9954]\nstate[eef_state]: left_x=0.2799 left_y=-0.3512 left_z=0.0609 left_yaw=0.0295 left_pitch=-0.3604 left_roll=0.0993 left_gripper=0.9971 right_x=0.2766 right_y=0.0437 right_z=0.1731 right_yaw=0.1036 right_pitch=-0.414 right_roll=-0.2288 right_gripper=0.9954\nstate[joint_eff]: [0.1573, -9.4701, 5.6, 0.7839, -0.3199, 0.0366, 0.0024, -0.0205, -3.0154, 6.694, 1.4383, 0.0611, -0.0659, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1309, 2.0953, 1.5303, -0.8154, -0.5987, -1.0527, 0.104, 0.2821, 1.1027, 0.9852, -0.9131, 0.2203, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.2773 left_y=-0.3469 left_z=0.0481 left_yaw=0.0425 left_pitch=-0.3773 left_roll=0.1298 left_gripper=0.104 right_x=0.2748 right_y=0.0432 right_z=0.1707 right_yaw=0.1046 right_pitch=-0.4276 right_roll=-0.2334 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -12.8752, 6.7761, 0.6667, -0.4127, 0.0317, 0.105, -0.1162, -3.2615, 6.8171, 1.2576, 0.0952, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2960fee3d6a2ae9cbc227d9c7e075a61972958e77cc1492d08b4d9ea4ba8b96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aa608baa02654b27c53b38d39cbbec0268c76511025fbf98ec6b91e5f23687f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b554e46bef81438cffb2ca129abf6d4c875c345fcb571c36f5b5248c4fd885db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AMKjgEIEhgCKkCSDiOkNy4oB6dsegXnSyHAyj0FBRWJJARjV5WjocE2Ry003VEld20x4tv+0POvifV89Y2DWnqxthvRQUhFNq7bMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfz6y9UGEgxksnUpdk5sosxBwGgaDFgQ60W1ghio0BPO0SIw/cOBLxWrFmfGZvR5fsDob/fWs2+s1MAR2cDNOvxSwW/Gk6dTVI3UMYNviIGYgLFBKu4Bf7+u9sXmwcFOBb/NL4N1b5Ave2MKsamqm3fjFyZL9Pfi9muL5sHmT0C20YyZwwXVAPLGM3js1krLvFDAkrrmTIytg7k6SRKNzqPIN69udptcajkje8iiXqGMlGDXH/ZuEE3J0Vy8+nRsQlbSPfrtIfdtiXy0L0e5G4S6oIghT36medUGPhdINoftqQKc/K7oYY2ib+KGe3DkoyoAvTV6luyiC8XujmG53Oe1xFdbZ9bIWeqzbAqT05OhEmEPJvrvc193mMGJBwrPvCAUGTGz0wYEPps/PtZUV8IAbQFE/PBRgPvb2NWeL6D3XIn0+hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W21GHdvSZPGgU8n67tn4tF",
      "input": {
        "note": "Gripper closed on the teddy's fur; lifting straight up to check the bear comes with it before carrying it over the safe wall.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01W21GHdvSZPGgU8n67tn4tF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1309, 2.1044, 2.2082, -1.4452, -0.588, -1.0676, 0.1039, 0.2821, 1.1038, 0.9852, -0.9264, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.2797 left_y=-0.3557 left_z=0.2131 left_yaw=0.0332 left_pitch=-0.3707 left_roll=0.0776 left_gripper=0.1039 right_x=0.2721 right_y=0.0425 right_z=0.1687 right_yaw=0.104 right_pitch=-0.4419 right_roll=-0.2361 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -9.8803, 6.8444, 0.4127, -0.4469, 0.1245, -0.0269, -0.0752, -3.1111, 6.4752, 1.2772, 0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c01710a9aae5685f79e38287e6957843630b7077d8d2519ad15723cd80fd324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b787d599c627c1590116a5390c05204f0bedab13b54148b6d78fbf5b8d2e001c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f30fe42881b214d0b8b3a5dfab737a8301491edf4a6ec666368ce4bcb65af7e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 9.04 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]: [-1.1309, 2.0739, 1.5429, -0.8146, -0.6025, -1.0492, 0.9971, 0.2821, 1.0996, 0.9867, -0.9043, 0.2203, -0.046, 0.9954]\nstate[eef_state]: left_x=0.2799 left_y=-0.3512 left_z=0.0609 left_yaw=0.0295 left_pitch=-0.3604 left_roll=0.0993 left_gripper=0.9971 right_x=0.2766 right_y=0.0437 right_z=0.1731 right_yaw=0.1036 right_pitch=-0.414 right_roll=-0.2288 right_gripper=0.9954\nstate[joint_eff]: [0.1573, -9.4701, 5.6, 0.7839, -0.3199, 0.0366, 0.0024, -0.0205, -3.0154, 6.694, 1.4383, 0.0611, -0.0659, -0.0171]\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]: [-1.1309, 2.0953, 1.5303, -0.8154, -0.5987, -1.0527, 0.104, 0.2821, 1.1027, 0.9852, -0.9131, 0.2203, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.2773 left_y=-0.3469 left_z=0.0481 left_yaw=0.0425 left_pitch=-0.3773 left_roll=0.1298 left_gripper=0.104 right_x=0.2748 right_y=0.0432 right_z=0.1707 right_yaw=0.1046 right_pitch=-0.4276 right_roll=-0.2334 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -12.8752, 6.7761, 0.6667, -0.4127, 0.0317, 0.105, -0.1162, -3.2615, 6.8171, 1.2576, 0.0952, -0.0171, -0.0171]",
      "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]: [-1.1309, 2.1044, 2.2082, -1.4452, -0.588, -1.0676, 0.1039, 0.2821, 1.1038, 0.9852, -0.9264, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.2797 left_y=-0.3557 left_z=0.2131 left_yaw=0.0332 left_pitch=-0.3707 left_roll=0.0776 left_gripper=0.1039 right_x=0.2721 right_y=0.0425 right_z=0.1687 right_yaw=0.104 right_pitch=-0.4419 right_roll=-0.2361 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -9.8803, 6.8444, 0.4127, -0.4469, 0.1245, -0.0269, -0.0752, -3.1111, 6.4752, 1.2772, 0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c01710a9aae5685f79e38287e6957843630b7077d8d2519ad15723cd80fd324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b787d599c627c1590116a5390c05204f0bedab13b54148b6d78fbf5b8d2e001c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f30fe42881b214d0b8b3a5dfab737a8301491edf4a6ec666368ce4bcb65af7e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuwQKjgEIEhgCKkBw2Eswq6kHZ3WeHbQy8JneIhBjBmku9vgm4/2HRkX4bcvpq2EYavdBBbP1RxCP/zVFsw1xNIUid1XE+B/O+1vMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYP7y9UGEgwHqpKFOjEJufa9VGoaDKWltsOjAdCuWwBVxiIwmmegChzSaA/Ft5ntbHl4Gh+jbXxTYuahHMl8eQ3eKZJv3VkyvYqTOGM80QNhg2ZhKtkCeLqGG2ZSWqL8fbVmUkFEFWMYvyKSsmOtni0ES1+gPbJaFp+8dv3eltxqmpD+b2xsBjNwQg1xyHk58JqCUigA1IbUueChNCxrnJ+KDnYZVqzBUtYM7SLFINdLp0y/COn/TgetsALt/3NfhAE1zJT+QA84pTjHMHEeTJVSNPatq4uQUOeMTRJUdPrg/m5MtyiJR8Kz+KmaukwuJi0+lSC05gg99yGPPIu4gUSDlvXRzHH+DMCHIwLs7fGOOucPkKv6htUlcBzBxDXYSMi+0q0JcS39Bit4Cddf1Z8NXAO9PUOP3MOpTD6rIz447SxH9g3QFhPIBAfGlFPZWOyQ22UV0unckI34fxV2DLZDYBMmJuzuP1vUHaDECVHqz+anfHRvkIdH5Z9DMGVgcqs8tnzAMNpZcCWX/6fEnj5BQAK0Pq/TiKui4K91nWmPfJihnOs90w6cas3sL2B5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NQ1Ku6Sw7XjNW39R9RnXpK",
      "input": {
        "note": "Teddy is hanging from the jaws; carrying it forward and high over the open safe interior.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.33,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NQ1Ku6Sw7XjNW39R9RnXpK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8696, 2.3577, 2.727, -1.5818, -0.5053, -0.8207, 0.1039, 0.2821, 1.1038, 0.9848, -0.9485, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.3858 left_y=-0.3188 left_z=0.2325 left_yaw=0.0655 left_pitch=-0.3861 left_roll=0.0681 left_gripper=0.1039 right_x=0.2676 right_y=0.0412 right_z=0.1659 right_yaw=0.1018 right_pitch=-0.464 right_roll=-0.2404 right_gripper=0.9954\nstate[joint_eff]: [0.1026, -11.0154, 8.0615, 0.9988, -0.359, 0.2906, -0.0073, -0.0889, -2.988, 6.5026, 1.37, 0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bd300faa98c3788573f1b4e0adfffe8f2030ebf0b63816cca2c035b56c19038",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28d36f882c47328fb08ede3d27b2e37ba0bba1a3e0b899692fbc58086e0c39e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:164465ed32aa788bc93edb9f49a531aacb6a0145a9b76b0f701cb40cb0993df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 6.936 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]: [-1.1309, 2.0953, 1.5303, -0.8154, -0.5987, -1.0527, 0.104, 0.2821, 1.1027, 0.9852, -0.9131, 0.2203, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.2773 left_y=-0.3469 left_z=0.0481 left_yaw=0.0425 left_pitch=-0.3773 left_roll=0.1298 left_gripper=0.104 right_x=0.2748 right_y=0.0432 right_z=0.1707 right_yaw=0.1046 right_pitch=-0.4276 right_roll=-0.2334 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -12.8752, 6.7761, 0.6667, -0.4127, 0.0317, 0.105, -0.1162, -3.2615, 6.8171, 1.2576, 0.0952, -0.0171, -0.0171]",
      "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]: [-1.1309, 2.1044, 2.2082, -1.4452, -0.588, -1.0676, 0.1039, 0.2821, 1.1038, 0.9852, -0.9264, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.2797 left_y=-0.3557 left_z=0.2131 left_yaw=0.0332 left_pitch=-0.3707 left_roll=0.0776 left_gripper=0.1039 right_x=0.2721 right_y=0.0425 right_z=0.1687 right_yaw=0.104 right_pitch=-0.4419 right_roll=-0.2361 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -9.8803, 6.8444, 0.4127, -0.4469, 0.1245, -0.0269, -0.0752, -3.1111, 6.4752, 1.2772, 0.0611, -0.0611, -0.0122]",
      "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]: [-0.8696, 2.3577, 2.727, -1.5818, -0.5053, -0.8207, 0.1039, 0.2821, 1.1038, 0.9848, -0.9485, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.3858 left_y=-0.3188 left_z=0.2325 left_yaw=0.0655 left_pitch=-0.3861 left_roll=0.0681 left_gripper=0.1039 right_x=0.2676 right_y=0.0412 right_z=0.1659 right_yaw=0.1018 right_pitch=-0.464 right_roll=-0.2404 right_gripper=0.9954\nstate[joint_eff]: [0.1026, -11.0154, 8.0615, 0.9988, -0.359, 0.2906, -0.0073, -0.0889, -2.988, 6.5026, 1.37, 0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bd300faa98c3788573f1b4e0adfffe8f2030ebf0b63816cca2c035b56c19038",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28d36f882c47328fb08ede3d27b2e37ba0bba1a3e0b899692fbc58086e0c39e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164465ed32aa788bc93edb9f49a531aacb6a0145a9b76b0f701cb40cb0993df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS1ggKjgEIEhgCKkDb7A+31rZ+Vee2f6zcaCWQ+0vCoalectLsD50pwhA11AJ7IJik+ENClG484ve2YYu6jxjiJvK2xKXkkLuUAk7bMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY37y9UGEgwuFb1EbLhKtmuKtxUaDPOT69AEL5chftR4KyIwXi/fpPIZTX0HdtoAF4epVR2+0PcSaS9KMqknlSwW4ZRnoL22U1+u7VETibEn+PSRKvQGBYLg+KwpA7k5kUrp7GiJEDD0celIQZcF580JO59xinYA8AHPSeX6y2E8/ZNNj9yVo1ByyGcGF/i7yAUhTG/sAxsAKUp1TkfoZrYGrSw5i7JONWA6oczVUwVXb2bEWFGknmoJAUYU+uFPSlinQBvmFIo022qDsSnNOxxkUTUklVKCC+q+V1Hr8/BJpSXKKXaCrwBaf3IIZCFqpxoEhPfrIklR/ATDq0THSLs7WdXJlEpcOvMHnKrsa+oA9cFgWQd4G5VpwfCZtk28pQl8vMoyJMLGZc13bphu16PAgS26XPF65hqBbY7EbGGG6tOlIUCk5JnYG3KeaYoLSAn8LWDJPxga7besglCCB+QqnkLGfo3Ker4aQNlFbr/NWxj2aLnHv7NvUDecZvBtPhRy0bcAKswQivhLFd/Srk9+tXo1hqlsxk+/S7iwJShm50FUYSeRVwGT9vHQga5O6zjFvcIATtRzHQ53uca3eOsA5IGWaSKG6IYeNdJNNv7S1Fds/JXucUXXHbG+qY00IK88y8hY4OV8QV1mcNfHi7huYCln+fRiprbIBiKzE8tn9togIvw5JAZfrNcxRax+VXdA5UqPShQUZODqmdlbv8WdYlUjSaP+1v7M8wW1wzuRPDuUvacBzs1XV/IfrvQ8D1JZoB96/9JXvjpBL8IzJ4wx7/hWmN3ppo8kVFo0RW5kk5pph4cg0xnn9mYO+w08GMYzs5qRdV2eJc/o+R9enTws5R+XQtaNtmzN8lW5TFkohgm302RhalTlcKduMjoXTDSFdwzAypexT+71d2AFT1/uE9wjVYn2YkW7NDZl7oZvae0xxSox8kad/jHnbkPWmfrk29I3dy9RWWq66/xU8kNPmxJ3axpjLdLYDC0/s6S+J19To0t3VQ4/uSK702zcngU56kBTa2A8LCuXHJxRaHHn/BWK7nl1FdN6RwllZUof5sG4MV0MZJX76otpLLfWVuDYn7cCUQrjkVC/KUgMko5IBk9xIsY1CvuhCxsY+Nmqf0TwG/ZQYZD6tVCIc7li61j/7MzaEOr0CkdkjnH2ylYfcppq8hhGhakGty9pfmFB/br92i24VxgZgwuRp2xlOATlKMrxOhT59roHJin4n47xXAZpYdlSVZIA11oqEkvFIZ5uiOE6waTl1zb/Kzd1kT0u/deiFxbdn+YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JvwQ2CduPzDb1DtUetoFQ7",
      "input": {
        "note": "The teddy slipped out of the jaws during the lift and is back on the table in front of the safe; returning above it, gripper open, to retry with a deeper bite.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.28,
          "left_y": -0.352,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JvwQ2CduPzDb1DtUetoFQ7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1076, 2.0846, 1.713, -1.042, -0.5533, -1.0615, 0.9948, 0.2821, 1.1038, 0.9825, -0.9672, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.2802 left_y=-0.3453 left_z=0.0914 left_yaw=0.0688 left_pitch=-0.4306 left_roll=0.139 left_gripper=0.9948 right_x=0.2633 right_y=0.0399 right_z=0.163 right_yaw=0.0998 right_pitch=-0.4847 right_roll=-0.2446 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -13.6274, 5.6137, 0.8132, -0.5153, -0.0073, 0.1245, -0.1846, -2.9607, 6.5846, 1.3407, 0.0659, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a5ee39f332e740281c772026b038e2b021ffa1d1f40bf97606e513c37f621aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c8c4a1e5b782e4b2907f25d2912e3cd325f7af0077610f716e1f70f953254d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fcbca9f8d57038421537ec74cf8653518b519ccdf8bfbc305b5af568c0685ac8",
        "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 · 4.466 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]: [-1.1309, 2.1044, 2.2082, -1.4452, -0.588, -1.0676, 0.1039, 0.2821, 1.1038, 0.9852, -0.9264, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.2797 left_y=-0.3557 left_z=0.2131 left_yaw=0.0332 left_pitch=-0.3707 left_roll=0.0776 left_gripper=0.1039 right_x=0.2721 right_y=0.0425 right_z=0.1687 right_yaw=0.104 right_pitch=-0.4419 right_roll=-0.2361 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -9.8803, 6.8444, 0.4127, -0.4469, 0.1245, -0.0269, -0.0752, -3.1111, 6.4752, 1.2772, 0.0611, -0.0611, -0.0122]",
      "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]: [-0.8696, 2.3577, 2.727, -1.5818, -0.5053, -0.8207, 0.1039, 0.2821, 1.1038, 0.9848, -0.9485, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.3858 left_y=-0.3188 left_z=0.2325 left_yaw=0.0655 left_pitch=-0.3861 left_roll=0.0681 left_gripper=0.1039 right_x=0.2676 right_y=0.0412 right_z=0.1659 right_yaw=0.1018 right_pitch=-0.464 right_roll=-0.2404 right_gripper=0.9954\nstate[joint_eff]: [0.1026, -11.0154, 8.0615, 0.9988, -0.359, 0.2906, -0.0073, -0.0889, -2.988, 6.5026, 1.37, 0.0464, -0.0562, -0.0122]",
      "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]: [-1.1076, 2.0846, 1.713, -1.042, -0.5533, -1.0615, 0.9948, 0.2821, 1.1038, 0.9825, -0.9672, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.2802 left_y=-0.3453 left_z=0.0914 left_yaw=0.0688 left_pitch=-0.4306 left_roll=0.139 left_gripper=0.9948 right_x=0.2633 right_y=0.0399 right_z=0.163 right_yaw=0.0998 right_pitch=-0.4847 right_roll=-0.2446 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -13.6274, 5.6137, 0.8132, -0.5153, -0.0073, 0.1245, -0.1846, -2.9607, 6.5846, 1.3407, 0.0659, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a5ee39f332e740281c772026b038e2b021ffa1d1f40bf97606e513c37f621aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c8c4a1e5b782e4b2907f25d2912e3cd325f7af0077610f716e1f70f953254d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcbca9f8d57038421537ec74cf8653518b519ccdf8bfbc305b5af568c0685ac8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgUKjgEIEhgCKkANEiUScYWODzyFmHkSETaISvkGwKXezwTcJdCKDPJB3VyVm4yt+SIXhooDWtKMwslURm+lJyBY2sX8NTOFPcecMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZX7y9UGEgzqe1kGhB5DmACULjAaDOAOK8tR5+KUGZH+SCIwFyGRXgMzYby9V2bCt+K85Y/tBazm6a2ZhyxSoqEYvN+MOsmPsM+/3XEmXswkv8jpKswDAHNlX1HvpS5HHQCTo4RygoBvFjeKazy6qoPWNERw/eHf2vQLGLIHC45WBQsk5mwLYyVY2mQZMoNi2GTkA1LKb4Y860npbj3e7ikz5GRmCmDU38XN/0Kafpfy73td39YC0xYdZdI61SZhqNwvq6LLCv54zA6RQwBPl7nM9lBiAI6J63X6CjpWjMsrXl5OSGsUnsN3cep+5GzswZ/FeH6P4RF5I0vrP366+U8+zDznK+EPgqHLiqK+IVC6Owxm2LMkRD/cYZBy1mLnrmhJEuLClpV2n6Z3FXeCyBu0DoQQUY/XcXYL4ipkbmPfrudWAYltqdLg1OQIgSqZXVy9FEBevZa63tuOuSmAURjS8vsDCFGqujrEc25r/mwMCpZYYazZtxb3troZ9bVagd+GOuF/afw57DQbPnrhbqRcm0DUAc0GBcTt8RNIWEtnRCqZRQO14vhH0eDYxLmL2UcuN/ldHx+p4C4KSeZmQhOdRZKqNeVxAUimi/BW29vL0Vfpm/Tx5fqr0kkylqR6/fdSohnP9bim1iHfOvN9BWP7/nkutNZvwq25/u5k+p3akLZKiSNHkE+StZwL0vhG2pfT/GJkUWSGxWpNBmo5K/87vRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xq2iYZfJKm7uZF5eFmEQMX",
      "input": {
        "note": "The teddy fills the bottom of the left wrist view directly under the jaws; descending almost to the table so the jaws take a deep bite of the body rather than surface fur.",
        "targets": {
          "left_x": 0.27,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Xq2iYZfJKm7uZF5eFmEQMX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1263, 2.1326, 1.5173, -0.8391, -0.5541, -1.0859, 0.9962, 0.2821, 1.1038, 0.9821, -0.9726, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.2681 left_y=-0.3384 left_z=0.0244 left_yaw=0.0825 left_pitch=-0.4429 left_roll=0.1668 left_gripper=0.9962 right_x=0.2621 right_y=0.0396 right_z=0.1622 right_yaw=0.0995 right_pitch=-0.4903 right_roll=-0.246 right_gripper=0.9954\nstate[joint_eff]: [-0.5128, -9.5795, 5.7231, 0.6227, -0.3736, -0.0171, 0.1343, -0.1026, -2.8376, 6.4068, 1.1453, 0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7915b7327004eda080d1d772b668343aef38ae0cdbaf53250b49b55bad88351a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feb7c66a2154a72843eb325a3101d5b384e7b4883311d34957a3589cba23482d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b851bac75b122d25688a8422cd9a31cb6583c247e88711384f19486b2fd181fb",
        "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 · 4.935 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]: [-0.8696, 2.3577, 2.727, -1.5818, -0.5053, -0.8207, 0.1039, 0.2821, 1.1038, 0.9848, -0.9485, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.3858 left_y=-0.3188 left_z=0.2325 left_yaw=0.0655 left_pitch=-0.3861 left_roll=0.0681 left_gripper=0.1039 right_x=0.2676 right_y=0.0412 right_z=0.1659 right_yaw=0.1018 right_pitch=-0.464 right_roll=-0.2404 right_gripper=0.9954\nstate[joint_eff]: [0.1026, -11.0154, 8.0615, 0.9988, -0.359, 0.2906, -0.0073, -0.0889, -2.988, 6.5026, 1.37, 0.0464, -0.0562, -0.0122]",
      "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]: [-1.1076, 2.0846, 1.713, -1.042, -0.5533, -1.0615, 0.9948, 0.2821, 1.1038, 0.9825, -0.9672, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.2802 left_y=-0.3453 left_z=0.0914 left_yaw=0.0688 left_pitch=-0.4306 left_roll=0.139 left_gripper=0.9948 right_x=0.2633 right_y=0.0399 right_z=0.163 right_yaw=0.0998 right_pitch=-0.4847 right_roll=-0.2446 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -13.6274, 5.6137, 0.8132, -0.5153, -0.0073, 0.1245, -0.1846, -2.9607, 6.5846, 1.3407, 0.0659, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1263, 2.1326, 1.5173, -0.8391, -0.5541, -1.0859, 0.9962, 0.2821, 1.1038, 0.9821, -0.9726, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.2681 left_y=-0.3384 left_z=0.0244 left_yaw=0.0825 left_pitch=-0.4429 left_roll=0.1668 left_gripper=0.9962 right_x=0.2621 right_y=0.0396 right_z=0.1622 right_yaw=0.0995 right_pitch=-0.4903 right_roll=-0.246 right_gripper=0.9954\nstate[joint_eff]: [-0.5128, -9.5795, 5.7231, 0.6227, -0.3736, -0.0171, 0.1343, -0.1026, -2.8376, 6.4068, 1.1453, 0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7915b7327004eda080d1d772b668343aef38ae0cdbaf53250b49b55bad88351a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feb7c66a2154a72843eb325a3101d5b384e7b4883311d34957a3589cba23482d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b851bac75b122d25688a8422cd9a31cb6583c247e88711384f19486b2fd181fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9wIKjgEIEhgCKkCGWxuqizI+rDcBgeFKzIiRpJdekzB8P8roeKzXAI2St3u4iv/rCWiZZdwJaEXS67XnWU+azs/oRKM+6GS1eKrcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZr7y9UGEgyqtBDNbrGYshQyn3AaDMeIg5OOltA3BH2S5iIwj5TIpuCUb5M9BQXPF9ojxcl1acD54iBv6AMd1mlq+PHTTqPoUVSuxiS8yGuIgOb7KpUBOztg7wdRTK1GCq+Xf08f1Xqv3J4OCjXEN+WPse8SE569pYlbhp5IVfcnEFfnzc4/9rN7ZKBQnlkt+oU6XHN69/1CShTtCtqoHZLYv7GYViPOm7ZGvqpHKdWl8+B7vi6q4QiC4Hddxsq1wzeBupOwzSeoiIq2q43K1yFdmo5FpAFQf/f1ZLodfV71DsNjGka7rLLc5n4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013zPpAMz6vQxFYjMPnWUmLB",
      "input": {
        "note": "Jaws are down at table level with teddy fur between them; closing fully for a firm pinch this time.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013zPpAMz6vQxFYjMPnWUmLB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1263, 2.1429, 1.5051, -0.8379, -0.5537, -1.0866, 0.0187, 0.2821, 1.1038, 0.9821, -0.9791, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.2661 left_y=-0.3343 left_z=0.0171 left_yaw=0.0925 left_pitch=-0.4506 left_roll=0.1884 left_gripper=0.0187 right_x=0.2608 right_y=0.0392 right_z=0.1615 right_yaw=0.0986 right_pitch=-0.4967 right_roll=-0.2471 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -12.0957, 6.5983, 0.442, -0.3492, -0.0269, 0.7595, -0.0615, -2.9333, 6.653, 1.1258, 0.0464, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff7c91fb3a4f67b2072f3608686e79bca9589aa79f6655dbb995bc8167dbf445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a754124376ca527480fa8818f80132f946ba22695e132bd9af867f397432528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:816bbf8f39287629eb9a5da5864ff486e29e806f1a7471b0adbd2cff8511ef9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 11.1 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]: [-1.1076, 2.0846, 1.713, -1.042, -0.5533, -1.0615, 0.9948, 0.2821, 1.1038, 0.9825, -0.9672, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.2802 left_y=-0.3453 left_z=0.0914 left_yaw=0.0688 left_pitch=-0.4306 left_roll=0.139 left_gripper=0.9948 right_x=0.2633 right_y=0.0399 right_z=0.163 right_yaw=0.0998 right_pitch=-0.4847 right_roll=-0.2446 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -13.6274, 5.6137, 0.8132, -0.5153, -0.0073, 0.1245, -0.1846, -2.9607, 6.5846, 1.3407, 0.0659, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1263, 2.1326, 1.5173, -0.8391, -0.5541, -1.0859, 0.9962, 0.2821, 1.1038, 0.9821, -0.9726, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.2681 left_y=-0.3384 left_z=0.0244 left_yaw=0.0825 left_pitch=-0.4429 left_roll=0.1668 left_gripper=0.9962 right_x=0.2621 right_y=0.0396 right_z=0.1622 right_yaw=0.0995 right_pitch=-0.4903 right_roll=-0.246 right_gripper=0.9954\nstate[joint_eff]: [-0.5128, -9.5795, 5.7231, 0.6227, -0.3736, -0.0171, 0.1343, -0.1026, -2.8376, 6.4068, 1.1453, 0.0757, -0.0317, -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]: [-1.1263, 2.1429, 1.5051, -0.8379, -0.5537, -1.0866, 0.0187, 0.2821, 1.1038, 0.9821, -0.9791, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.2661 left_y=-0.3343 left_z=0.0171 left_yaw=0.0925 left_pitch=-0.4506 left_roll=0.1884 left_gripper=0.0187 right_x=0.2608 right_y=0.0392 right_z=0.1615 right_yaw=0.0986 right_pitch=-0.4967 right_roll=-0.2471 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -12.0957, 6.5983, 0.442, -0.3492, -0.0269, 0.7595, -0.0615, -2.9333, 6.653, 1.1258, 0.0464, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff7c91fb3a4f67b2072f3608686e79bca9589aa79f6655dbb995bc8167dbf445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a754124376ca527480fa8818f80132f946ba22695e132bd9af867f397432528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:816bbf8f39287629eb9a5da5864ff486e29e806f1a7471b0adbd2cff8511ef9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmwMKjgEIEhgCKkAUY1qeHCxuXvHQSg4eyKlY4NVfZk9u6NfGYDYAyaxrgBc2ftjFFlP/M71QA2cvgx5oa3PU8trutfqPYtIA83vtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaD7y9UGEgx0Kew86eXSXNn5Fc4aDEfAO/QF+eogvzbNZCIwjLHXyqxesOF+4fHo+oI1bZGyuaKlX4lCtsnakiyVgrEvKNJkMinbMYyRBEuM7xNlKrkBRuyYCM2xF1rTzw2i9/PqQ1Qvv5xvYlq7dlG4PcmmBw/+pka2YjBHzV++OwjLyV+rZR6W7cszrKMAbuyZ+92aR9Sgy50OCzqElkaoi7rzGqqSy65/kbGUYaHjmFvNyo8wKh3korCkHjJxrRGg5VHGmKNxiIh/LAn/+HHRBSE27mTsvf8bdVjbxIds3PJzhWR2Zzy6CDYEdbK9G2Ch1nIFJUXW8p+Ahx6NWOmvLJcVQdIDiRRvsSS5ST4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HWTrHdmx98c7AwHMz7aMck",
      "input": {
        "note": "Jaws fully closed on the teddy's fur; lifting to see whether the bear comes up this time.",
        "targets": {
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01HWTrHdmx98c7AwHMz7aMck",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1263, 2.0953, 2.0178, -1.3918, -0.535, -1.1023, 0.0229, 0.2821, 1.1038, 0.9813, -0.9936, 0.2195, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.2666 left_y=-0.342 left_z=0.1607 left_yaw=0.0938 left_pitch=-0.4643 left_roll=0.1655 left_gripper=0.0229 right_x=0.2576 right_y=0.0383 right_z=0.1597 right_yaw=0.0977 right_pitch=-0.5118 right_roll=-0.2501 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -11.8222, 7.9248, 0.398, -0.5495, 0.1099, 1.0281, -0.0889, -2.9333, 6.5846, 1.1795, 0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b2cf70a6e8a78f4396e911307b031cad8e1e144292dbdcc7f7724e698831d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03d5130a467208061baec4120e904f6a6aeb084e2453dc7b4a44d299cd438ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35a9d2bfacb9917c1da9f59acb1a7d5fa274638788f9a3a28a5695b16096287d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 8.059 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]: [-1.1263, 2.1326, 1.5173, -0.8391, -0.5541, -1.0859, 0.9962, 0.2821, 1.1038, 0.9821, -0.9726, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.2681 left_y=-0.3384 left_z=0.0244 left_yaw=0.0825 left_pitch=-0.4429 left_roll=0.1668 left_gripper=0.9962 right_x=0.2621 right_y=0.0396 right_z=0.1622 right_yaw=0.0995 right_pitch=-0.4903 right_roll=-0.246 right_gripper=0.9954\nstate[joint_eff]: [-0.5128, -9.5795, 5.7231, 0.6227, -0.3736, -0.0171, 0.1343, -0.1026, -2.8376, 6.4068, 1.1453, 0.0757, -0.0317, -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]: [-1.1263, 2.1429, 1.5051, -0.8379, -0.5537, -1.0866, 0.0187, 0.2821, 1.1038, 0.9821, -0.9791, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.2661 left_y=-0.3343 left_z=0.0171 left_yaw=0.0925 left_pitch=-0.4506 left_roll=0.1884 left_gripper=0.0187 right_x=0.2608 right_y=0.0392 right_z=0.1615 right_yaw=0.0986 right_pitch=-0.4967 right_roll=-0.2471 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -12.0957, 6.5983, 0.442, -0.3492, -0.0269, 0.7595, -0.0615, -2.9333, 6.653, 1.1258, 0.0464, -0.0122, -0.0171]",
      "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]: [-1.1263, 2.0953, 2.0178, -1.3918, -0.535, -1.1023, 0.0229, 0.2821, 1.1038, 0.9813, -0.9936, 0.2195, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.2666 left_y=-0.342 left_z=0.1607 left_yaw=0.0938 left_pitch=-0.4643 left_roll=0.1655 left_gripper=0.0229 right_x=0.2576 right_y=0.0383 right_z=0.1597 right_yaw=0.0977 right_pitch=-0.5118 right_roll=-0.2501 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -11.8222, 7.9248, 0.398, -0.5495, 0.1099, 1.0281, -0.0889, -2.9333, 6.5846, 1.1795, 0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b2cf70a6e8a78f4396e911307b031cad8e1e144292dbdcc7f7724e698831d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03d5130a467208061baec4120e904f6a6aeb084e2453dc7b4a44d299cd438ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35a9d2bfacb9917c1da9f59acb1a7d5fa274638788f9a3a28a5695b16096287d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrAsKjgEIEhgCKkCIgqUdYvx6EwgdbRY2Nvy7CW6O97P8fBMNN8jG3z92HwHQDAabGNlV24LJMYK3pERfnmG6VOicj+gWGGp4MeXWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaz7y9UGEgyMaGWpgAvg4v3GNQEaDHoFGgno2wX/ueol1CIwO4j0wROj4yHtCnkP564trFeLlLhg0xvIt6h6u+sVWVHWvfX2CnvxL/x+42eWkbKjKsoJGGJTkka7SCE9/PPs5DV+8/UPrJfsHmxs0J7rXInAlu9dfcduN41K7uT1EUalIIrso42FkfdqCwKlGK/lnaSGllY1JocGqVoy6g+1vhtYRQS1mYIp39rNu4IJBUlDitatWnk3M40OiyRRChCTqHjBGKHsstwC/fEN37jLgb5pVlrRLmfV6HfFLRYjhbJLj8rqM/nit6LIhxvKeXVeAEsXNlrnz3S57/LHoHkGg8B6astzd2ogLSOCoo1GPQ1rmr0TTRANMB4dEb/nDQcqdfINTrES9LXn5rmaPrtDF3VtaaEU/G7B7MIJB1/uIVTBcmuCHTpJ6hlGHArPGqSg6utmOn8A/wo4pzb2fQs00k7K9o6rVFpAR6eYW+1bINP+7oxYFQ3sBu5aeX1jgc7OiuzdYhXJOipL7ssSFYDwMFPqWvkfMklUGQNaQUUkgZHyqu/N+9n+nDTtw62792/p6KLZh8G1taef80rngnrAQExXJJ3Ot222Qg81xuE+kx2nx2lt2/gKGVrx+1RFcYGEQwdDNyDBx7WH+pApP6OnlNjgIzd4LzMRuewsUudbQag+8YFtXpw3+jMvl2+s68Ck/knsoGvziyJe5YepJYyNhaR2If8tgZ4E8+Fv7q2/vKrlRy+6OPv0TkC7c15g0wAwC8tFcNDvP9zKyn0yw5n/20tWcHz6NJQEg3fojWP2Ygj4SV9QXngSdDeB84SWcri1FWfoABvk5FrTwwHnfJLb7RJnjKwKCTu0HFjwzRnd/efu7exzxuLPElywbBlHvOXaU3yCzA9NsU1w1osI/XO/LvNH8JPYpxQ0+QbUFUqrRiETekpbNIwMjdeo6CGZKWScAg/b1NGSdzlhDOlizAn4HhF+7yTSzhi3mBnZ9p73+hSIC+EjkjWA3zFvvd68tHgrJHOyfViljoOMt38k6vRW9Q8UH2oLRaqnV0RQg1BsCs25IOec3WjE1GlnV5NUCFuxJx5/dyvliraNdIrUNeFRVPUsEDUlcXt/4i4P+C1cFpb9U4M+o41YwARFa3HlIunhHI6IbETcpa/0wTerCIaeTH6Xlz2CMQiwYJR6MBJibQc9TBqDb3rpiie0cj/L33BCeYv6KvSFsTKV1Q4BRLUd9Vy+7ra8WHN9eBgwH45qDihrM9YXWwmbXZGq1TOtatu+zfRaSYUoxe7AwYwoG5uQazC+eoRQA6v9hmzNNYj/0aV/9JRedeXcdeJpuj2WLVadDYfmCk3IgyKGUQq368wNvrJ6f6fp+d07Km+lfqAYHIntJ/f+gkAmjvDvuV7cZnkLZwOyuWahogDciOyfmcbn3ZOX2elHnnFMWrooHosotCGbSkxYHOyb2YnsJLBQ8WhO2fabb3Yn170qSsZVXBXl3pzKqqEnlhTJyKNU4vHwlwM98GdOwigmK8k2I19x4xCycvSmVy5LV4zNKCkpQ7C0H2uWHPpkDKApNBxMBxsgNri/BVd2p8iT87TDgfd/598ydGKMauny3FVPbIqkWlw24jzEMDRAhEO9ql8RaQR8yZkSxzgu7Ks+pP6ZkBAoyDsGjARcm/Zd+pDFDJ8qEXkRIz48P2DmAzuQ/ZUCDaJj3Dp/WdS0qFzwKtESQjeemdAuvxDg+UVLMll5cpbUg7cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SSVPw7aEBgCA8idyYFG77D",
      "input": {
        "note": "The teddy appears to be dangling from the pinched fur; carrying it forward and up over the open safe (lemon and white bear already inside).",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.33,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01SSVPw7aEBgCA8idyYFG77D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8833, 2.2417, 2.4752, -1.5799, -0.4824, -0.8665, 0.0231, 0.2821, 1.1046, 0.9813, -1.0126, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.3573 left_y=-0.3004 left_z=0.2131 left_yaw=0.1177 left_pitch=-0.4773 left_roll=0.1489 left_gripper=0.0231 right_x=0.2537 right_y=0.0371 right_z=0.1575 right_yaw=0.0952 right_pitch=-0.5312 right_roll=-0.2547 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -10.9744, 8.4991, 0.7253, -0.4078, 0.2759, 1.033, -0.0479, -2.947, 6.5846, 1.1941, 0.1001, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de17d8eec27a0e88962d19222236f744f8ad3f79b5d363be5a617842ba1faec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b17af2f5d560e785e556bb66d73d7e035cba7b9aa1ae2661a85a64359956d7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ac72c77a42e19af5f0ef3c6dede476df4c3835722e35f1c5f5035e31c51902e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 7.87 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]: [-1.1263, 2.1429, 1.5051, -0.8379, -0.5537, -1.0866, 0.0187, 0.2821, 1.1038, 0.9821, -0.9791, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.2661 left_y=-0.3343 left_z=0.0171 left_yaw=0.0925 left_pitch=-0.4506 left_roll=0.1884 left_gripper=0.0187 right_x=0.2608 right_y=0.0392 right_z=0.1615 right_yaw=0.0986 right_pitch=-0.4967 right_roll=-0.2471 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -12.0957, 6.5983, 0.442, -0.3492, -0.0269, 0.7595, -0.0615, -2.9333, 6.653, 1.1258, 0.0464, -0.0122, -0.0171]",
      "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]: [-1.1263, 2.0953, 2.0178, -1.3918, -0.535, -1.1023, 0.0229, 0.2821, 1.1038, 0.9813, -0.9936, 0.2195, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.2666 left_y=-0.342 left_z=0.1607 left_yaw=0.0938 left_pitch=-0.4643 left_roll=0.1655 left_gripper=0.0229 right_x=0.2576 right_y=0.0383 right_z=0.1597 right_yaw=0.0977 right_pitch=-0.5118 right_roll=-0.2501 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -11.8222, 7.9248, 0.398, -0.5495, 0.1099, 1.0281, -0.0889, -2.9333, 6.5846, 1.1795, 0.0562, -0.0464, -0.0122]",
      "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]: [-0.8833, 2.2417, 2.4752, -1.5799, -0.4824, -0.8665, 0.0231, 0.2821, 1.1046, 0.9813, -1.0126, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.3573 left_y=-0.3004 left_z=0.2131 left_yaw=0.1177 left_pitch=-0.4773 left_roll=0.1489 left_gripper=0.0231 right_x=0.2537 right_y=0.0371 right_z=0.1575 right_yaw=0.0952 right_pitch=-0.5312 right_roll=-0.2547 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -10.9744, 8.4991, 0.7253, -0.4078, 0.2759, 1.033, -0.0479, -2.947, 6.5846, 1.1941, 0.1001, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de17d8eec27a0e88962d19222236f744f8ad3f79b5d363be5a617842ba1faec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b17af2f5d560e785e556bb66d73d7e035cba7b9aa1ae2661a85a64359956d7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ac72c77a42e19af5f0ef3c6dede476df4c3835722e35f1c5f5035e31c51902e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpQcKjgEIEhgCKkD5QMB2nzvpLJVmSWSR1zJwM8YAkK/IUqkUtvnTelhRXeJbXrVGnDGvN/Dt/GfxypyKclF5wcEAapZsdUD7emiXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbT7y9UGEgzeWlgC9RCQ3Yto658aDCqdY+VepzMMBaBrGSIw6VOt4tftj6tCRX/0Pf82UYXlzWvyy8JzBTyvexoM0AaNafrNy0zkk0Sgs3o9myoFKsMFAXN8vahqAzS7i11DMOmn3I3kZIIVlrZU/EQyTYOiL26Z74v9sRZvWkmQPv3P29D6oKyGba5QxuT03U+7Q3DxzwTyqCJD3+vG+8J0t2gDaHct399IQ/5zvOvHtCTCakHNlHJ85Qtp0X9CY+lJZalNNCtH6IM953330pIId41CQtob3F2uykoiI54O/FtJRTpj6RQgwqeaFnifC8lwkePBTWfvqkoBb8QqKTFuVAEXuE+sRTIaYUCGCPPJNM0iGCPz94dpsWZYGMknqqj1of59lbZBrUNi0wC0jenfMEbfnZRAzGljp+YQ3WB8Rg4OzUQY7m7XeF2C3WOSvu5eaU3Xme+ZIZmnDo2ZzR8JhOqMf5Lv7qR2mXVAA4tYm4LSFPdkgbQVYihCoT27WIXiGsn748mMQFGesI4IorZa6to2gPYO295itcL2oMhhBUmW5qF8Cgu7JffhOqMn2Kao2kBsR77w4Csa2oxD4jcRbBV3SEwGNjzdUfq+86uSkV6+uM1ExAKwlejAX/c+ApULsQiYKt/m2gBKjhavMUy0YJTj6DhEFl8mPUk0jcBX6MIjdc3jmWkKsuSSh6UtkbdiD+CPXkbBObgQq3a6dqTy3xUUJEWzvYAvrd8yhvO0Q5YTfRu3VlOZlRcs+TGxql1P+eBH3XMlVjcpRGVoSeR65GP44tl4DVHyrLKNLWMXrnVV8KZqqCMkszeDoBtXf7M+DyRgSrN4EhMc6yYHIB5ZRy5cmd35rVwrSdYk5jOezXgJC/t/yTDX6v5RDN+1R7lf8wdJ+KFtehtiKUtslCrjQRmxvpQGORr9gtJHd+RBiBXu/IMSvwwkJdN/Unj4WQYwFQJK72yhDFF7xrFwoRTgo6Fei3v/hf4PLNI8gREOmauBhWgVHQWClslKBWA5gTuUX17lq96lRZH1SJ+VlShrm8/o6huLO7cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DRHMmkHkXHg6Jr8TDzPmwH",
      "input": {
        "note": "The teddy is confirmed held and hanging just in front of the safe; moving further forward and higher so it clears the front wall and hangs over the red interior.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.34,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01DRHMmkHkXHg6Jr8TDzPmwH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8036, 2.3127, 2.5832, -1.5921, -0.4561, -0.799, 0.0231, 0.2821, 1.1046, 0.9813, -1.0203, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.3881 left_y=-0.2852 left_z=0.2084 left_yaw=0.1318 left_pitch=-0.49 left_roll=0.1469 left_gripper=0.0231 right_x=0.252 right_y=0.0367 right_z=0.1567 right_yaw=0.0944 right_pitch=-0.5387 right_roll=-0.2564 right_gripper=0.9954\nstate[joint_eff]: [0.4034, -11.2889, 7.8427, 0.9402, -0.3346, 0.2857, 1.0281, -0.0752, -2.8513, 6.3385, 1.1404, 0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bebd7fda3f755386a2e3fc3993ef4b9582540f04667165c3a625226483edebf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17119929d53c81f6512c3c9bca6475370a14ff43d6d5f2c3439c48c8ff24d27c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c547bf01a3e45cde31e7aca06ff6ba1f416bfcb4b4750d22295dcb5a6f1140fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 9.186 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]: [-1.1263, 2.0953, 2.0178, -1.3918, -0.535, -1.1023, 0.0229, 0.2821, 1.1038, 0.9813, -0.9936, 0.2195, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.2666 left_y=-0.342 left_z=0.1607 left_yaw=0.0938 left_pitch=-0.4643 left_roll=0.1655 left_gripper=0.0229 right_x=0.2576 right_y=0.0383 right_z=0.1597 right_yaw=0.0977 right_pitch=-0.5118 right_roll=-0.2501 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -11.8222, 7.9248, 0.398, -0.5495, 0.1099, 1.0281, -0.0889, -2.9333, 6.5846, 1.1795, 0.0562, -0.0464, -0.0122]",
      "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]: [-0.8833, 2.2417, 2.4752, -1.5799, -0.4824, -0.8665, 0.0231, 0.2821, 1.1046, 0.9813, -1.0126, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.3573 left_y=-0.3004 left_z=0.2131 left_yaw=0.1177 left_pitch=-0.4773 left_roll=0.1489 left_gripper=0.0231 right_x=0.2537 right_y=0.0371 right_z=0.1575 right_yaw=0.0952 right_pitch=-0.5312 right_roll=-0.2547 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -10.9744, 8.4991, 0.7253, -0.4078, 0.2759, 1.033, -0.0479, -2.947, 6.5846, 1.1941, 0.1001, -0.0464, -0.0122]",
      "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]: [-0.8036, 2.3127, 2.5832, -1.5921, -0.4561, -0.799, 0.0231, 0.2821, 1.1046, 0.9813, -1.0203, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.3881 left_y=-0.2852 left_z=0.2084 left_yaw=0.1318 left_pitch=-0.49 left_roll=0.1469 left_gripper=0.0231 right_x=0.252 right_y=0.0367 right_z=0.1567 right_yaw=0.0944 right_pitch=-0.5387 right_roll=-0.2564 right_gripper=0.9954\nstate[joint_eff]: [0.4034, -11.2889, 7.8427, 0.9402, -0.3346, 0.2857, 1.0281, -0.0752, -2.8513, 6.3385, 1.1404, 0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bebd7fda3f755386a2e3fc3993ef4b9582540f04667165c3a625226483edebf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17119929d53c81f6512c3c9bca6475370a14ff43d6d5f2c3439c48c8ff24d27c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c547bf01a3e45cde31e7aca06ff6ba1f416bfcb4b4750d22295dcb5a6f1140fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQYKjgEIEhgCKkCo6/fZrbe+xwe9pfb+O2uSrPrku1iqp8oAFWDfDettb+NaGWn3CLIU5azDF1JURqzpGYwkNqIAVN8EyeJS1QQRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb37y9UGEgynVL7X6kmzIQEznccaDL0f36EEczWzuVA61SIw5xjsbAS83qfBrYAa/BQXo0QrccNMxC7L73CoqJ6WguUcGmDPcV3zRHdTzq/u1ftKKrcEjeYqsi8TBneFvs1IfR/KX23AL1VrJF4x4LJJFSRVZcLGagv1nQBm8/Lv19wFGJOamza5Dau64yrUzUQCBvNWxi0hct+pvR6VrW9A0caIzcoaIParGAEj85to5BG7PLbTEts9S2iiE/7DnaIr6cSnmWOlk2iDd9+oPZp1UZAIyM6tES3JTEWk9DygO+kQJKSogBidZY+HEARdKDsxPQDLgHBgriEuLDDlRM02NvM0JkNV/HAFppD3r3+FJHTrzDj7rGIwSrD66JQvaO7lCCqZSR/h6Eb5lV6PuWHZ03kUsF2x3dBJePQ/Y/NHfleK2kL2+5HDhAgFDA6Sd3BUm6VQSH5s22hks0ydLNjoqfTR6jry0OxTa2j/ZtfquRw44I9PkpUy3lsw2vQzxoUETKuuFrhCKXJ3FBl+1Up8cd1LHG6ZXTtTtiGlZbWTiFGnnHB3h33RoYEe6rs1OPwM8bEWck1geeQNtC3WbeOt1Gfj1bqKg2figZL2Vk6YNDBLIgfrDumgUa7asmOTRHdu4btgnGQIkwSABzjH5LM+8o1UEx+WbC8nizP2nbj65tgtbbspxSdnI71c0FtYOgIwPhQzR74BoxkrRjmpT9f7A+5VxkvoyAegt48gZRb+d+f58HpIy+houm1XDQGWjlX059hQcR2FzLRzhi58YSrHvA6nwnBdCpTAxHpN5+QehBt66IGw+z2d6lHUg1m2fwbWdSs2Kg5p5IMQcZsVohnRGjUgz8o2tjQf3oY0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UTEiWXiJv2PyRqDFKvhzp9",
      "input": {
        "note": "The arm stalled at z≈0.21 while carrying the teddy in front of the safe; commanding a pure lift to get the bear above the safe's wall.",
        "targets": {
          "left_z": 0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01UTEiWXiJv2PyRqDFKvhzp9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7704, 2.1296, 2.3951, -1.5753, -0.4446, -0.7609, 0.0231, 0.2821, 1.1053, 0.9813, -1.0241, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.371 left_y=-0.2492 left_z=0.2364 left_yaw=0.1301 left_pitch=-0.4948 left_roll=0.1495 left_gripper=0.0231 right_x=0.2513 right_y=0.0364 right_z=0.1562 right_yaw=0.0939 right_pitch=-0.5432 right_roll=-0.2574 right_gripper=0.9954\nstate[joint_eff]: [0.759, -13.8735, 4.9436, 0.7692, -0.3443, 0.1587, 1.0232, -0.1846, -2.9607, 6.3385, 1.0965, 0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5fdcad1b22d62ad36ad88b6ea63b585837d3f399330138d0af6fe55e84693f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41d7506f40682b6e7b36f099f9770e89d3fbbb18e0c6b33628ea441e61933c36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48468f4524a8a6214598d1d3b570fc4e7a398f9a0f1160cba6b3344ba050e4c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 7.592 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]: [-0.8833, 2.2417, 2.4752, -1.5799, -0.4824, -0.8665, 0.0231, 0.2821, 1.1046, 0.9813, -1.0126, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.3573 left_y=-0.3004 left_z=0.2131 left_yaw=0.1177 left_pitch=-0.4773 left_roll=0.1489 left_gripper=0.0231 right_x=0.2537 right_y=0.0371 right_z=0.1575 right_yaw=0.0952 right_pitch=-0.5312 right_roll=-0.2547 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -10.9744, 8.4991, 0.7253, -0.4078, 0.2759, 1.033, -0.0479, -2.947, 6.5846, 1.1941, 0.1001, -0.0464, -0.0122]",
      "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]: [-0.8036, 2.3127, 2.5832, -1.5921, -0.4561, -0.799, 0.0231, 0.2821, 1.1046, 0.9813, -1.0203, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.3881 left_y=-0.2852 left_z=0.2084 left_yaw=0.1318 left_pitch=-0.49 left_roll=0.1469 left_gripper=0.0231 right_x=0.252 right_y=0.0367 right_z=0.1567 right_yaw=0.0944 right_pitch=-0.5387 right_roll=-0.2564 right_gripper=0.9954\nstate[joint_eff]: [0.4034, -11.2889, 7.8427, 0.9402, -0.3346, 0.2857, 1.0281, -0.0752, -2.8513, 6.3385, 1.1404, 0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7704, 2.1296, 2.3951, -1.5753, -0.4446, -0.7609, 0.0231, 0.2821, 1.1053, 0.9813, -1.0241, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.371 left_y=-0.2492 left_z=0.2364 left_yaw=0.1301 left_pitch=-0.4948 left_roll=0.1495 left_gripper=0.0231 right_x=0.2513 right_y=0.0364 right_z=0.1562 right_yaw=0.0939 right_pitch=-0.5432 right_roll=-0.2574 right_gripper=0.9954\nstate[joint_eff]: [0.759, -13.8735, 4.9436, 0.7692, -0.3443, 0.1587, 1.0232, -0.1846, -2.9607, 6.3385, 1.0965, 0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5fdcad1b22d62ad36ad88b6ea63b585837d3f399330138d0af6fe55e84693f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41d7506f40682b6e7b36f099f9770e89d3fbbb18e0c6b33628ea441e61933c36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48468f4524a8a6214598d1d3b570fc4e7a398f9a0f1160cba6b3344ba050e4c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAgKjgEIEhgCKkD+9jJAbxsXBLsQIvromTs0rrfP1rzPskA3sDdkRY9faEVcxlQ2Cf7KPgjLzthAxB+OMfDxPz+GkbFiYmhLdlYbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcf7y9UGEgwiOjcWTPEBFt0shNYaDB2vjbfW6//wUqQTHCIwv7Uf7dICvQG3pBxaxT/bK7a6lflnlFXfuzC0+QMw9CBM3j7Y2dJ/drB1cwT6P5hsKtYG8Qo6q2ZzjvQIsiQoxYMsIju0L6J0dnsOtn8Qw7yP817TKk0GZLhUtOk44bqTMRgsm4tAhSlisCRTb0Ry/eilfUTLA4KyuTsGOP688qz57KJFLqALRmvQD51vN2mRKK3smGZbDstfQInVB3nZ7WQ3eTfkA7GSHbntV8jBycZsVcwps7FvSlw4YdTRoujfUNE9VQ1dcqTTQZwiFnkE0sB70YeN7MD5lEehED9GwOJoYUBA5XYcMZPAJtFwL1rrXr63ZGnbDHnsdX3h73qD4uTcpEcAyz+WdsKT8GE4XNhPHkOe0Ryv/0epw6Bdmct6+vPMgvjuvJ/gm/0LkSMHMUUl3HmhTbQpBVgt9QOxnWP8rfMpxQGA+qakoJmpedMGxZH/mtijs6q1QlSqTBpnr3sxPvbqsYToWOja47ztYRsrvS0YoZvTkT7i2tUp3JvOTehSgRw2dZ7xFbrsVE72hyJ27I9h9Gsul+gr9aAxY9NR/p1hTTiuWCEW/MPaw+hNsyG+Ljbfd1LxDw7Cv9hjVKIHJ9HushH1pTOV/FQwtIp/skhSR+WaVs9XtzSGtMsxd713DaLIhab4houlnGiW5X/d4Ysy9gI/Cy8pWwhwWXNynb6IhKvSXYRZpI6x4jAzsn5wH+eBw+LVaQJfoVz5jlkMraWsdsf/DP47Dc1XfJyU/8rYFAvy7EwI3PB/0bWKufpAC6f1Yj4KyuFon4HeCAckKL1Zrw230sWyl5CIt/k5m2EaGwLrNM1QcbEW2iB+nEcPs1w4DazijS3hTd7oH5KADTirTs4e6VFt+jVkczu8tHGuBta+yZcTylVLXp7rrK7gKGPymkEYWlaVdgtBBopdUomgssKDmKsGB5uhX+uzV1s9rXAFCtKyeQ4nup44ohKgTMxsKjh61GxRZtNyNupc5rA5G0SHQgu1DLLB6WOhHR5cGA3x3QK7uQvOHm1bEMsa4YKFy3v5uuwtWHm4mFdEnuPgp8QEr5h3tV6NJHMm7LU4/Q+2U8BejfuEtvhHef2KuUxXy80jhB2oaYhQ2lqDFpfz+RK2jqGzqLeEvcRAMbVs/wNvpmjX6A2SxQR42O8296JJueOSMmg8ijy9h2OElM+R1diIq2XXJoiIrc2HQcAw3KL0tpoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V7Jbo8QTpNyhjykLDMNb2k",
      "input": {
        "note": "Height is capped around 0.24 with the load, so instead I'm driving the gripper further forward and left so the dangling teddy swings over the safe's interior.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01V7Jbo8QTpNyhjykLDMNb2k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.757, 2.4298, 2.6976, -1.586, -0.4301, -0.7555, 0.026, 0.2821, 1.1061, 0.9813, -1.0355, 0.2199, -0.0498, 0.9953]\nstate[eef_state]: left_x=0.4149 left_y=-0.2857 left_z=0.184 left_yaw=0.1353 left_pitch=-0.5115 left_roll=0.1499 left_gripper=0.026 right_x=0.2488 right_y=0.0357 right_z=0.1549 right_yaw=0.0925 right_pitch=-0.5552 right_roll=-0.2601 right_gripper=0.9953\nstate[joint_eff]: [0.5128, -11.7538, 8.1026, 0.9011, -0.3736, 0.2613, 0.823, -0.0889, -2.8103, 6.3111, 1.1209, 0.0708, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea3f928689d417bc97056300f6d59aed270c1c03d90b86ba63dfa3bc3fe383d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce9936543b8c93d39d290d5c09f34a1ed3a3a1ea066102b0cbacdc9c4a0a3b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b541d166209887b0cfc3235d2c9b7f225813203deb542438267ab68029d26c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 17.62 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]: [-0.8036, 2.3127, 2.5832, -1.5921, -0.4561, -0.799, 0.0231, 0.2821, 1.1046, 0.9813, -1.0203, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.3881 left_y=-0.2852 left_z=0.2084 left_yaw=0.1318 left_pitch=-0.49 left_roll=0.1469 left_gripper=0.0231 right_x=0.252 right_y=0.0367 right_z=0.1567 right_yaw=0.0944 right_pitch=-0.5387 right_roll=-0.2564 right_gripper=0.9954\nstate[joint_eff]: [0.4034, -11.2889, 7.8427, 0.9402, -0.3346, 0.2857, 1.0281, -0.0752, -2.8513, 6.3385, 1.1404, 0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7704, 2.1296, 2.3951, -1.5753, -0.4446, -0.7609, 0.0231, 0.2821, 1.1053, 0.9813, -1.0241, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.371 left_y=-0.2492 left_z=0.2364 left_yaw=0.1301 left_pitch=-0.4948 left_roll=0.1495 left_gripper=0.0231 right_x=0.2513 right_y=0.0364 right_z=0.1562 right_yaw=0.0939 right_pitch=-0.5432 right_roll=-0.2574 right_gripper=0.9954\nstate[joint_eff]: [0.759, -13.8735, 4.9436, 0.7692, -0.3443, 0.1587, 1.0232, -0.1846, -2.9607, 6.3385, 1.0965, 0.0366, -0.0317, -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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.757, 2.4298, 2.6976, -1.586, -0.4301, -0.7555, 0.026, 0.2821, 1.1061, 0.9813, -1.0355, 0.2199, -0.0498, 0.9953]\nstate[eef_state]: left_x=0.4149 left_y=-0.2857 left_z=0.184 left_yaw=0.1353 left_pitch=-0.5115 left_roll=0.1499 left_gripper=0.026 right_x=0.2488 right_y=0.0357 right_z=0.1549 right_yaw=0.0925 right_pitch=-0.5552 right_roll=-0.2601 right_gripper=0.9953\nstate[joint_eff]: [0.5128, -11.7538, 8.1026, 0.9011, -0.3736, 0.2613, 0.823, -0.0889, -2.8103, 6.3111, 1.1209, 0.0708, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea3f928689d417bc97056300f6d59aed270c1c03d90b86ba63dfa3bc3fe383d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce9936543b8c93d39d290d5c09f34a1ed3a3a1ea066102b0cbacdc9c4a0a3b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b541d166209887b0cfc3235d2c9b7f225813203deb542438267ab68029d26c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAcKjgEIEhgCKkDT2WyJkS+Nc5+WrVB3yaAeHwuTQkMp2SMVZDWHzUAI6ibKKq61otQ4OQEEEhfcPGRpy6FNbvRzxb0fKVoPN0dOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc/7y9UGEgzWFhxxyHLDgd45QZMaDK0Boa5QE2Ti4zy9KCIwbs0h95BN7oa8k3TfNB+KycFGu1JfwbD/BsYe6rjUZESY7WKfCNxPOQL6KfnWIFuJKroF//cqhWdmpRFY6llIcVvHh/ekEnSaQjCH8fPT8AVeZZP5dTLPrJGvDE/1+5svhv31CQNYmvHuoJesSmoQvnadIn2x16wF2GNGKonW6VPYggv9UNJJgzCcrBsDxqen+gcg6jvNKaGEtfGqd58QEK+1jeuV/bC1zOpuf4F6d+vaZk19VXuyN817wc0LQso0rDC/TABmnAFtR1y7AcyPHxlXT+gfHBFCdCAiuUCSA53zKIj6mbGDahLvEHlpEI0K4wqJAWhuU2z8GybT1xxMdVFVMshDHqxcXDH8u/uC65spojwxUwtg6BvIjsSH11BXdkUXgu5JOx0Rv+KBDXF7IPyS9S/r7GINhqBxsB/ORqGTzCuv4xTIVRYVx3P7PNNedFpbxbPOqWT0qo8z9KYPe2uHErvawunhFx6Ov9H0OOCS1jgIq0p12N7W7DAhT17G9X15djyEKbVFA52Se1vyNTnknoC5ftuj1pl6whDJORMhDe0T9WR3eyx7Txl6+rirFgCL9m88aQ1LFA0cCbmxcc6bz5vL5YuJCXLmwWYoeDysE9pwxP10bEDNhzs8+74faT3ePifu37D3iXSU9Bv3SwozVEVjxzBS/+qRXKmhoD80xeyFn8nQguqex0cU9Z+OhuDiWLSVSFNR5HzBI2eL9kgwViB33wg50sRTscbnq0N1R4CCrqsvPbaljdfPVizN552FExV/zibvRAVAFifQ+pN+7kQB/kp9KoMlBqabNjNSJlbrm5jz05slbQ+baTxK1NKwgSHRTpgJelS2i7hWhV9+lpVMt+ZirSpVPrVbRpmwkxYnexARSkBlXfYXJvcy9e6Nx981Mhza+1aGjSQCG+lpfmec80Ol1Y3c0KiFwuX17imIMsi0ykV/zL2NJasyhaAQoWa4yRd/G8Q2TGxMCSeQWIYYTFP4V+rAvscYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Q4u76PEbXaKBsYfijJpgL",
      "input": {
        "note": "The teddy is now hanging against the red interior of the safe; opening the jaws to drop it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015Q4u76PEbXaKBsYfijJpgL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7578, 2.434, 2.669, -1.5784, -0.429, -0.7639, 0.995, 0.2821, 1.1065, 0.9813, -1.0389, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.4138 left_y=-0.2855 left_z=0.1744 left_yaw=0.1503 left_pitch=-0.5272 left_roll=0.1674 left_gripper=0.995 right_x=0.2481 right_y=0.0355 right_z=0.1545 right_yaw=0.0918 right_pitch=-0.5589 right_roll=-0.2607 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -14.4889, 5.5316, 0.7497, -0.2711, 0.0366, 0.0464, -0.1983, -2.7692, 6.3111, 1.0281, 0.0415, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12479b73a61dca118a629a71acd823792d3b1c2156a7e5c04be856508a3641ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c38fc467662936d73b7a0bc96d423844c5bc463f5b2895a9e668002688514952",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82399ee11246b2a182e861a022b39e2a23172c7031d8e6c35260bc20a4284d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 11.26 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]: [-0.7704, 2.1296, 2.3951, -1.5753, -0.4446, -0.7609, 0.0231, 0.2821, 1.1053, 0.9813, -1.0241, 0.2199, -0.0498, 0.9954]\nstate[eef_state]: left_x=0.371 left_y=-0.2492 left_z=0.2364 left_yaw=0.1301 left_pitch=-0.4948 left_roll=0.1495 left_gripper=0.0231 right_x=0.2513 right_y=0.0364 right_z=0.1562 right_yaw=0.0939 right_pitch=-0.5432 right_roll=-0.2574 right_gripper=0.9954\nstate[joint_eff]: [0.759, -13.8735, 4.9436, 0.7692, -0.3443, 0.1587, 1.0232, -0.1846, -2.9607, 6.3385, 1.0965, 0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.757, 2.4298, 2.6976, -1.586, -0.4301, -0.7555, 0.026, 0.2821, 1.1061, 0.9813, -1.0355, 0.2199, -0.0498, 0.9953]\nstate[eef_state]: left_x=0.4149 left_y=-0.2857 left_z=0.184 left_yaw=0.1353 left_pitch=-0.5115 left_roll=0.1499 left_gripper=0.026 right_x=0.2488 right_y=0.0357 right_z=0.1549 right_yaw=0.0925 right_pitch=-0.5552 right_roll=-0.2601 right_gripper=0.9953\nstate[joint_eff]: [0.5128, -11.7538, 8.1026, 0.9011, -0.3736, 0.2613, 0.823, -0.0889, -2.8103, 6.3111, 1.1209, 0.0708, -0.0464, -0.0122]\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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7578, 2.434, 2.669, -1.5784, -0.429, -0.7639, 0.995, 0.2821, 1.1065, 0.9813, -1.0389, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.4138 left_y=-0.2855 left_z=0.1744 left_yaw=0.1503 left_pitch=-0.5272 left_roll=0.1674 left_gripper=0.995 right_x=0.2481 right_y=0.0355 right_z=0.1545 right_yaw=0.0918 right_pitch=-0.5589 right_roll=-0.2607 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -14.4889, 5.5316, 0.7497, -0.2711, 0.0366, 0.0464, -0.1983, -2.7692, 6.3111, 1.0281, 0.0415, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12479b73a61dca118a629a71acd823792d3b1c2156a7e5c04be856508a3641ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c38fc467662936d73b7a0bc96d423844c5bc463f5b2895a9e668002688514952",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82399ee11246b2a182e861a022b39e2a23172c7031d8e6c35260bc20a4284d4b",
        "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_015rs1dCzQ5qnEAawT67sQET",
      "input": {
        "note": "All three objects (teddy, white bear, lemon) are now inside the safe. Closing the empty gripper and lifting high to clear the box before reaching behind the open lid.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.4,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015rs1dCzQ5qnEAawT67sQET",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7563, 2.1944, 2.4145, -1.5745, -0.4221, -0.7517, 0.0086, 0.2821, 1.111, 0.9806, -1.0573, 0.2199, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.3792 left_y=-0.2533 left_z=0.2127 left_yaw=0.1454 left_pitch=-0.5405 left_roll=0.179 left_gripper=0.0086 right_x=0.2442 right_y=0.0344 right_z=0.1514 right_yaw=0.0911 right_pitch=-0.5826 right_roll=-0.2677 right_gripper=0.9954\nstate[joint_eff]: [0.6632, -14.8444, 5.2308, 0.7937, -0.3443, 0.0513, 0.5739, -0.0068, -2.8923, 6.3385, 1.1062, 0.0415, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f0ae5f7159319ed3b319e714e9f17e2644823eec2353e0d5089d02775397fad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25a157f63c4cefdf798b86b342314e368991721b2003a14089a37a15ffb161a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56777fc1ab1e087711a4157a1882f142c95630b3cf9579a8160ce43d99ee35dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 5.953 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]: [-0.757, 2.4298, 2.6976, -1.586, -0.4301, -0.7555, 0.026, 0.2821, 1.1061, 0.9813, -1.0355, 0.2199, -0.0498, 0.9953]\nstate[eef_state]: left_x=0.4149 left_y=-0.2857 left_z=0.184 left_yaw=0.1353 left_pitch=-0.5115 left_roll=0.1499 left_gripper=0.026 right_x=0.2488 right_y=0.0357 right_z=0.1549 right_yaw=0.0925 right_pitch=-0.5552 right_roll=-0.2601 right_gripper=0.9953\nstate[joint_eff]: [0.5128, -11.7538, 8.1026, 0.9011, -0.3736, 0.2613, 0.823, -0.0889, -2.8103, 6.3111, 1.1209, 0.0708, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.7578, 2.434, 2.669, -1.5784, -0.429, -0.7639, 0.995, 0.2821, 1.1065, 0.9813, -1.0389, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.4138 left_y=-0.2855 left_z=0.1744 left_yaw=0.1503 left_pitch=-0.5272 left_roll=0.1674 left_gripper=0.995 right_x=0.2481 right_y=0.0355 right_z=0.1545 right_yaw=0.0918 right_pitch=-0.5589 right_roll=-0.2607 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -14.4889, 5.5316, 0.7497, -0.2711, 0.0366, 0.0464, -0.1983, -2.7692, 6.3111, 1.0281, 0.0415, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7563, 2.1944, 2.4145, -1.5745, -0.4221, -0.7517, 0.0086, 0.2821, 1.111, 0.9806, -1.0573, 0.2199, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.3792 left_y=-0.2533 left_z=0.2127 left_yaw=0.1454 left_pitch=-0.5405 left_roll=0.179 left_gripper=0.0086 right_x=0.2442 right_y=0.0344 right_z=0.1514 right_yaw=0.0911 right_pitch=-0.5826 right_roll=-0.2677 right_gripper=0.9954\nstate[joint_eff]: [0.6632, -14.8444, 5.2308, 0.7937, -0.3443, 0.0513, 0.5739, -0.0068, -2.8923, 6.3385, 1.1062, 0.0415, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f0ae5f7159319ed3b319e714e9f17e2644823eec2353e0d5089d02775397fad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25a157f63c4cefdf798b86b342314e368991721b2003a14089a37a15ffb161a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56777fc1ab1e087711a4157a1882f142c95630b3cf9579a8160ce43d99ee35dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISjQwKjgEIEhgCKkCoW7BdadLrNCmCfiFyhz0bZmmZrYFkVUNxZCZIAHy8zGjYdVJUDREQKIGoOHNVutQylrUxN642VFCM8X2IdK2+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe77y9UGEgyxDQn6cd82UqcI8/4aDGHpcH3VSxDPObv7hyIwhg4XqI9rHTzGhuxjUy1av3VqcBwYK7dJS52B7vRFYcK2skPjWbbFTw6v63krzyOrKqsKxlQIxlb8xo2S+3S0bLVC19vBOMC984ihhbmqnFILC1U8LRZTHfm1yvM30190C51GF+zdeVPZqMyg9DQvRX3MvYIvZgGGaGpm9iJNfa6iLxhDB7t/BIAX7xWKr2EgNNNbZ6NMtFogMUxUFRdQf24zawbfCXxeMjrcIas/fNxC3XfsApb8mkIjFieaGHt46+Iyupv9+EYJMYp03uobHDdvbhijMXUvEhI1x+7BP+upTvT5f9wL4Iq19Nyyd9gvztV5S6//9Q8VlzkWujXDY92WD199LFQBR03d/QmhiBia9qAGZzSoCfzpv2ZYVu57AZfQNMnnOS5Fyxp4upU50yww0jAKwaYWXKpn5ANVy5QjBHhzaGYcUhkrXlcz+QHIMCdj5ODCpQJjYLJTi405G9q7SvMNVW+hfFk+XEWeQzP+YA0PGvuTU/B3PcXI3nz4QB/7iJnok+K7orV2pDfrM8nNAboFLKnZNT1KJ8QuC2lUjA9gT1IIFHBDuYXELnopKwmJ0q1cHRZK72S05wyl5tfqCOG3GrAKzFX3E2SkIU3A0pUz348mKvrtrAXn+hvJ586aUgbJIwNSozRjE3zeyPJyykzPRTzebVL3xrIUFfHQwCj5/CBAHFmfHGHOHl/9Pl3+h5sBMAXi6PYgm5441tvLDtG+YtFHFcm80qXVFy12bQUYoOqGFtrePBkZdKpg/baADR6vSxNEKxZiq15vVQ3lBWu+1P2sUu9eU1QUEG4YnbkJcMyYH/60K/IUx5/h8nawf0/0HhsLGkWxkdgBUZ3ayFrS65NY38WYVGRpy8r2m7b7e/9lXtBRY9CWFkXrfxar1YH+E04NynGpHOc6DfYjkO7kzNHLNMwZQIijH/GbPi/EmwCix4DMyOYnrFPylPkVZfx99lP0T7uzD39z/kMTy1/facdimrYdGhk1MZDhY22/qEKXtzwMEWDvS+g62CC1+My5s0eB1SPb1mc11wvgGh3+5gOq7TBFvMAsuohmK5htgixtjLsMUH47/KiseLEdWlaB0jC5h0kzOSWo2GCmpABpU1uFkjXQum9IPQpQnmDoTQ0gpWlzUDRE+TJJrsQhXvqJMv1bw/5ou8gAErUf0C0hFg8WjBtSJizCeRQxGGISEDo2UfKL2lLBmaW7rwlcsiWR1KU3sMQTDevYO0vInr/QRW1UFXGvXRisxX6BeeF1Ay0FUvzz4DkCSJsCZmDXoyn/HC16HrJvqrwFHCd8O0aZtDQbCLjo7w4RqCpzOZYeLOgpu2MP9fc0NYNbr1jrFfzStpvhw9Ju7b8pR605q9G6zF8Ih9/Ofj6KQYq3LPsiAhYdaMDUhaNchI3IqC+TYDop9OUK3Ggc6dQe8phJaCVf+BzngwHokARz8kYfSV8TDD6f3fIdSYqJnh9LkEhZ0aF+ICxybyfsM+3dYwgshFQT+S41X6T/vhC3PawYeCufPdjsmhPPMC/Tj2pLGO0QYyIlKcwPtpOEyQiA9cJ12h+a37tCarOwljSv5X8S10h4WqaSttzCoQ4EwS90uC1n9EORaHUqdHJFdSw72EmO6YbW49ZTuU5X3PE3pEdn+vqmNm2rLjmPekHZjGf4mv0vRRSMHg5FikGJS4AlJzEVo3m+EsAEK/Dr0Q8EyfEjxTR7FGFkW4wtcz8G7xYUwU55BDl2nYS4R6gq0MJbaP8njkT9x90KPbO2NIYkJt0ph0L5EoV3YoYyHWbIK/nvxsJsmTEMRe1kAvhqRnOhlthXjk9/nZ/ak+cslzFXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DBY2wrEo4CFqifvzWw3Zza",
      "input": {
        "note": "The teddy is draped over the near wall of the safe, half outside. Moving the closed gripper to just behind/above it so I can push it the rest of the way in.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.33,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01DBY2wrEo4CFqifvzWw3Zza",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0077, 1.8286, 1.2434, -0.6415, -0.8867, -0.8612, 0.011, 0.2821, 1.111, 0.9802, -1.0653, 0.2199, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.3248 left_y=-0.2513 left_z=0.1111 left_yaw=0.1295 left_pitch=-0.0806 left_roll=0.2384 left_gripper=0.011 right_x=0.2424 right_y=0.0339 right_z=0.1506 right_yaw=0.09 right_pitch=-0.5908 right_roll=-0.2697 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -11.5624, 6.4068, 1.1111, -0.7204, -0.0415, 0.2369, -0.0889, -2.8513, 6.2701, 1.0574, 0.0513, -0.0464, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:821bbde85246b922eeea1648e31b8ae31c22f723812c60186620960d7af47781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50553c5efa35ed3d52090aa4ba2ecf22f4e18c49773e21ba4f56519814654987",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:842475ebc14d9cfc7b4c12a5d1847c691b98a0a63a4fde88f23359d77b5b1df8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 8.365 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]: [-0.7578, 2.434, 2.669, -1.5784, -0.429, -0.7639, 0.995, 0.2821, 1.1065, 0.9813, -1.0389, 0.2199, -0.0494, 0.9954]\nstate[eef_state]: left_x=0.4138 left_y=-0.2855 left_z=0.1744 left_yaw=0.1503 left_pitch=-0.5272 left_roll=0.1674 left_gripper=0.995 right_x=0.2481 right_y=0.0355 right_z=0.1545 right_yaw=0.0918 right_pitch=-0.5589 right_roll=-0.2607 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -14.4889, 5.5316, 0.7497, -0.2711, 0.0366, 0.0464, -0.1983, -2.7692, 6.3111, 1.0281, 0.0415, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7563, 2.1944, 2.4145, -1.5745, -0.4221, -0.7517, 0.0086, 0.2821, 1.111, 0.9806, -1.0573, 0.2199, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.3792 left_y=-0.2533 left_z=0.2127 left_yaw=0.1454 left_pitch=-0.5405 left_roll=0.179 left_gripper=0.0086 right_x=0.2442 right_y=0.0344 right_z=0.1514 right_yaw=0.0911 right_pitch=-0.5826 right_roll=-0.2677 right_gripper=0.9954\nstate[joint_eff]: [0.6632, -14.8444, 5.2308, 0.7937, -0.3443, 0.0513, 0.5739, -0.0068, -2.8923, 6.3385, 1.1062, 0.0415, -0.0464, -0.0122]\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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0077, 1.8286, 1.2434, -0.6415, -0.8867, -0.8612, 0.011, 0.2821, 1.111, 0.9802, -1.0653, 0.2199, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.3248 left_y=-0.2513 left_z=0.1111 left_yaw=0.1295 left_pitch=-0.0806 left_roll=0.2384 left_gripper=0.011 right_x=0.2424 right_y=0.0339 right_z=0.1506 right_yaw=0.09 right_pitch=-0.5908 right_roll=-0.2697 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -11.5624, 6.4068, 1.1111, -0.7204, -0.0415, 0.2369, -0.0889, -2.8513, 6.2701, 1.0574, 0.0513, -0.0464, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:821bbde85246b922eeea1648e31b8ae31c22f723812c60186620960d7af47781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50553c5efa35ed3d52090aa4ba2ecf22f4e18c49773e21ba4f56519814654987",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:842475ebc14d9cfc7b4c12a5d1847c691b98a0a63a4fde88f23359d77b5b1df8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwQKjgEIEhgCKkBwrFYH0s3iw6HYMJ0UMBRdExG8UwvTFYBIVwX4ARzO43EXNjAbI1a0qa7o0H2AbA+Y344hhoq8DYu2ANXm3YmEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfb7y9UGEgyZ4MqW7Hc9KNABEqYaDKfIA+7b8Vqy0ct9wSIwGQiwWa3T00DcTclq9Ek0Cvym9fNikE8t20qoD7d4kSgkL1D0jnGxMjF/3uMMe5pQKtUCiExKpjzoaqtYzCgbxpTQkIvpiymxljWOsmwEJdt2r6ch5BPPU83LqIZgPr5Wa8FUmIVz4NXS4ZuXS7Pw3fgF5YqMlE1IuhkgzM4ySneLeknfxtW0fCJe4ixiEefqMuc1aALoaOvynibfzY1E5+wA0WVrH1N1vnIjtuh+NaMCYB+DKFi52VrEptwQ9Lai9jkbnj8WKPiTC1rICboLz4LKBsXfcV0rFMLtTwlnPkaOwSNn3Mg0chyU+C6mxT5n8f5loTUXFhXwH8noep+E7rRMo4g5HAT3SmdOxxwuZl76dtKsDw/p4u1uBkvsSehPjgpemPie14YUL4pc6wdchPKEeCwJlff4X4FsAF1yrWunqZGx1NfVHpjB245pB84YVn2FDJ2r98389Dku5aHi3HI66/sNMooNwRs50oIppE2hM26o52A+kkepv4DV7j3VakdgrKSdXEYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vo7JA86BTYrpHMJMQ99Rq3",
      "input": {
        "note": "Teddy lies across the near wall of the safe with its head hanging out; pushing forward with the closed gripper to shove it fully into the box.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.29,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Vo7JA86BTYrpHMJMQ99Rq3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9142, 2.0823, 1.4883, -0.5751, -0.8501, -0.7589, 0.013, 0.2821, 1.113, 0.9802, -1.0801, 0.2199, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.388 left_y=-0.2802 left_z=0.0832 left_yaw=0.1494 left_pitch=-0.0987 left_roll=0.2522 left_gripper=0.013 right_x=0.2392 right_y=0.033 right_z=0.1489 right_yaw=0.0878 right_pitch=-0.6073 right_roll=-0.2736 right_gripper=0.9954\nstate[joint_eff]: [0.6359, -10.7966, 8.1846, 0.9646, -0.4274, 0.1978, 0.2027, -0.0752, -3.0017, 6.2291, 1.0183, 0.0855, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d085ea0538d41f7f7caf50112e862a21f75f71a95ddb87b258913530028526de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:546cfda4dc89f41b2b72845462b5e514302496156ff1d0dc0c4a293e580a3c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e59436cd2377db83c93de8b8decd707fdda6d0c4c2027fb95fd8b6fe1b628195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 12.96 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]: [-0.7563, 2.1944, 2.4145, -1.5745, -0.4221, -0.7517, 0.0086, 0.2821, 1.111, 0.9806, -1.0573, 0.2199, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.3792 left_y=-0.2533 left_z=0.2127 left_yaw=0.1454 left_pitch=-0.5405 left_roll=0.179 left_gripper=0.0086 right_x=0.2442 right_y=0.0344 right_z=0.1514 right_yaw=0.0911 right_pitch=-0.5826 right_roll=-0.2677 right_gripper=0.9954\nstate[joint_eff]: [0.6632, -14.8444, 5.2308, 0.7937, -0.3443, 0.0513, 0.5739, -0.0068, -2.8923, 6.3385, 1.1062, 0.0415, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-1.0077, 1.8286, 1.2434, -0.6415, -0.8867, -0.8612, 0.011, 0.2821, 1.111, 0.9802, -1.0653, 0.2199, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.3248 left_y=-0.2513 left_z=0.1111 left_yaw=0.1295 left_pitch=-0.0806 left_roll=0.2384 left_gripper=0.011 right_x=0.2424 right_y=0.0339 right_z=0.1506 right_yaw=0.09 right_pitch=-0.5908 right_roll=-0.2697 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -11.5624, 6.4068, 1.1111, -0.7204, -0.0415, 0.2369, -0.0889, -2.8513, 6.2701, 1.0574, 0.0513, -0.0464, -0.0171]\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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9142, 2.0823, 1.4883, -0.5751, -0.8501, -0.7589, 0.013, 0.2821, 1.113, 0.9802, -1.0801, 0.2199, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.388 left_y=-0.2802 left_z=0.0832 left_yaw=0.1494 left_pitch=-0.0987 left_roll=0.2522 left_gripper=0.013 right_x=0.2392 right_y=0.033 right_z=0.1489 right_yaw=0.0878 right_pitch=-0.6073 right_roll=-0.2736 right_gripper=0.9954\nstate[joint_eff]: [0.6359, -10.7966, 8.1846, 0.9646, -0.4274, 0.1978, 0.2027, -0.0752, -3.0017, 6.2291, 1.0183, 0.0855, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d085ea0538d41f7f7caf50112e862a21f75f71a95ddb87b258913530028526de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:546cfda4dc89f41b2b72845462b5e514302496156ff1d0dc0c4a293e580a3c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e59436cd2377db83c93de8b8decd707fdda6d0c4c2027fb95fd8b6fe1b628195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wYKjgEIEhgCKkCevsbzvHr/og0s4hlAmh6jI8sLXxax00tD15m5tRuBPobyiZ0AVJo9sHw8X8VzXwAg1Gx8QKwwCQgnp2kh62qJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf/7y9UGEgwinywydjvOR6547DsaDGtxVYRAzp5dYqWKhSIwneBRVhv6loNl12cYXRavSRTjMTz51eJcEOQ+tqSxzMbddLdCAI0YIBc5hczapabnKvkEJiafJbLpGYaFO6UFY98iuzvnErYnr054/tJDdrRkNP//gsdRNP5g8t8X+3LqX3GASGtEnQ5p842tVUYmyMlJ0ccwHM1zjsDe4xLRuT0/E9ge4nNUFOBQuOZVMfwzJXVpaeOm30I2cZhHfd+ym5lecAVOssMr7esRZttUN8Q1HzOK6Rx24OB04PNaVxQYs4TrwLiQSNL+VQ+Odte6ryNDyecEzWs3pV3n2FeYvuIYJ/OP06zAa5SHSaibgyVEwpr8appjaFMDBIP/w3cg4xNsJXy8izagCVS9ShQX4oxcFm+Ysf0FJAgM9H1VjeBJvOfDI2Npz0Y4G8MS8jrGhYe3612YesGOyef4CCpnU+9GK/IQAJd2yt4dxc2n3uswZm50GgCCmXsuqL0BpsSjCnKr8eLcbDcz/csPDHeWS493eMLL1hf4Z+M3JvslIq4vwzgWiOHQujYu5O2NW40bTTeF8IYT1q4YjAMKa5fRFZj8A6QqnAViD2AKB/BPqOHCqaGGvob6e7XXzF95BeV6u+AlqhmLTRWJMVCCns/umqO42DyJ0d3GuBTBv8UblvD6OXcZvBwiKx+tS6EhAJzl2Brc73erU5i8CSQHet1ZNiWLFiE3szKs12PHrdxc152eIeNPzSWa0Ak6mEHwIoLD+w8Up6bHAxEb543tSPH3VeC5YOxEbk0NEz7yp0SVrOJ/AP96pwVEti3Phkh9Ws+osqsB/aL5+1xkZhy63nSqGHV0OSrq3oDtYm4zGTpAwV6CbwPDRBh5XT1Po0YWW6E8xY7GC6OESuu8qD3OO1PtJbZei4GCW4px+lir557xDul6wuKJbF4dXqBVoZOrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DFZEcKg54qdqYn2WKFvE7r",
      "input": {
        "note": "Teddy is still hanging over the near-left corner of the safe; pushing further forward and to the arm's right to seat it inside the box.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.33,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DFZEcKg54qdqYn2WKFvE7r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8974, 2.3329, 1.9053, -0.7155, -0.8383, -0.7471, 0.014, 0.2821, 1.1126, 0.9756, -1.0832, 0.2195, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.4348 left_y=-0.3287 left_z=0.0848 left_yaw=0.1524 left_pitch=-0.097 left_roll=0.2335 left_gripper=0.014 right_x=0.2377 right_y=0.0326 right_z=0.1472 right_yaw=0.0872 right_pitch=-0.6145 right_roll=-0.2748 right_gripper=0.9954\nstate[joint_eff]: [0.4991, -13.3128, 7.5829, 0.6618, -0.4469, 0.1197, 0.0855, 0.0205, -3.2615, 6.106, 0.9451, 0.0757, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:216c51b7712fd0fbd2e1d19f12bbc481e491eab66dd83ca0f01f8c7b4b9c1d7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:974b3a746089aa4064d76105f0f51baba571b673390e0e577fb82c33b42c570f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aad9dbbf35249c9765d762cd962f8c60500fb28f20165a6314cb4c36bfb6e3c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 6.134 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]: [-1.0077, 1.8286, 1.2434, -0.6415, -0.8867, -0.8612, 0.011, 0.2821, 1.111, 0.9802, -1.0653, 0.2199, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.3248 left_y=-0.2513 left_z=0.1111 left_yaw=0.1295 left_pitch=-0.0806 left_roll=0.2384 left_gripper=0.011 right_x=0.2424 right_y=0.0339 right_z=0.1506 right_yaw=0.09 right_pitch=-0.5908 right_roll=-0.2697 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -11.5624, 6.4068, 1.1111, -0.7204, -0.0415, 0.2369, -0.0889, -2.8513, 6.2701, 1.0574, 0.0513, -0.0464, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.9142, 2.0823, 1.4883, -0.5751, -0.8501, -0.7589, 0.013, 0.2821, 1.113, 0.9802, -1.0801, 0.2199, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.388 left_y=-0.2802 left_z=0.0832 left_yaw=0.1494 left_pitch=-0.0987 left_roll=0.2522 left_gripper=0.013 right_x=0.2392 right_y=0.033 right_z=0.1489 right_yaw=0.0878 right_pitch=-0.6073 right_roll=-0.2736 right_gripper=0.9954\nstate[joint_eff]: [0.6359, -10.7966, 8.1846, 0.9646, -0.4274, 0.1978, 0.2027, -0.0752, -3.0017, 6.2291, 1.0183, 0.0855, -0.0415, -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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8974, 2.3329, 1.9053, -0.7155, -0.8383, -0.7471, 0.014, 0.2821, 1.1126, 0.9756, -1.0832, 0.2195, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.4348 left_y=-0.3287 left_z=0.0848 left_yaw=0.1524 left_pitch=-0.097 left_roll=0.2335 left_gripper=0.014 right_x=0.2377 right_y=0.0326 right_z=0.1472 right_yaw=0.0872 right_pitch=-0.6145 right_roll=-0.2748 right_gripper=0.9954\nstate[joint_eff]: [0.4991, -13.3128, 7.5829, 0.6618, -0.4469, 0.1197, 0.0855, 0.0205, -3.2615, 6.106, 0.9451, 0.0757, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:216c51b7712fd0fbd2e1d19f12bbc481e491eab66dd83ca0f01f8c7b4b9c1d7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:974b3a746089aa4064d76105f0f51baba571b673390e0e577fb82c33b42c570f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aad9dbbf35249c9765d762cd962f8c60500fb28f20165a6314cb4c36bfb6e3c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HovcwZpEjDRP5YeKBWqY9S",
      "input": {
        "note": "All three objects are now inside the red-lined safe. Lifting the gripper straight out of the box before reaching over to the open lid.",
        "targets": {
          "left_x": 0.42,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01HovcwZpEjDRP5YeKBWqY9S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9077, 2.4943, 2.2463, -0.9821, -0.8265, -0.7658, 0.0146, 0.2821, 1.1088, 0.9611, -1.0832, 0.2199, -0.0528, 0.9954]\nstate[eef_state]: left_x=0.4414 left_y=-0.3482 left_z=0.0905 left_yaw=0.1561 left_pitch=-0.1466 left_roll=0.2899 left_gripper=0.0146 right_x=0.2347 right_y=0.0316 right_z=0.1432 right_yaw=0.0854 right_pitch=-0.6249 right_roll=-0.2778 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -18.6051, 10.7556, 0.5739, -0.8181, 0.1001, 0.0513, 0.0479, -3.3573, 6.4479, 1.033, 0.0952, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1cd53c46f983bcb3fe7d127081781a618e31338888cd60e3b35ccab83413f5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59a6233886d60ce9031bc2ca74c0f93ed797413ede4c6c149d57a10865eadd78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ddb22bdf9abd6fdb6a3ed3d423a0af2162a1e1a80baf4db305597e542dfe0883",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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