adhoc

completed
2026-09-22T20:36:37.085013+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
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
184.1 s
total steps
151
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 noteSafe (open, lid up) is at table centre; lemon right of it, small white bear left of it, brown bear in front. Moving the right arm above the lemon first.
move_to
right_x0.4000right_y0.1400right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7918, 0.6041, -0.3889, -0.0193, -0.0299, 0.9992, -0.0212, 0.7933, 0.6064, -0.3958, -0.0189, -0.0261, 0.9996] state[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2929 right_y=0.0007 right_z=0.178 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5812, -1.4154, 10.2496, 1.9707, -0.0757, 0.1538, -0.0952, -0.3487, -1.4564, 9.6889, 1.9023, -0.0366, 0.0757, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.14, "right_z": 0.15}, "note": "Safe (open, lid up) is at table centre; lemon right of it, small white bear left of it, brown bear in front. Moving the right arm above the lemon first."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteLemon visible slightly right of and ahead of the jaws in the right wrist view; shifting forward/right and lowering.
move_to
right_x0.4200right_y0.1250right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0189, -0.0311, 0.9991, 0.4854, 1.4544, 0.8467, -0.1123, 0.3683, 0.2386, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1752 left_yaw=0.0007 left_pitch=-0.0191 left_roll=-0.0008 left_gripper=0.9991 right_x=0.383 right_y=0.1342 right_z=0.1288 right_yaw=0.0393 right_pitch=-0.0806 right_roll=-0.0425 right_gripper=0.9996 state[joint_eff]: [-0.2256, -1.4291, 6.9675, 1.8535, -0.0659, -0.0269, -0.0171, 0.1846, -6.106, 8.841, 1.9463, 0.359, 0.2613, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.125, "right_z": 0.1}, "note": "Lemon visible slightly right of and ahead of the jaws in the right wrist view; shifting forward/right and lowering."})
tool
executing move_to over 3 steps (0.3s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteLemon nearly centred on the jaw column, a bit ahead; nudging forward and descending to grasp height.
move_to
right_x0.4300right_y0.1150right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4088, -0.0189, -0.0311, 0.9991, 0.4114, 1.5982, 0.8585, -0.0219, 0.3279, 0.2028, 0.9996] state[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0007 left_pitch=-0.024 left_roll=-0.0007 left_gripper=0.9991 right_x=0.4067 right_y=0.1193 right_z=0.0915 right_yaw=0.0158 right_pitch=-0.1307 right_roll=-0.0624 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.3333, 7.0222, 1.7118, -0.0659, -0.022, -0.0122, 0.5675, -8.3487, 7.5556, 2.1661, 0.0415, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.115, "right_z": 0.02}, "note": "Lemon nearly centred on the jaw column, a bit ahead; nudging forward and descending to grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe descent stalled at z≈0.08 with the lemon still ahead of the jaws; retrying the descent with a slightly different target.
move_to
right_x0.4200right_y0.1180right_z0.0300right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4133, -0.0189, -0.0315, 0.9991, 0.4046, 1.6291, 0.8585, -0.001, 0.2981, 0.1833, 0.9996] state[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1731 left_yaw=0.0009 left_pitch=-0.0286 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4091 right_y=0.1226 right_z=0.0815 right_yaw=0.0433 right_pitch=-0.1482 right_roll=-0.0615 right_gripper=0.9996 state[joint_eff]: [-0.0615, -1.2376, 7.0496, 1.7656, -0.0415, -0.0611, -0.0122, -0.3487, -8.3487, 7.2821, 1.9365, 0.1538, -0.0562, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.118, "right_z": 0.03, "right_pitch": 0.0}, "note": "The descent stalled at z\u22480.08 with the lemon still ahead of the jaws; retrying the descent with a slightly different target."})
tool
executing move_to over 5 steps (0.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteRight arm is not moving at all (joints frozen); backing up and raising to get out of what looks like an IK/joint-limit stall.
move_to
right_x0.3800right_y0.1200right_z0.1200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0315, 0.9991, 0.4046, 1.6291, 0.8585, -0.001, 0.2981, 0.1833, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0009 left_pitch=-0.0431 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4091 right_y=0.1226 right_z=0.0815 right_yaw=0.0433 right_pitch=-0.1482 right_roll=-0.0615 right_gripper=0.9996 state[joint_eff]: [-0.0752, -1.1829, 7.0359, 1.8193, -0.0513, -0.0611, -0.0122, -0.1846, -8.4034, 7.5829, 1.9463, 0.1392, -0.0904, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.12, "right_z": 0.12, "right_pitch": 0.0}, "note": "Right arm is not moving at all (joints frozen); backing up and raising to get out of what looks like an IK/joint-limit stall."})
tool
executing move_to over 5 steps (0.5s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteArm responds again; lemon centred on jaw column ahead. Descending in a smaller step while moving forward.
move_to
right_x0.4100right_y0.1200right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8028, 0.6067, -0.4355, -0.0193, -0.0345, 0.9991, 0.4583, 1.4467, 0.7139, 0.0364, 0.3485, 0.1833, 0.9996] state[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1675 left_yaw=0.0029 left_pitch=-0.0549 left_roll=-0.0026 left_gripper=0.9991 right_x=0.3756 right_y=0.122 right_z=0.1034 right_yaw=0.0593 right_pitch=-0.0659 right_roll=-0.0649 right_gripper=0.9996 state[joint_eff]: [-0.1162, -1.0462, 7.159, 1.8095, -0.0513, -0.022, -0.0122, 0.1026, -6.3521, 6.5436, 2.0098, 0.3541, -0.0904, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.12, "right_z": 0.06}, "note": "Arm responds again; lemon centred on jaw column ahead. Descending in a smaller step while moving forward."})
tool
executing move_to over 3 steps (0.3s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteLemon centred but still ahead of the fingertips; moving forward ~3 cm and down to table level.
move_to
right_x0.4300right_y0.1150right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4492, -0.0189, -0.0349, 0.9991, 0.4084, 1.6489, 0.7158, 0.1703, 0.3206, 0.1562, 0.9996] state[eef_state]: left_x=0.2861 left_y=0.0015 left_z=0.164 left_yaw=0.0028 left_pitch=-0.0717 left_roll=-0.0028 left_gripper=0.9991 right_x=0.3939 right_y=0.1137 right_z=0.05 right_yaw=0.0443 right_pitch=-0.1355 right_roll=-0.0936 right_gripper=0.9996 state[joint_eff]: [-0.294, -1.388, 6.9812, 2.0342, -0.0269, -0.0366, -0.0122, -0.1983, -9.3607, 6.7761, 2.1123, 0.1099, -0.1001, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.115, "right_z": 0.01}, "note": "Lemon centred but still ahead of the fingertips; moving forward ~3 cm and down to table level."})
tool
executing move_to over 3 steps (0.3s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteMoves are being rate-clamped so the arm only partially reached; lemon now large and just right of centre. Continuing forward/down to straddle it.
move_to
right_x0.4350right_y0.1100right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0383, 0.9991, 0.3969, 1.7199, 0.7151, 0.2466, 0.2985, 0.1421, 0.9996] state[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0824 left_roll=-0.0053 left_gripper=0.9991 right_x=0.4012 right_y=0.1157 right_z=0.0343 right_yaw=0.0589 right_pitch=-0.1372 right_roll=-0.0882 right_gripper=0.9996 state[joint_eff]: [-0.1436, -1.2513, 6.9675, 1.7167, -0.0562, -0.0073, -0.0122, -0.1299, -6.3932, 6.4615, 1.6239, 0.2906, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.435, "right_y": 0.11, "right_z": 0.0}, "note": "Moves are being rate-clamped so the arm only partially reached; lemon now large and just right of centre. Continuing forward/down to straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteArm froze again at x≈0.40, z≈0.034 with lemon just ahead. Trying a forward wrist pitch to make the low forward pose easier for IK.
move_to
right_x0.4150right_y0.1120right_z0.0100right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0383, 0.9991, 0.3969, 1.7199, 0.7151, 0.247, 0.2985, 0.1417, 0.9996] state[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0824 left_roll=-0.0053 left_gripper=0.9991 right_x=0.4013 right_y=0.1158 right_z=0.0344 right_yaw=0.0591 right_pitch=-0.1368 right_roll=-0.0884 right_gripper=0.9996 state[joint_eff]: [-0.1162, -1.2513, 6.9675, 1.707, -0.0562, -0.0562, -0.0122, -0.4991, -6.7897, 6.5709, 1.5604, 0.2369, -0.0513, -0.0171] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.112, "right_z": 0.01, "right_pitch": 0.25}, "note": "Arm froze again at x\u22480.40, z\u22480.034 with lemon just ahead. Trying a forward wrist pitch to make the low forward pose easier for IK."})
tool
executing move_to over 13 steps (1.3s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent notePitch helped; lemon now at the bottom of the wrist view, slightly right of the jaws. Shifting 1 cm right and descending around it.
move_to
right_x0.4250right_y0.1080right_z0.0100right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9991, 0.4046, 2.0552, 0.5171, 1.2621, 0.3595, 0.078, 0.9995] state[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.005 left_pitch=-0.0992 left_roll=-0.0052 left_gripper=0.9991 right_x=0.4254 right_y=0.1184 right_z=0.0388 right_yaw=0.035 right_pitch=0.3246 right_roll=-0.0073 right_gripper=0.9995 state[joint_eff]: [-0.1709, -1.4291, 7.0769, 1.8242, -0.0562, -0.0659, -0.0122, 0.0752, -5.0667, 1.812, 0.6813, 0.1392, -0.4908, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.425, "right_y": 0.108, "right_z": 0.01, "right_pitch": 0.25}, "note": "Pitch helped; lemon now at the bottom of the wrist view, slightly right of the jaws. Shifting 1 cm right and descending around it."})
tool
executing move_to over 3 steps (0.3s)
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 noteDescent stopped at z≈0.039, about the lemon's mid-height, with the lemon between the jaws. Closing the gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4801, -0.0189, -0.0383, 0.9991, 0.3756, 2.0819, 0.519, 1.3117, 0.3214, 0.0879, 0.9995] state[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.157 left_yaw=0.0048 left_pitch=-0.1064 left_roll=-0.0047 left_gripper=0.9991 right_x=0.4299 right_y=0.1134 right_z=0.0389 right_yaw=0.0308 right_pitch=0.3444 right_roll=0.0219 right_gripper=0.9995 state[joint_eff]: [-0.0615, -1.2513, 6.9675, 1.6825, -0.0806, -0.0562, -0.0122, -0.5675, -5.1077, 3.9316, 1.1404, 0.1587, -0.0757, -0.0122] 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_gripper": 0.0}, "note": "Descent stopped at z\u22480.039, about the lemon's mid-height, with the lemon between the jaws. Closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteEmpty close: the lemon was nudged forward and now stands ~5 cm ahead of the jaws. Opening, lifting and moving forward above it.
move_to
right_gripper1.0000right_z0.0800right_x0.4650right_y0.1200right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4808, -0.0189, -0.0383, 0.9991, 0.3687, 2.1078, 0.5232, 1.235, 0.3065, 0.0895, 0.0086] state[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1568 left_yaw=0.0048 left_pitch=-0.1072 left_roll=-0.0047 left_gripper=0.9991 right_x=0.4246 right_y=0.1107 right_z=0.0115 right_yaw=0.0459 right_pitch=0.2499 right_roll=-0.0059 right_gripper=0.0086 state[joint_eff]: [-0.1026, -1.2376, 6.9538, 1.619, -0.0659, -0.0611, -0.0122, -0.2667, -7.6923, 2.9744, 1.9219, 0.0952, -0.0366, 0.735] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.08, "right_x": 0.465, "right_y": 0.12, "right_pitch": 0.3}, "note": "Empty close: the lemon was nudged forward and now stands ~5 cm ahead of the jaws. Opening, lifting and moving forward above it."})
tool
executing move_to over 10 steps (1.0s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteLemon now sits between the open jaws in the wrist view, slightly right. Descending straight down around it.
move_to
right_x0.4650right_y0.1150right_z0.0150right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4957, -0.0189, -0.0383, 0.9991, 0.3565, 1.9503, 0.6617, 0.9306, 0.2913, 0.0639, 0.9946] state[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.154 left_yaw=0.0048 left_pitch=-0.122 left_roll=-0.0044 left_gripper=0.9991 right_x=0.455 right_y=0.1191 right_z=0.055 right_yaw=0.0619 right_pitch=0.2401 right_roll=-0.0282 right_gripper=0.9946 state[joint_eff]: [-0.0479, -1.265, 6.9675, 1.8193, -0.022, -0.0464, -0.0122, -0.5812, -10.4957, 6.6667, 2.0586, 0.0269, 0.0952, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.115, "right_z": 0.015, "right_pitch": 0.3}, "note": "Lemon now sits between the open jaws in the wrist view, slightly right. Descending straight down around it."})
tool
executing move_to over 3 steps (0.3s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteLemon centred between the jaws; arm still settling downward (z 0.04), repeating descent target so it reaches grasp height before closing.
move_to
right_x0.4650right_y0.1180right_z0.0150right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8124, 0.6067, -0.5068, -0.0189, -0.0383, 0.9991, 0.3443, 2.1262, 0.6861, 1.182, 0.2684, 0.0719, 0.9953] state[eef_state]: left_x=0.2774 left_y=0.0017 left_z=0.1512 left_yaw=0.0049 left_pitch=-0.1358 left_roll=-0.004 left_gripper=0.9991 right_x=0.4695 right_y=0.1224 right_z=0.0401 right_yaw=0.0565 right_pitch=0.3339 right_roll=0.0166 right_gripper=0.9953 state[joint_eff]: [-0.0615, -1.306, 6.9949, 1.7705, -0.0562, 0.022, -0.0122, -0.9778, -6.0786, 3.1795, 0.5153, 0.3297, -0.3932, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.118, "right_z": 0.015, "right_pitch": 0.3}, "note": "Lemon centred between the jaws; arm still settling downward (z 0.04), repeating descent target so it reaches grasp height before closing."})
tool
executing move_to over 2 steps (0.2s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteArm holding at z≈0.04 with the lemon squarely between the jaws; closing now.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.514, -0.0189, -0.0383, 0.9991, 0.3447, 2.1681, 0.688, 1.2663, 0.2596, 0.0692, 0.9953] state[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1494 left_yaw=0.0049 left_pitch=-0.1449 left_roll=-0.0038 left_gripper=0.9991 right_x=0.4715 right_y=0.1249 right_z=0.0409 right_yaw=0.0616 right_pitch=0.3758 right_roll=0.0292 right_gripper=0.9953 state[joint_eff]: [-0.0068, -1.3607, 6.8991, 1.6923, -0.0464, -0.022, -0.0122, -0.6496, -9.9624, 3.0838, 1.3211, -0.0073, -0.0855, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Arm holding at z\u22480.04 with the lemon squarely between the jaws; closing now."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteGripper settled at 0.51 (~4.8 cm), suggesting something is held, though the wrist view is ambiguous. Lifting to verify.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5377, -0.0189, -0.038, 0.9991, 0.3431, 2.1578, 0.6804, 1.2175, 0.2394, 0.0792, 0.5103] state[eef_state]: left_x=0.2725 left_y=0.0018 left_z=0.1439 left_yaw=0.0048 left_pitch=-0.1731 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4674 right_y=0.1263 right_z=0.0316 right_yaw=0.0769 right_pitch=0.3299 right_roll=0.0311 right_gripper=0.5103 state[joint_eff]: [-0.1436, -1.4154, 6.8991, 1.8584, -0.0513, 0.0073, -0.0122, -0.1436, -9.0872, 3.5214, 1.7753, 0.2369, -0.0757, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Gripper settled at 0.51 (~4.8 cm), suggesting something is held, though the wrist view is ambiguous. Lifting to verify."})
tool
executing move_to over 5 steps (0.5s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteLemon lifted with the jaws (gripper still 0.51). Carrying it over the safe's red interior, which is to the left.
move_to
right_z0.1600right_y0.2400right_x0.4300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5472, -0.0189, -0.0387, 0.9991, 0.3435, 1.9148, 0.6758, 0.9352, 0.2272, 0.0822, 0.5074] state[eef_state]: left_x=0.2709 left_y=0.0018 left_z=0.1421 left_yaw=0.0052 left_pitch=-0.1831 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4612 right_y=0.1265 right_z=0.0762 right_yaw=0.0898 right_pitch=0.2866 right_roll=0.0257 right_gripper=0.5074 state[joint_eff]: [-0.0615, -0.7453, 6.9128, 1.6728, -0.0855, -0.0513, -0.0122, -0.3897, -10.1128, 6.7624, 2.3077, 0.0952, -0.0757, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16, "right_y": 0.24, "right_x": 0.43}, "note": "Lemon lifted with the jaws (gripper still 0.51). Carrying it over the safe's red interior, which is to the left."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe lemon was not actually held — it's still on the table right of the safe, farther forward (~x 0.49, y 0.11). Opening and hovering above it.
move_to
right_z0.1400right_y0.1100right_x0.4800right_gripper1.0000right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5617, -0.0189, -0.0383, 0.9991, 0.6758, 1.7836, 0.8848, 0.4583, 0.5205, 0.1886, 0.5074] state[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0051 left_pitch=-0.1972 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4252 right_y=0.2329 right_z=0.1207 right_yaw=0.1251 right_pitch=0.2036 right_roll=-0.0262 right_gripper=0.5074 state[joint_eff]: [0.0068, -1.1009, 7.0222, 1.6972, -0.0806, -0.0562, -0.0122, 0.3214, -11.8496, 8.7863, 2.2393, 0.1636, 0.0904, 1.0281] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14, "right_y": 0.11, "right_x": 0.48, "right_gripper": 1.0, "right_pitch": 0.3}, "note": "The lemon was not actually held \u2014 it's still on the table right of the safe, farther forward (~x 0.49, y 0.11). Opening and hovering above it."})
tool
executing move_to over 11 steps (1.1s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteLemon is right under the jaws, slightly right of centre, long axis radial. Shifting 1.5 cm right and descending to grasp across its width.
move_to
right_z0.0250right_y0.0980right_x0.4850right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5739, -0.0189, -0.0387, 0.9991, 0.2909, 1.7607, 0.7971, 0.6094, 0.1814, 0.0223, 0.9976] state[eef_state]: left_x=0.2663 left_y=0.0019 left_z=0.1374 left_yaw=0.0054 left_pitch=-0.2097 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4754 right_y=0.1128 right_z=0.1199 right_yaw=0.1136 right_pitch=0.2342 right_roll=-0.0292 right_gripper=0.9976 state[joint_eff]: [-0.0068, -1.1282, 7.0496, 1.6239, -0.0659, -0.0708, -0.0122, -0.335, -9.8667, 5.8188, 2.293, 0.0708, -0.0855, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.025, "right_y": 0.098, "right_x": 0.485, "right_pitch": 0.3}, "note": "Lemon is right under the jaws, slightly right of centre, long axis radial. Shifting 1.5 cm right and descending to grasp across its width."})
tool
executing move_to over 7 steps (0.7s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteLemon sits right of the jaw centre and the right finger appears to be resting on it (descent halted at z 0.04). Shifting further right before lowering.
move_to
right_z0.0200right_y0.0850right_x0.4850right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.585, -0.0189, -0.0383, 0.9991, 0.247, 2.1227, 0.7254, 1.1248, 0.1303, 0.012, 0.9988] state[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1351 left_yaw=0.0052 left_pitch=-0.2223 left_roll=-0.0019 left_gripper=0.9991 right_x=0.4859 right_y=0.1026 right_z=0.04 right_yaw=0.1164 right_pitch=0.3124 right_roll=-0.0103 right_gripper=0.9988 state[joint_eff]: [-0.253, -1.3744, 6.8581, 1.6386, -0.0269, -0.0317, -0.0122, -0.759, -7.0359, 4.2872, 0.8767, 0.1978, -0.2076, 0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02, "right_y": 0.085, "right_x": 0.485, "right_pitch": 0.3}, "note": "Lemon sits right of the jaw centre and the right finger appears to be resting on it (descent halted at z 0.04). Shifting further right before lowering."})
tool
executing move_to over 2 steps (0.2s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteRight finger is resting on the lemon and the arm won't slide sideways in contact; lifting a bit and shifting right to clear it. (The safe lid appears to be falling closed on its own.)
move_to
right_z0.0700right_y0.0800right_x0.4850right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5854, -0.0189, -0.0387, 0.9991, 0.2256, 2.1586, 0.725, 1.203, 0.0906, 0.0074, 0.9989] state[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.135 left_yaw=0.0054 left_pitch=-0.2227 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4892 right_y=0.0996 right_z=0.0412 right_yaw=0.1311 right_pitch=0.3529 right_roll=0.0004 right_gripper=0.9989 state[joint_eff]: [-0.0205, -1.1419, 7.0632, 1.4921, -0.0659, -0.0366, -0.0122, -1.6342, -7.0632, 2.7556, 1.4237, 0.3736, -0.105, -0.0024] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.07, "right_y": 0.08, "right_x": 0.485, "right_pitch": 0.3}, "note": "Right finger is resting on the lemon and the arm won't slide sideways in contact; lifting a bit and shifting right to clear it. (The safe lid appears to be falling closed on its own.)"})
tool
executing move_to over 2 steps (0.2s)
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 noteLemon now sits between the jaws at grasp height; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5884, -0.0189, -0.0387, 0.9991, 0.1997, 2.1639, 0.7231, 1.2175, 0.0662, 0.0067, 0.9989] state[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1345 left_yaw=0.0055 left_pitch=-0.2258 left_roll=-0.0021 left_gripper=0.9991 right_x=0.491 right_y=0.0911 right_z=0.0414 right_yaw=0.1272 right_pitch=0.3597 right_roll=0.0061 right_gripper=0.9989 state[joint_eff]: [-0.1709, -1.1829, 6.8581, 1.5214, -0.0806, -0.0513, -0.0122, -0.7179, -7.5556, 2.9607, 1.6484, 0.105, -0.149, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"right_gripper": 0.0}, "note": "Lemon now sits between the jaws at grasp height; closing."})
tool
executing move_to over 10 steps (1.0s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteJaws closed just short of the lemon: it lies beyond the fingertips near the reach limit. Opening and reaching further with more forward wrist pitch.
move_to
right_gripper1.0000right_x0.5250right_y0.0950right_z0.0450right_pitch0.5500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5888, -0.0189, -0.0383, 0.9991, 0.2016, 2.1639, 0.7235, 1.2465, 0.0547, 0.0048, 0.0087] state[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.1344 left_yaw=0.0053 left_pitch=-0.2261 left_roll=-0.0018 left_gripper=0.9991 right_x=0.4921 right_y=0.0944 right_z=0.0485 right_yaw=0.1397 right_pitch=0.3889 right_roll=0.0088 right_gripper=0.0087 state[joint_eff]: [-0.0205, -1.1692, 6.8308, 1.5604, -0.0562, -0.0269, -0.0122, -0.3077, -9.6068, 3.9316, 1.5897, 0.1099, 0.0269, 0.7399] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.525, "right_y": 0.095, "right_z": 0.045, "right_pitch": 0.55}, "note": "Jaws closed just short of the lemon: it lies beyond the fingertips near the reach limit. Opening and reaching further with more forward wrist pitch."})
tool
executing move_to over 10 steps (1.0s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteLemon now at the bottom of the wrist view just right of the jaw centre; nudging right and descending onto it.
move_to
right_x0.5250right_y0.0900right_z0.0150right_pitch0.5500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0189, -0.0387, 0.9991, 0.1894, 2.3478, 0.86, 1.4776, 0.0322, -0.0044, 0.9946] state[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1338 left_yaw=0.0055 left_pitch=-0.23 left_roll=-0.002 left_gripper=0.9991 right_x=0.523 right_y=0.0981 right_z=0.0589 right_yaw=0.1496 right_pitch=0.5724 right_roll=0.0116 right_gripper=0.9946 state[joint_eff]: [-0.2667, -1.2239, 6.8308, 1.5116, -0.0855, -0.0513, -0.0122, -0.6632, -8.0479, 4.6838, 1.6777, 0.0171, -0.0513, -0.1441] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.525, "right_y": 0.09, "right_z": 0.015, "right_pitch": 0.55}, "note": "Lemon now at the bottom of the wrist view just right of the jaw centre; nudging right and descending onto it."})
tool
executing move_to over 3 steps (0.3s)
step 150
assistant
agent noteI didn't get any object into the safe, and the safe is now shut. Both grasps on the lemon came up empty, and each attempt nudged it further forward. It's now at about right_x 0.53, beyond the arm's low reach: at x ≈ 0.53 the right arm can't get below z ≈ 0.06 even with the wrist pitched forward. Meanwhile the safe lid fell shut by itself, so it would have to be reopened too. With ~13 calls left, two bears and the lemon still to place, and the lid to reopen, I can't finish the task in the remaining budget.
give_up
hindsight- Short moves get rate-limited: 2–5 step moves are clamped per step and the arm often stops well short, especially on descents. Re-send the target, or plan bigger single moves. When a low forward target stalls completely (joints frozen), adding right_pitch ≈ 0.25–0.3 got it moving again. - Low reach is less than it looks: with pitch 0.3 the jaws reach z ≈ 0.04 at x ≈ 0.47–0.49. At x ≈ 0.53 even pitch 0.55 can't get below z ≈ 0.06. Grab objects before they get pushed past x ≈ 0.47. - A slow descent followed by a close pushed the round lemon forward twice. Make sure the arm has actually reached grasp height (check the readback) before closing, and approach round objects from slightly beyond them rather than short of them. - A settled gripper reading of 0.51 once happened with nothing held (the lemon was still on the table). Always lift and check the top cam. - Scene layout: the red safe sits at table centre (≈ right_x 0.40–0.45, right_y 0.25–0.33). Its hinged silver lid opens toward the back and slowly fell shut on its own (or after a light bump) within about a minute. Consider putting the objects in quickly, or propping or re-opening the lid, and closing the lid last by pushing it forward/down from behind. - Top-cam scale: the two grippers at x = 0.29 appear about 180 px apart for 0.65 m, i.e. ~2.8 px/cm laterally at that depth. My estimate put the lemon at right_x 0.40, but it was really ~0.45: the depth estimate from image-y undershot. - The left arm drifts down noticeably if left idle (0.179 → 0.134 over the trial).
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0185, -0.0387, 0.9991, 0.1772, 2.4218, 0.915, 1.5787, 0.004, 0.0029, 0.9953] state[eef_state]: left_x=0.263 left_y=0.0019 left_z=0.1338 left_yaw=0.0052 left_pitch=-0.23 left_roll=-0.0023 left_gripper=0.9991 right_x=0.5315 right_y=0.0981 right_z=0.0634 right_yaw=0.1597 right_pitch=0.6544 right_roll=0.0223 right_gripper=0.9953 state[joint_eff]: [-0.2256, -1.1966, 7.0496, 1.5556, -0.0171, -0.0513, -0.0122, -1.0735, -4.4513, 1.894, 1.6728, 0.1245, -0.1245, 0.0562] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I didn't get any object into the safe, and the safe is now shut. Both grasps on the lemon came up empty, and each attempt nudged it further forward. It's now at about right_x 0.53, beyond the arm's low reach: at x \u2248 0.53 the right arm can't get below z \u2248 0.06 even with the wrist pitched forward. Meanwhile the safe lid fell shut by itself, so it would have to be reopened too. With ~13 calls left, two bears and the lemon still to place, and the lid to reopen, I can't finish the task in the remaining budget.", "hindsight": "- Short moves get rate-limited: 2\u20135 step moves are clamped per step and the arm often stops well short, especially on descents. Re-send the target, or plan bigger single moves. When a low forward target stalls completely (joints frozen), adding right_pitch \u2248 0.25\u20130.3 got it moving again.\n- Low reach is less than it looks: with pitch 0.3 the jaws reach z \u2248 0.04 at x \u2248 0.47\u20130.49. At x \u2248 0.53 even pitch 0.55 can't get below z \u2248 0.06. Grab objects before they get pushed past x \u2248 0.47.\n- A slow descent followed by a close pushed the round lemon forward twice. Make sure the arm has actually reached grasp height (check the readback) before closing, and approach round objects from slightly beyond them rather than short of them.\n- A settled gripper reading of 0.51 once happened with nothing held (the lemon was still on the table). Always lift and check the top cam.\n- Scene layout: the red safe sits at table centre (\u2248 right_x 0.40\u20130.45, right_y 0.25\u20130.33). Its hinged silver lid opens toward the back and slowly fell shut on its own (or after a light bump) within about a minute. Consider putting the objects in quickly, or propping or re-opening the lid, and closing the lid last by pushing it forward/down from behind.\n- Top-cam scale: the two grippers at x = 0.29 appear about 180 px apart for 0.65 m, i.e. ~2.8 px/cm laterally at that depth. My estimate put the lemon at right_x 0.40, but it was really ~0.45: the depth estimate from image-y undershot.\n- The left arm drifts down noticeably if left idle (0.179 \u2192 0.134 over the trial)."})
tool
give_up: I didn't get any object into the safe, and the safe is now shut. Both grasps on the lemon came up empty, and each attempt nudged it further forward. It's now at about right_x 0.53, beyond the arm's low reach: at x ≈ 0.53 the right arm can't get below z ≈ 0.06 even with the wrist pitched forward. Meanwhile the safe lid fell shut by itself, so it would have to be reopened too. With ~13 calls left, two bears and the lemon still to place, and the lid to reopen, I can't finish the task in the remaining budget.
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 · 13.89 s
model
claude-opus-5-5
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, 0.7918, 0.6041, -0.3889, -0.0193, -0.0299, 0.9992, -0.0212, 0.7933, 0.6064, -0.3958, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2929 right_y=0.0007 right_z=0.178 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.4154, 10.2496, 1.9707, -0.0757, 0.1538, -0.0952, -0.3487, -1.4564, 9.6889, 1.9023, -0.0366, 0.0757, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd6ae9809c539983a1875049ecce3aa585d8b40f724f8c858f2101b3a850aab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa5caf60a48b36d8be61bdccf0c8dc3036c21dcd0573f5438a8927336c429f46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c28c31ddecbf4ae337d1705a059dd7cc10b8a0e0a63642edd4bdd84e4556475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 3.781 s
model
claude-opus-5-5
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, 0.7918, 0.6041, -0.3889, -0.0193, -0.0299, 0.9992, -0.0212, 0.7933, 0.6064, -0.3958, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2929 right_y=0.0007 right_z=0.178 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.4154, 10.2496, 1.9707, -0.0757, 0.1538, -0.0952, -0.3487, -1.4564, 9.6889, 1.9023, -0.0366, 0.0757, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd6ae9809c539983a1875049ecce3aa585d8b40f724f8c858f2101b3a850aab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa5caf60a48b36d8be61bdccf0c8dc3036c21dcd0573f5438a8927336c429f46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c28c31ddecbf4ae337d1705a059dd7cc10b8a0e0a63642edd4bdd84e4556475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013LKSyj13aNUKdNhmn2Lnm5",
      "input": {
        "note": "Safe (open, lid up) is at table centre; lemon right of it, small white bear left of it, brown bear in front. Moving the right arm above the lemon first.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.14,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_013LKSyj13aNUKdNhmn2Lnm5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0189, -0.0311, 0.9991, 0.4854, 1.4544, 0.8467, -0.1123, 0.3683, 0.2386, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1752 left_yaw=0.0007 left_pitch=-0.0191 left_roll=-0.0008 left_gripper=0.9991 right_x=0.383 right_y=0.1342 right_z=0.1288 right_yaw=0.0393 right_pitch=-0.0806 right_roll=-0.0425 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.4291, 6.9675, 1.8535, -0.0659, -0.0269, -0.0171, 0.1846, -6.106, 8.841, 1.9463, 0.359, 0.2613, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa6b097b5a63d4d6a1e0a7f54b4a3805f5b00a5b44307428baadc9e85d8a071",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3066d6791c1761a69aec5a2caaa2ffcc744cfb97d19250adba348f57505732c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5eeb22c1666226c43a1a664baea16e1042dc9dc8bf223de098b79c78e9183cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.118 s
model
claude-opus-5-5
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, 0.7918, 0.6041, -0.3889, -0.0193, -0.0299, 0.9992, -0.0212, 0.7933, 0.6064, -0.3958, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2929 right_y=0.0007 right_z=0.178 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.4154, 10.2496, 1.9707, -0.0757, 0.1538, -0.0952, -0.3487, -1.4564, 9.6889, 1.9023, -0.0366, 0.0757, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0189, -0.0311, 0.9991, 0.4854, 1.4544, 0.8467, -0.1123, 0.3683, 0.2386, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1752 left_yaw=0.0007 left_pitch=-0.0191 left_roll=-0.0008 left_gripper=0.9991 right_x=0.383 right_y=0.1342 right_z=0.1288 right_yaw=0.0393 right_pitch=-0.0806 right_roll=-0.0425 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.4291, 6.9675, 1.8535, -0.0659, -0.0269, -0.0171, 0.1846, -6.106, 8.841, 1.9463, 0.359, 0.2613, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa6b097b5a63d4d6a1e0a7f54b4a3805f5b00a5b44307428baadc9e85d8a071",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3066d6791c1761a69aec5a2caaa2ffcc744cfb97d19250adba348f57505732c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5eeb22c1666226c43a1a664baea16e1042dc9dc8bf223de098b79c78e9183cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wcKEAgSGAI4AUIIdGhpbmtpbmcSDKzRocbqpn5Lz2h90xoMlaEWmo5GKhb4pGJOIjAjxI84aI8RgHY9gjJMjBvo86v/jUnizMEJUOSayoZlcXV6OU8iBD8vAUudFrj8fM0q/Aa6RfFUkKq8ZozGrVEm6tUJYFUW2iWXWsW1BtJxZJO94VSlLxTC39/YOLCpPuSrBjepiOxukekeZXy7SBl2CPyYwZ0ll6H8DCbNp6fBhz3fmFWLgrIgrJl3wv4FpTT3Ggu+o/vitzluza4flGB4knoajjZ2tMQGNVnfa8Wd2S9HbwqL6gwTn+nbTRzUFi610H/yHuBvVgTkTcfozQWqk87n6ZYTioojXImMJFMJLW5C9lgs4AyQAUZz5dZfdS1U8eNrC666dpWanC0w3yF2sEbucD9vX+y+Bcj/+uOeCGXQk7ryKTFeKt9FOwVKGOFCGmXlqJ3CM/7lS2v+jGi32A3E5+j9O8cyiXDrrqblZA1Prak+WFR3ZENzLKsSNIDXlM6nOscpmt+un0EjFAtfpisPcifuO40ehXgZUy7M8OOT4PKoDN1C4BEAVkvDX60h191AU25JSowPmq9SSUgl+/yq1UV+iNBzLHHNvRx7dJ9EVHVRlpFLIl8ihr+Vb1G2xlh51ALmVkTEEnGRRzufBBMOOjsiXffBUIFpvpt+1ha3D2/MNroOkHfzbo5iPSG6X1PLMS/wZQC7RFYBOH6odUj/mKVHJkmFmJz91K2ddBn0mXRNzJSIOQ2H+JzrvatgBq8l7q4Tuh8g+VuASiX1X7m49LZZ0r+ZdGXGjSsPMh6qPzi8GsHBHTj8FDQBt4rUuQvUcb9VNj7Dl6E3Fu8ZZdlyUp07mr1wh7wbz+zSlm1mKJm2As4s+5/BiUhvwADjoR1fZ2UBqx1K70g8irwNCJ38Z96aHpfabhirBxkrVdPXUq5s6S5kAMSX9dQNZVmqDQ1EOiEaeUF8JTgaDAA0WimSO2PLZ13xudwTO7o/LToGQkwOOqGt95u0Efn/m2jvQ5ulbx7C5lhc28MNMvDyp7debREPanTfCxDJhtfa0nfUgQZc/J77Deu2QMpwJCvArGap3NxWV31TLgdoY22v9dUwzA+IwqUXMYF2entcyKXQcrrYMGn8UsNtAxdmBEfqgwzl1YvOatm/DxX3hRxyrBlM5paRZByCBie8kyr7Mieqy5j25dUxmpTH9Q/jIc83cZfJQ0tly1F/0dvmACa/gO2iootLIIsYPzTBqiQ+HeZVue7f6qSPqupxrKQOjwVpsrZSpufzYiZXpUG7JQtEQj9CC3cfT5ldCgMvtqyVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0179g711ro2JQRFD38M7hJ7B",
      "input": {
        "note": "Lemon visible slightly right of and ahead of the jaws in the right wrist view; shifting forward/right and lowering.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.125,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0179g711ro2JQRFD38M7hJ7B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4088, -0.0189, -0.0311, 0.9991, 0.4114, 1.5982, 0.8585, -0.0219, 0.3279, 0.2028, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0007 left_pitch=-0.024 left_roll=-0.0007 left_gripper=0.9991 right_x=0.4067 right_y=0.1193 right_z=0.0915 right_yaw=0.0158 right_pitch=-0.1307 right_roll=-0.0624 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3333, 7.0222, 1.7118, -0.0659, -0.022, -0.0122, 0.5675, -8.3487, 7.5556, 2.1661, 0.0415, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58a02374bf2a6bfcd8ffbd1251f184a9845a83d7b4e5b029b6d165b2c55930ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:943fadfb7e57ff48a8cf2bbe04d66914b1befb9d0bd2a8a7cd390684ade9e859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2bd41b8671190d4bd72a740be4491aca33706630681c0bdc91a60d76d4d9301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.91 s
model
claude-opus-5-5
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, 0.7918, 0.6041, -0.3889, -0.0193, -0.0299, 0.9992, -0.0212, 0.7933, 0.6064, -0.3958, -0.0189, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2929 right_y=0.0007 right_z=0.178 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.4154, 10.2496, 1.9707, -0.0757, 0.1538, -0.0952, -0.3487, -1.4564, 9.6889, 1.9023, -0.0366, 0.0757, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0189, -0.0311, 0.9991, 0.4854, 1.4544, 0.8467, -0.1123, 0.3683, 0.2386, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1752 left_yaw=0.0007 left_pitch=-0.0191 left_roll=-0.0008 left_gripper=0.9991 right_x=0.383 right_y=0.1342 right_z=0.1288 right_yaw=0.0393 right_pitch=-0.0806 right_roll=-0.0425 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.4291, 6.9675, 1.8535, -0.0659, -0.0269, -0.0171, 0.1846, -6.106, 8.841, 1.9463, 0.359, 0.2613, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4088, -0.0189, -0.0311, 0.9991, 0.4114, 1.5982, 0.8585, -0.0219, 0.3279, 0.2028, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0007 left_pitch=-0.024 left_roll=-0.0007 left_gripper=0.9991 right_x=0.4067 right_y=0.1193 right_z=0.0915 right_yaw=0.0158 right_pitch=-0.1307 right_roll=-0.0624 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3333, 7.0222, 1.7118, -0.0659, -0.022, -0.0122, 0.5675, -8.3487, 7.5556, 2.1661, 0.0415, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58a02374bf2a6bfcd8ffbd1251f184a9845a83d7b4e5b029b6d165b2c55930ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:943fadfb7e57ff48a8cf2bbe04d66914b1befb9d0bd2a8a7cd390684ade9e859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2bd41b8671190d4bd72a740be4491aca33706630681c0bdc91a60d76d4d9301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQYKEAgSGAI4AUIIdGhpbmtpbmcSDF9HZNhEFSLigteYThoMg2DeAyCN515022LOIjB7eBEq8LTDJYJfoQ7bRj6W+PjTRmXeMDEm5rBmBp3W6tlMHvAz3oBQk3J+072Osn8q4gXhNdRauSM7MXxGpNLQ8TR6CgjvHkkCkHxURUGLklM1hZTHihQssAdtTkIxRkpUQwVrizi6751ZDEc2nLaZ4Np2IvSPOSJTX0iXzXZ71zlHLJQNSlqwnF209CF+2v/RA2fyxx68xeUAcf1RsXjWKg6LZfS0F/Oge837BUHgjqyECRmX9ImY3SUwy2U/3ruQmwJju4ePKdB/1Mn8t8H+yjSq9EPVBkGM8kpdBXbCnTRkErn3x5NdGmlC0y0nxELxwzVtqaNESPVyYEmV8gsFQnxr7QcONlRJnX7Nc4pCKI/Hm6mBMkQi5ADHhH0hUoRsmixksWGIPhOnlwZ9FDTgci2zFNVFTLPxabX9C1FUdC+lJNKIgtpVRXykEMYMrOQziSh98gImfsjpF2+pOSmNNwCF1QWdWlNQZgbAji3QRF4IQwqEVFlbPzOX7Q8cDx6bH+j44amA69LJbaAFPrZJZXhqbAjANk4BVaXopRMiYkB/FQTPbmEqwuJH6N6pv2hM6grHFp/nlPNdIKLhUhuzXJA4uluz0b4ykqg4rarAJ9RrLMU93QQegGw+EQCLOQskAxtevCG+j7jVCAB+XJo7sDtxK467rW5/C7FtkpL6RAzzxh5E5x3y9I5hqBqMo9rOaaySlFiqt9quMZb9pOw958L2EBzGLUEsU6rt5S9D8YsHw9OWtTBM8igUfNcikBWeIG0uU8G8Cew4ZOvhFXeNeKF4JTY+vCAlWEAVfYSsbO+uayzVM2og0hegP9lI1ZkEkjvIWeTj5QlLIEcE7gpeZWoF3mY0n9w7mJMsOQNoc1toTCTD9DYGBUX7lrxaC0JZ1BiE+yR+DyNC0F18cNCbwM6qNdJ+9HG+EFAGOlZnjyEWkL0ronk1+0a3WP4tcFMFRpcl+dZ3LzkQ2u95bmRuoH7XzKk+0evf/5dufawEff5USN7nhg1hAviQVTe2t0P2OgAc95XSiRXuQt6oklJvLTOdVK4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017TckkNQoNzAk2faATCLYJ4",
      "input": {
        "note": "Lemon nearly centred on the jaw column, a bit ahead; nudging forward and descending to grasp height.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.115,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017TckkNQoNzAk2faATCLYJ4",
      "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, -0.4133, -0.0189, -0.0315, 0.9991, 0.4046, 1.6291, 0.8585, -0.001, 0.2981, 0.1833, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1731 left_yaw=0.0009 left_pitch=-0.0286 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4091 right_y=0.1226 right_z=0.0815 right_yaw=0.0433 right_pitch=-0.1482 right_roll=-0.0615 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2376, 7.0496, 1.7656, -0.0415, -0.0611, -0.0122, -0.3487, -8.3487, 7.2821, 1.9365, 0.1538, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5ef9d6808dbf33d700498c14c667c0411b2afcd07e97aaae9c372f1efbb222c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2edae6daf43bb39a5f895cd2bde1c80a3c29636181a5cdd162f77a7586e8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9c090690f291e5a4417f3060a528381f71ef4d0f23b871c30812bd5cf00b1b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 5.593 s
model
claude-opus-5-5
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, 0.7963, 0.6067, -0.4061, -0.0189, -0.0311, 0.9991, 0.4854, 1.4544, 0.8467, -0.1123, 0.3683, 0.2386, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1752 left_yaw=0.0007 left_pitch=-0.0191 left_roll=-0.0008 left_gripper=0.9991 right_x=0.383 right_y=0.1342 right_z=0.1288 right_yaw=0.0393 right_pitch=-0.0806 right_roll=-0.0425 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.4291, 6.9675, 1.8535, -0.0659, -0.0269, -0.0171, 0.1846, -6.106, 8.841, 1.9463, 0.359, 0.2613, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4088, -0.0189, -0.0311, 0.9991, 0.4114, 1.5982, 0.8585, -0.0219, 0.3279, 0.2028, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0007 left_pitch=-0.024 left_roll=-0.0007 left_gripper=0.9991 right_x=0.4067 right_y=0.1193 right_z=0.0915 right_yaw=0.0158 right_pitch=-0.1307 right_roll=-0.0624 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3333, 7.0222, 1.7118, -0.0659, -0.022, -0.0122, 0.5675, -8.3487, 7.5556, 2.1661, 0.0415, 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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4133, -0.0189, -0.0315, 0.9991, 0.4046, 1.6291, 0.8585, -0.001, 0.2981, 0.1833, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1731 left_yaw=0.0009 left_pitch=-0.0286 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4091 right_y=0.1226 right_z=0.0815 right_yaw=0.0433 right_pitch=-0.1482 right_roll=-0.0615 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2376, 7.0496, 1.7656, -0.0415, -0.0611, -0.0122, -0.3487, -8.3487, 7.2821, 1.9365, 0.1538, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5ef9d6808dbf33d700498c14c667c0411b2afcd07e97aaae9c372f1efbb222c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2edae6daf43bb39a5f895cd2bde1c80a3c29636181a5cdd162f77a7586e8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9c090690f291e5a4417f3060a528381f71ef4d0f23b871c30812bd5cf00b1b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmggKEAgSGAI4AUIIdGhpbmtpbmcSDCRRSQZ9hGOrqZrUSRoMapUQgu6/5aFNqmyuIjCujorQkG/Es6H5pGD1dRoI8J54PGD/w3vznjzKZsfhYs1RFxXx+h4qAdbTBfB9Z2Iqtwdmv+rJYrODmQ3BFY2hLmqV4tQY1n81szeIf0p/shklMBS4doXCi2FkLiOIvbjO+SEW11MrH+r18XZ8Ko8wS472T1tCszLfrOblMVKsh12Sx76qqyqH30XVZX7K2mbwui+bVLtVlfC6wpppaeZ6biGRDyZrH2jv8l82YOXqHJHcE9bokjR91WakjZG9X9fWru/Wz5eXDaOT1wdUJT1xAmXKsfqFbizyKWswOWGwtFmEP/xzv7uhV6BMf7iK2yOkSYLBwRdOdHl5OqaF/P3MyOXDiQ+mn0pLvC9aigHnGJ2N+fefhSp5oCtDn45D7V/flliRno2dgg/ZKdhBv9KG+TBmDQ3R8NPTHx4X+lkzaU5nw8sj85+EqGlbaRQ0Om6pi8pc1sRIx/sTI+sVoG9fHSRTIhqUq8vz0OmYAh2wU437o1dA1B7hzf4o9U1GInMIGPY1HeK9SPm4+lwHstlFkirTxj6k5UOnH+iu7vKHO5YVO3/dl0g0FPjetqEHa3PFRqXgJh2FXpPmUh8jBZdbG7tKiecB+pbFx1C5O8z0AznJgm+RkE0uSQFe20PWDnmEpg3jSh9sMP1PXp95Dq5NmqhCZRRQhcUSR/XuGERGmV7rsCdwaVl9XCIhd0aWeF/E9mHDiaV5e9HL8T0tlbSfBS5pJmn8JBnxTgkYuOjrxaAtOTIppQcXMzDtAKV3YXNfUVQ1K/cjIrOYWRPAczCOeGcgbIFKEtHf2HOZZvtEOB+TJ41ukqqNkwZg8XngTcQeCuvfCpdvfqyV9krUosuHet6PCgE3mA5yb8H21gs5wUibBlMXTMbV2tmJmGAvcszckamCb0nEWev+LmIwlfYXclEuuKj3BfYxJOD9/CYmJgEIMo4g6TXSeEM0A9JMXDgXZAEQ3F2gzODrnz4K/qWGUTh/3nROK9Lzg8HccFfzHcu6Ciwzt0+PtbZPkQPZ81nmqeWJ2K9oS5TZ0FmnjYM/9/szNftKqp4Pv+WV4OFPCZlxPk0KfaqKwhYPneRfpEGDm99ZSxeqMY2sGvsWtw9KAiZl6tQRJsgcgEUgSKzv+7WK8wLNyx/yLoMy21ymBZBPnhCOcM3j711dBabGEA961SPO/aJ8YdEKB/+zFaeCdM6+lYTWi1bZaxKrjHGdkJKsHnUKXQBLLEevcTiEFfdkRenFqqhi1H0X9DjQ/sdxPTuT3CuY3TYsysmoT7KeAxn7s5RURKt0z0JPMDmzdnPvcqU0bnK4+LdBPj6+7ZjLOeb2RlURE/hcJm4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XY89gA3ghn6rTRLFxuu1bC",
      "input": {
        "note": "The descent stalled at z≈0.08 with the lemon still ahead of the jaws; retrying the descent with a slightly different target.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.42,
          "right_y": 0.118,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XY89gA3ghn6rTRLFxuu1bC",
      "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, -0.4278, -0.0189, -0.0315, 0.9991, 0.4046, 1.6291, 0.8585, -0.001, 0.2981, 0.1833, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0009 left_pitch=-0.0431 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4091 right_y=0.1226 right_z=0.0815 right_yaw=0.0433 right_pitch=-0.1482 right_roll=-0.0615 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.1829, 7.0359, 1.8193, -0.0513, -0.0611, -0.0122, -0.1846, -8.4034, 7.5829, 1.9463, 0.1392, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0b5e3975a57db63fc336fac1fad158e5ecf8c6b4c12259bfe25b7e1a135f813",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6eea5fabe9435de01fb879b86e6377ba3027f430b12dd494a934e342c629939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f284b17a7a80c563774cbbb193c49f1751fb39b52ae145e781c19305883de44f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 4.218 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4088, -0.0189, -0.0311, 0.9991, 0.4114, 1.5982, 0.8585, -0.0219, 0.3279, 0.2028, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0007 left_pitch=-0.024 left_roll=-0.0007 left_gripper=0.9991 right_x=0.4067 right_y=0.1193 right_z=0.0915 right_yaw=0.0158 right_pitch=-0.1307 right_roll=-0.0624 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3333, 7.0222, 1.7118, -0.0659, -0.022, -0.0122, 0.5675, -8.3487, 7.5556, 2.1661, 0.0415, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4133, -0.0189, -0.0315, 0.9991, 0.4046, 1.6291, 0.8585, -0.001, 0.2981, 0.1833, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1731 left_yaw=0.0009 left_pitch=-0.0286 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4091 right_y=0.1226 right_z=0.0815 right_yaw=0.0433 right_pitch=-0.1482 right_roll=-0.0615 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2376, 7.0496, 1.7656, -0.0415, -0.0611, -0.0122, -0.3487, -8.3487, 7.2821, 1.9365, 0.1538, -0.0562, -0.0122]",
      "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, 0.7986, 0.6067, -0.4278, -0.0189, -0.0315, 0.9991, 0.4046, 1.6291, 0.8585, -0.001, 0.2981, 0.1833, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0009 left_pitch=-0.0431 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4091 right_y=0.1226 right_z=0.0815 right_yaw=0.0433 right_pitch=-0.1482 right_roll=-0.0615 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.1829, 7.0359, 1.8193, -0.0513, -0.0611, -0.0122, -0.1846, -8.4034, 7.5829, 1.9463, 0.1392, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0b5e3975a57db63fc336fac1fad158e5ecf8c6b4c12259bfe25b7e1a135f813",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6eea5fabe9435de01fb879b86e6377ba3027f430b12dd494a934e342c629939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f284b17a7a80c563774cbbb193c49f1751fb39b52ae145e781c19305883de44f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSygcKEAgSGAI4AUIIdGhpbmtpbmcSDAbJqGCvXvgP27VJthoMMGOgHnR8njJGXiJZIjDf5nuJUB9kgej1HB51cyPlKFdzzw5qDMS0kACyAnnHZ5QJHdYnkBQbx7L0nIS/gewq5wZemJtsuuc82Gy8XsslEAxb43mQcKZl5XUN5e6cKWXMfXFw21glrZgvV1GcqNCfCgET1222upCAmnJgtkdiLCFA4RKspfMtTLIa8l8PQzS0+csNVAtJ1DTlELLAX6C5rD7xMe/V0U13PXXn6GLIECujgzn9ZgG/Cgs7/24ggiF7TmFc/Few1EI1E2IBeTouIDrWregroQhgNcRJlRWvaHlnnFH3Eo/118TWZ/RCLvDxAEzBvjb+DYyYJjulaKUI8R7gGX7wGSG6Jlvvc52JdJvy97vDsrr6YDQAHQKO+P/WaLI2O0cwrDKDohIHdv5B8VvKK3FuEfKqzZUiljjHUiNV5IBEEN7uL9hguRhJZWxB+rwLGJ/0j7Fgv71PvNZM505mDUOK4ia161aCRKINH2n/v6Ei+lwAWaIuccC0dXccR//ayM71q8HxIMhq/qy+/+mvuf0OiLVbxdfU/FMHayPeux+j1OsrEu22mL8gkdgr/uidkw8DX9wogL2lT1zL1xH9jtSxor/bn8QArw16aUDnPWJW5/wg9HVX6R8gxHxrU3EHfbFm9VL9g8mJmS6UvUwyKH0rysHt1Zqn3KTsBrcS0/5KdeNWNybh7/x2ZVwvXZdxGhGyvVAfui+kO7DbdxtOFCbAXN3K+SRwx/d4Iv7n4FZLqVO/3PIgLbUj7vc2gRMu6H39ZwlYNUE53vmRhmU4a3lgXSWLdC0Pn5v9S4KuVFbqOIgYe0Kp8KTioPrgU662JTCFUXzXSsy2rF0zSCRnkZ53vt2wp+JF/aAYeqDrOHZlow+8RSsz/Lk1cl9j8cc+ll/KNaXeWoB4YBIaVY1E3GiFPCocT3OzzE6mrAZTMIDKcxyOt64cwmpXhBERGfUf7L5kZuQ8TGvzX4aB/C7b6HpOTuSzbTbehoXSvMHEPd0wR/K46M11fZoWIx0iEpD53c1nhQZ2Yr7Twlbmm4lgpiv3xYss816MMfMNnLaD6iy0JEYZcM95pybc7v1ZmymaiaPOL1/IDvgsstlKrJzvMDbid6HjQNVTo6oDqJrBZvrI/XGFoksYzCSAYELuWnTAhVOTdFcOPmLutDwZSXhVS2HxogZdwgiKZ7ANvAy82Mxwg3DRyoslYScnlDV7cDeY028m7oNktvDltzU14ZGa2Y0PteLxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XmMgsyp1CVwVX8Pc2Jrb5L",
      "input": {
        "note": "Right arm is not moving at all (joints frozen); backing up and raising to get out of what looks like an IK/joint-limit stall.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.38,
          "right_y": 0.12,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XmMgsyp1CVwVX8Pc2Jrb5L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6067, -0.4355, -0.0193, -0.0345, 0.9991, 0.4583, 1.4467, 0.7139, 0.0364, 0.3485, 0.1833, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1675 left_yaw=0.0029 left_pitch=-0.0549 left_roll=-0.0026 left_gripper=0.9991 right_x=0.3756 right_y=0.122 right_z=0.1034 right_yaw=0.0593 right_pitch=-0.0659 right_roll=-0.0649 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.0462, 7.159, 1.8095, -0.0513, -0.022, -0.0122, 0.1026, -6.3521, 6.5436, 2.0098, 0.3541, -0.0904, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edc12e37c1bb7dea4b247f0950b3f72875460d2edaf7a721554c2832b30a111b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f7f131bde17e2375489e7ad585313ae8cdee2e16c492ac8a14d8a4a503c858f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0e5b554eb94f125e3294852a5f03703e9dec44bc623b2f342bcde98b8de4299",
        "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 · 4.775 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4133, -0.0189, -0.0315, 0.9991, 0.4046, 1.6291, 0.8585, -0.001, 0.2981, 0.1833, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1731 left_yaw=0.0009 left_pitch=-0.0286 left_roll=-0.0009 left_gripper=0.9991 right_x=0.4091 right_y=0.1226 right_z=0.0815 right_yaw=0.0433 right_pitch=-0.1482 right_roll=-0.0615 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2376, 7.0496, 1.7656, -0.0415, -0.0611, -0.0122, -0.3487, -8.3487, 7.2821, 1.9365, 0.1538, -0.0562, -0.0122]",
      "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, 0.7986, 0.6067, -0.4278, -0.0189, -0.0315, 0.9991, 0.4046, 1.6291, 0.8585, -0.001, 0.2981, 0.1833, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0009 left_pitch=-0.0431 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4091 right_y=0.1226 right_z=0.0815 right_yaw=0.0433 right_pitch=-0.1482 right_roll=-0.0615 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.1829, 7.0359, 1.8193, -0.0513, -0.0611, -0.0122, -0.1846, -8.4034, 7.5829, 1.9463, 0.1392, -0.0904, -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, 0.8028, 0.6067, -0.4355, -0.0193, -0.0345, 0.9991, 0.4583, 1.4467, 0.7139, 0.0364, 0.3485, 0.1833, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1675 left_yaw=0.0029 left_pitch=-0.0549 left_roll=-0.0026 left_gripper=0.9991 right_x=0.3756 right_y=0.122 right_z=0.1034 right_yaw=0.0593 right_pitch=-0.0659 right_roll=-0.0649 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.0462, 7.159, 1.8095, -0.0513, -0.022, -0.0122, 0.1026, -6.3521, 6.5436, 2.0098, 0.3541, -0.0904, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edc12e37c1bb7dea4b247f0950b3f72875460d2edaf7a721554c2832b30a111b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f7f131bde17e2375489e7ad585313ae8cdee2e16c492ac8a14d8a4a503c858f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0e5b554eb94f125e3294852a5f03703e9dec44bc623b2f342bcde98b8de4299",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9QcKEAgSGAI4AUIIdGhpbmtpbmcSDPAVqGy+m19+G/S9+xoMsfz6FEH/61HdMfgRIjD0HrxsJ2+tnhALbydTt69baXHvt+8axMG5GvQNz45K8M0VP67rNb+r0rSd5fSZXGUqkgfwYsUDzUSopYDNfgRSLE0tdX99kIpk2WeAI5BNsWG7aArAfamPKFpy34bJAgVbslVbAmxSuuvFpkvE6q/kRReIkX/AiBNm/7jE6O7Gy/khdQmqvzlBEDni18iL4FwDi8leGNHBVH57P8SAHrFxRLC59ajniriTAv+MXCK3U4IsfEQrUL6+bMJNJTm7XD2NQPJJLS86eycUFN2H6akn+UtD9LMyu6r/VfVCQCFbIAamhNYWDupkGrVnLrVHkL9Ii1GjkWgzJiH190/LmbGv3Bxdrw5+YJ/EoDTGV8CWiMLZKsbZjTGOs68LDC1QAbhnOeU1r1RobWkq4M/DpMAhTwNmF+R1FOk2QovCDqMgyMR1Z/OGqT/WjMQWQh5A+9Zg8sQ/SgT62K7hd2FziEKiWJhJ7II9Xi45a7/NzD/yC+gpk7B/hm+7FvPMNB1cmo8PfZZt0bhFQN4ShJ/V3++527qWtgrEh1STR+dfCju9KY5xDXDowRr6aZWHMxgjKMsUcgidfPcvHY4KY4tSWl5o7eIiPtlAe5hkY0tAQPI/L6EnjZCTle10mho3nK8qz6CrMxJ5CiYmtZoQTaKvGk0FPokESAYlQ/+H4xlNMikbnDKa5c/q16bNOmkugWvO07R1G6EyrxBDl4uHjiEtbpBbv0KjC0wv+EXX7mcTc2ZGtm2xmp3JtssGGnyneSY3GGAsesmcSE4x1ST5t4pI6p3SB0YdIOXWWnLHaRWr64VMNDaVTfEmMlBKA6iQfsjsaw98rth9wpgpnQECAp5LW9E5JgQ6aFe5pwlLzaQblTWune/I71kkZO1s/vrygNkABGD13qv9qADLc2DAhIx0I0D/0T+TEzX/4ePEXFJD05X1osrY4mxxf8hTzcaIRnt3P9U4uegyUkSTNtQhadSeq4pHAPEbx8a3QFpo6BKOv50NP+oGa3/06cmLNj3sk1frXhT189wqXaLskSYpxSmfi+evp+SUrbkWjki4/fAYOEj/kHJc6CcV6zjYbT0NlAkNeiC5GZ1LxaoXLhGpcRqj8HENp2LBZJaFPMhNCKH3uCQHTi5mjj5pBadB4TY2+VBPFqjJS0PQvpZPMVC9nic5OlQJ2Df0GVTA0rRNh96y44z+1zJnwholOIZG1gxiEiDMPa2w2K+fkr6cPCVl0nLj+sKvVGuO4UJ5cXmapt9I44yb+1AAAmMi5CXp5mHt/nCeY05TfGIpZRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012SmAvnUcyGaEXqSDAryK61",
      "input": {
        "note": "Arm responds again; lemon centred on jaw column ahead. Descending in a smaller step while moving forward.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.12,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012SmAvnUcyGaEXqSDAryK61",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4492, -0.0189, -0.0349, 0.9991, 0.4084, 1.6489, 0.7158, 0.1703, 0.3206, 0.1562, 0.9996]\nstate[eef_state]: left_x=0.2861 left_y=0.0015 left_z=0.164 left_yaw=0.0028 left_pitch=-0.0717 left_roll=-0.0028 left_gripper=0.9991 right_x=0.3939 right_y=0.1137 right_z=0.05 right_yaw=0.0443 right_pitch=-0.1355 right_roll=-0.0936 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.388, 6.9812, 2.0342, -0.0269, -0.0366, -0.0122, -0.1983, -9.3607, 6.7761, 2.1123, 0.1099, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c71fd477b447f919cda63d74648f783a94b5960cfd7af021ef541bdf4da7efb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc1523683a3d953d820d1ad5117e5ac198f8c8981b05a0800b39a38a4c61b9b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:262a7fd579a74a24876fd006df04455bddf32ff402045baf972e493bdd3af2e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 5.278 s
model
claude-opus-5-5
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, 0.7986, 0.6067, -0.4278, -0.0189, -0.0315, 0.9991, 0.4046, 1.6291, 0.8585, -0.001, 0.2981, 0.1833, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0009 left_pitch=-0.0431 left_roll=-0.0006 left_gripper=0.9991 right_x=0.4091 right_y=0.1226 right_z=0.0815 right_yaw=0.0433 right_pitch=-0.1482 right_roll=-0.0615 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.1829, 7.0359, 1.8193, -0.0513, -0.0611, -0.0122, -0.1846, -8.4034, 7.5829, 1.9463, 0.1392, -0.0904, -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, 0.8028, 0.6067, -0.4355, -0.0193, -0.0345, 0.9991, 0.4583, 1.4467, 0.7139, 0.0364, 0.3485, 0.1833, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1675 left_yaw=0.0029 left_pitch=-0.0549 left_roll=-0.0026 left_gripper=0.9991 right_x=0.3756 right_y=0.122 right_z=0.1034 right_yaw=0.0593 right_pitch=-0.0659 right_roll=-0.0649 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.0462, 7.159, 1.8095, -0.0513, -0.022, -0.0122, 0.1026, -6.3521, 6.5436, 2.0098, 0.3541, -0.0904, -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 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, 0.8059, 0.6067, -0.4492, -0.0189, -0.0349, 0.9991, 0.4084, 1.6489, 0.7158, 0.1703, 0.3206, 0.1562, 0.9996]\nstate[eef_state]: left_x=0.2861 left_y=0.0015 left_z=0.164 left_yaw=0.0028 left_pitch=-0.0717 left_roll=-0.0028 left_gripper=0.9991 right_x=0.3939 right_y=0.1137 right_z=0.05 right_yaw=0.0443 right_pitch=-0.1355 right_roll=-0.0936 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.388, 6.9812, 2.0342, -0.0269, -0.0366, -0.0122, -0.1983, -9.3607, 6.7761, 2.1123, 0.1099, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c71fd477b447f919cda63d74648f783a94b5960cfd7af021ef541bdf4da7efb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc1523683a3d953d820d1ad5117e5ac198f8c8981b05a0800b39a38a4c61b9b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:262a7fd579a74a24876fd006df04455bddf32ff402045baf972e493bdd3af2e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDHc69ewWV+c8TEOEpBoM8qf0cZ0b02R77y2LIjBsq6U7mFdf2GLvSDWEf2J9/UTQTL5KqqOn/QbhCAb6QyipR65oVjxTN0XPVD+m8fgqhQakBDQjKJHKopYQJfKgrjdx6EVRCV/eS8wqBrzurLfDWEa645Rp6Ce2z2AakdkqY/l/QK+PNnLKJKP76Kqohxa1v6XGSdRXX1riqphMcwyTgzd1eaz1hHFF3GN/WLjd9jTjfiA9dRmif78W0GFVKqU/sw63EFzs1IfskjsckuTeXlr/Ca3UgL1XCXDH0MguRRZQvu6kMuPVAZdvyCdfLaPy7woNJa0ZqkuzqGZUs7ppZwoy/1OpeH/SlYhVFCUZE2rgL0UbGDtZ2cEzhwxY4XRutOFiFdl6GNIElUDlvXZIv5P3XLTkxxS0M91H4mKWw4t5cW+MbO16kSQv4Cvo4Ckd/8Qfxq995iIwqkMS2FQjfV0LGlfYpteq7ZQd4sScrZljiTPROzIE5jq+bS8RbHZ51DonEOQ+Dq0vpOWXU8z61B1kaL9Jj9icFOysApjSbQlS6aEBpdla4cQ/f3NpLuPX3drT9BnHTPYW3BMZQ2655pJhV6LRNJgFUpjWDpZy4omOOuCAyGU6Mm1IEsp/9NP0rOJ1GArGBzHQTjBZZouKttIJnL+DJpAgnAYO+zU0Aunw6IuQgUmTWncWZKVgSHEREVRRlxIrjh+F0osuMzMs3+YwewB6/X+gM5MaBq+SrJ3zyVPbFozyJZPwp1KyL1zbZG7N1LNJ2z4monPNi6cvkRYcdu2XPUqWCbmRpYoVguooG2B7X2P+8VCYFjcguUyOUtuRynMTNIB8jJ6A3clgoTVgkIiIXu5jBSgVhopmZHK3xhx6xluOdGUwXNW7KeffXoxsbeI1CQo+ex31UYwU/K5dfJ840N10PHL1cltslgLWPpar8LkLg5/XFW63ziVC8pWPX2KbHJqP7tEYXO89l1La1jJI0AIoov6BNjzPuaPaliU7n5kxf84A1/QIjfQsYsl2eK3aY4tLVSQoOLEPUoZE42gxw0eQ0417h5ONKZpP5sIXIoHqjdgyMJCKjjPGLeR3KiC6yKxarKimH1QBn912ju53AiSXPtNMxKiQ7G/q0wnXxBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016tafUWvXZE6quJtbn9jigq",
      "input": {
        "note": "Lemon centred but still ahead of the fingertips; moving forward ~3 cm and down to table level.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.115,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_016tafUWvXZE6quJtbn9jigq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0383, 0.9991, 0.3969, 1.7199, 0.7151, 0.2466, 0.2985, 0.1421, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0824 left_roll=-0.0053 left_gripper=0.9991 right_x=0.4012 right_y=0.1157 right_z=0.0343 right_yaw=0.0589 right_pitch=-0.1372 right_roll=-0.0882 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.2513, 6.9675, 1.7167, -0.0562, -0.0073, -0.0122, -0.1299, -6.3932, 6.4615, 1.6239, 0.2906, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61bf1739ada7b371ecc2ab01d6f3e12d8c81112fb23238bc7003af6264d26d56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b81392bf96678d549006a3015e1797f08d86a19a6eab2069f9529d228c08633d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34096d1868694e8b1f2e0e3b134d3b868ffcad60c5d2f90414b2407eb9bb1436",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 6.649 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6067, -0.4355, -0.0193, -0.0345, 0.9991, 0.4583, 1.4467, 0.7139, 0.0364, 0.3485, 0.1833, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1675 left_yaw=0.0029 left_pitch=-0.0549 left_roll=-0.0026 left_gripper=0.9991 right_x=0.3756 right_y=0.122 right_z=0.1034 right_yaw=0.0593 right_pitch=-0.0659 right_roll=-0.0649 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.0462, 7.159, 1.8095, -0.0513, -0.022, -0.0122, 0.1026, -6.3521, 6.5436, 2.0098, 0.3541, -0.0904, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8059, 0.6067, -0.4492, -0.0189, -0.0349, 0.9991, 0.4084, 1.6489, 0.7158, 0.1703, 0.3206, 0.1562, 0.9996]\nstate[eef_state]: left_x=0.2861 left_y=0.0015 left_z=0.164 left_yaw=0.0028 left_pitch=-0.0717 left_roll=-0.0028 left_gripper=0.9991 right_x=0.3939 right_y=0.1137 right_z=0.05 right_yaw=0.0443 right_pitch=-0.1355 right_roll=-0.0936 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.388, 6.9812, 2.0342, -0.0269, -0.0366, -0.0122, -0.1983, -9.3607, 6.7761, 2.1123, 0.1099, -0.1001, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0383, 0.9991, 0.3969, 1.7199, 0.7151, 0.2466, 0.2985, 0.1421, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0824 left_roll=-0.0053 left_gripper=0.9991 right_x=0.4012 right_y=0.1157 right_z=0.0343 right_yaw=0.0589 right_pitch=-0.1372 right_roll=-0.0882 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.2513, 6.9675, 1.7167, -0.0562, -0.0073, -0.0122, -0.1299, -6.3932, 6.4615, 1.6239, 0.2906, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61bf1739ada7b371ecc2ab01d6f3e12d8c81112fb23238bc7003af6264d26d56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b81392bf96678d549006a3015e1797f08d86a19a6eab2069f9529d228c08633d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34096d1868694e8b1f2e0e3b134d3b868ffcad60c5d2f90414b2407eb9bb1436",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQcKEAgSGAI4AUIIdGhpbmtpbmcSDOJzGEUmWSTNhB7JNBoMY1O/+A+9zvwUxtQuIjDFMFFA1l+IWw9Z5WkajGL/5pKehitxVmO3wuj1laP/LeuqWCbkxid12rBEjVo1wTkq5gb20+ycowMSrUhEeguEBeVftkZPsle16W0YjyHKWCOY0uN63ovdww7wGH5Uq7VUDPYJC5vsr05/yrWOOXXIe5A9TtW66JxOdfggao4bcKOo96+K7wu+ziem0kFihp53Y60v0KX1spbL6edvJB7NVX9ak2sDpiBHAR3m+xPp9UpR7Ga2Vz1HMksbqszOtOLU16+gYsDf+grl8/HV0MEqLWy0OQ3cf0tC5zn8aM7HHnIdm94BxmL4W0nsYi2OuwtruqwbNIKARbyUtc5ENYJ6rPZVsmlCXO8IugWGUMxMSWRUgCPm7QonKAsSzDM/4MlubjDAfmj2+fkcM1MEo48sWBYKwkjbQcuzPKjWK3N/DQUxC4pPTetaTWY9TgCo0j0smwsmY2mV5BNnciRIZnRLg4gXn6HBWP9V2qs4060OHKn8gTYZFCZd2yWMtewUxnv/a8FIT9BIusDQMAadOcVTibnjazP2dY2eJ6gQWLqqzle81eyXB1E5UG86T9ZaiCIcOM8VWnp7haOASJfdgFAK8Aq09/MSdo6LPVTr4vkgt522t/kJnU1jStuugZqCjWqaam8oYDzrhuxpRgyrqvCsu+8ALtdnCH+AP9ZNljmQ3maoQhFipKtR+PbX9wS95D4C5Q0iMSpVW0e+XO4c1OF9hrEgufkUyncuheCdhdELNkmZUmGUJsRxX7FIMxgWwQHv6UO1i+wTshcinahV5W3rgAf0DRQB6DnhNkmbW89C6uGhLpF0+dNu5XKj8hzRhUy+6ZdvRYrl7NAx/5TJFu94N80tPJ4Sjmae75rC/0mdK9WzcUV3w9EJeDcfplMt0ptVAOBWdjZCkI4XcwEdDCgIQBu/U2B9pyO3P0sD4bF77e0Beajjx77l4ecqsVfD/URoFpKe7PFHTikD6S+tuodPkw+VjJO4M64c9rp+wVfy4pjz8IGAW7TLt/3TnMHbh9mgPkkqTaYMQSeODtR5jH2DW3cLlDWviNQ8h2xGnXCfjSKN40lxD0hWLm6AlB0Q5XHYV5Q7vuKjxgwoTVWxC81KDdsg/Vng+LXAVydDHbWzAO3mcj15+UaLkhsiu35cazNjoTNJ8H6I1YYJvS6r4teNnp/jXjnw4ADRuxejzfUpw72HZBvFbxBKEFDfhgybyKzk27Isb0N0nxcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WMGjdSRqnFh5PU4Sg9ASBb",
      "input": {
        "note": "Moves are being rate-clamped so the arm only partially reached; lemon now large and just right of centre. Continuing forward/down to straddle it.",
        "targets": {
          "right_x": 0.435,
          "right_y": 0.11,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WMGjdSRqnFh5PU4Sg9ASBb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0383, 0.9991, 0.3969, 1.7199, 0.7151, 0.247, 0.2985, 0.1417, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0824 left_roll=-0.0053 left_gripper=0.9991 right_x=0.4013 right_y=0.1158 right_z=0.0344 right_yaw=0.0591 right_pitch=-0.1368 right_roll=-0.0884 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.2513, 6.9675, 1.707, -0.0562, -0.0562, -0.0122, -0.4991, -6.7897, 6.5709, 1.5604, 0.2369, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64eb81602788e3d205d0bcb2c85b7cdcbf07307b5a07b0b1a66cbaf6198f9641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0884cde396a63ce874d4c75f5f5d8b2a6c68ec7950030f05653db82f2c9ea97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:146b0cd74d8853f84c5f416421b2eafc6f2ba0e40283e96740cd13226cf0e912",
        "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 · 4.874 s
model
claude-opus-5-5
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, 0.8059, 0.6067, -0.4492, -0.0189, -0.0349, 0.9991, 0.4084, 1.6489, 0.7158, 0.1703, 0.3206, 0.1562, 0.9996]\nstate[eef_state]: left_x=0.2861 left_y=0.0015 left_z=0.164 left_yaw=0.0028 left_pitch=-0.0717 left_roll=-0.0028 left_gripper=0.9991 right_x=0.3939 right_y=0.1137 right_z=0.05 right_yaw=0.0443 right_pitch=-0.1355 right_roll=-0.0936 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.388, 6.9812, 2.0342, -0.0269, -0.0366, -0.0122, -0.1983, -9.3607, 6.7761, 2.1123, 0.1099, -0.1001, -0.0122]\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, 0.8078, 0.6067, -0.458, -0.0189, -0.0383, 0.9991, 0.3969, 1.7199, 0.7151, 0.2466, 0.2985, 0.1421, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0824 left_roll=-0.0053 left_gripper=0.9991 right_x=0.4012 right_y=0.1157 right_z=0.0343 right_yaw=0.0589 right_pitch=-0.1372 right_roll=-0.0882 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.2513, 6.9675, 1.7167, -0.0562, -0.0073, -0.0122, -0.1299, -6.3932, 6.4615, 1.6239, 0.2906, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0383, 0.9991, 0.3969, 1.7199, 0.7151, 0.247, 0.2985, 0.1417, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0824 left_roll=-0.0053 left_gripper=0.9991 right_x=0.4013 right_y=0.1158 right_z=0.0344 right_yaw=0.0591 right_pitch=-0.1368 right_roll=-0.0884 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.2513, 6.9675, 1.707, -0.0562, -0.0562, -0.0122, -0.4991, -6.7897, 6.5709, 1.5604, 0.2369, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64eb81602788e3d205d0bcb2c85b7cdcbf07307b5a07b0b1a66cbaf6198f9641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0884cde396a63ce874d4c75f5f5d8b2a6c68ec7950030f05653db82f2c9ea97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:146b0cd74d8853f84c5f416421b2eafc6f2ba0e40283e96740cd13226cf0e912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/AoKEAgSGAI4AUIIdGhpbmtpbmcSDK+KnAV9n1U6Yst0HRoMGHZ/MUWDe9WyZlRpIjCOoB/Io3zyBr+MYIfqxI1ga3KkGE8yBGdlgoKmg4Z1g0xo0unLRMOJ7a6bhT/ibSQqmQrazB3K77y1p+OcViMY+04Q8F+qWiet0hyKgoYqnnPogdJEfSVnvq0vIFnVsKSyElvV4rw2owxERFCzhY/k0pOOS7mJhnYzNsqg76bkjXjtWP/wXZ93Tyq9M+gCnMrMrPzV9yl6EtXKH5IHtPjmyQ4SN6P2der9w+EOumNdXFMuyKhpxqVcmymjaEmuy7TPCOBfxvb7BKzttAbuM8DPlYCL4+/k3PoMAI/WBRwPs3+oiyTDQR9IA791BUoZh8vCyC9OAfZ3wZ1FlUsy/vR2UikRo3c87wVOenyIloRfvW2zCjfx7lsVuirZLChnFntUUfN4M4/a54fnFQy9LredcPOQBquJmL4nHp9JstLEeGSsOb7SmR7g8CmuieDPDWeZaS9gSYtxp1oeOoHEZZPGwXQ4TY74RTTnit/GwAhoorgOUTZ6+6rLikhSIhQD1T2LYncQerk12rb33T5Czo/0fwVZl+alCKMDnrKGLWpatGFVtNeAAlNjxTDfpVNcuEmYvnHhYfUDe3DV0aeK40Ml2ulFEvQ2k/9nEPt99nKKNV6GLBt1Gq1N0eu8qh58jqSBf+8qjEyaL8LxRhNCOlHh2EXJngoncFde9UDxTQ9HWkvSapn98u7M+CEtStZcErJAipBFvfnDQYh2he08v8A4wFIEoylp+xPcIOpmDSK5/B9xHvA46m4Ofy93z3BvHMsyyi4ot3bRn0ZmlfIRmzozXU/5Eke1KUNvoED7G/S9/4No1lNefx15JkJHxSp5OKAnf0kY/w5bXk0i1z9lTOdFVrdtRkGUE6bR+YeFR7Ko2PFRf7M5HVrzWCpbGDCe05gg8uoptJpb3EfhuTfl3is7bpLo0ALavL2gGIj+yaot06xPy6V1P8Ki+S00xEuA2IcdN90wkGGDLaM5o/s45jZZEpMxCv48bCgJuFVbiH7qGUQdV1Pcmh5U/HcUwwx8ydQQQV9IYYQf7zTPbcOkJW9MjmwUTZj24HqImVY3+yldZ3hrj3y/XxpEpajzV9kO4JvD+kgndQQ6Bb9RIKRr98x13v33tNwD59gKpwK3Ct3ly/u7Wys/F70OBKxv32hQGOi/Noak+41urxFRL64aUqR+qvNk+r23jeoy0cFJw32OjoY5YLfYQhkPM8xk/XpeCnzw1hJH4QxkiGsezOyTDN9ptWd0To7foryucZLpejLLwlGznxBJIZwZgv8DckNZXoo21npNEYnrkIsLjw5UmpXuKUnVXrsH7mj1svV7/6jMu0bxnL4pGf/t9aUwZckJeYZ9bSRT6+GNTcqrc4VxXsz7U5CZNe6uxBWKoeTLcGNmWxIYPNIdqrbnXgNIBROhoATNRJS+PPy3G1HZrK+vFS9Pi1xmJUZL6ohnvvt6wezOrHkuW8+yl4Jm/V3BNfQQJB5cjHzGl8ydGQHTyrcokymm1QF4eKWLuiJ4OEXGB38nFc3mzI7vpUxy9JBpY8mEusNkqWX6Ti7aVtlYK451KJ9blKOGbTDinYFEmZsCpAPnhB8uCWM6fNbxGwqpyehAacII8r9fa0zreKeDaMVQUuPT7lqNjE7sJTDLzBg93rVSZjlND+iK7Ii+IsHN6wsScxI/LqIuLGmtKg4TJ46PPrQvxIvm3u1jrA3xZVMQM9pzOQnB3zXCvZRZeHtiH5bKNotteWN3CkuTAfGK2vn6GMDdaR1GAUKMMIwMyeNqw0kIxc+OFAdDIntwgQDYl7Y+6Sqmlm1aT6k6QOXBVvoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018vNo4V759caebJryKSUHgk",
      "input": {
        "note": "Arm froze again at x≈0.40, z≈0.034 with lemon just ahead. Trying a forward wrist pitch to make the low forward pose easier for IK.",
        "targets": {
          "right_pitch": 0.25,
          "right_x": 0.415,
          "right_y": 0.112,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_018vNo4V759caebJryKSUHgk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9991, 0.4046, 2.0552, 0.5171, 1.2621, 0.3595, 0.078, 0.9995]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.005 left_pitch=-0.0992 left_roll=-0.0052 left_gripper=0.9991 right_x=0.4254 right_y=0.1184 right_z=0.0388 right_yaw=0.035 right_pitch=0.3246 right_roll=-0.0073 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -1.4291, 7.0769, 1.8242, -0.0562, -0.0659, -0.0122, 0.0752, -5.0667, 1.812, 0.6813, 0.1392, -0.4908, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beed3e095020ab15e3aac61b4af392894b5cde46944bb1ff96649b770c720173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6811e8532b18765305d5b408c5d5be74620eae910b1518269c9d5c0f682e1da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d31d3a582460082d8019e6c1ba180850f72160cb4b11585307810774a4e5f316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 5.786 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0383, 0.9991, 0.3969, 1.7199, 0.7151, 0.2466, 0.2985, 0.1421, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0824 left_roll=-0.0053 left_gripper=0.9991 right_x=0.4012 right_y=0.1157 right_z=0.0343 right_yaw=0.0589 right_pitch=-0.1372 right_roll=-0.0882 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.2513, 6.9675, 1.7167, -0.0562, -0.0073, -0.0122, -0.1299, -6.3932, 6.4615, 1.6239, 0.2906, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0383, 0.9991, 0.3969, 1.7199, 0.7151, 0.247, 0.2985, 0.1417, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0824 left_roll=-0.0053 left_gripper=0.9991 right_x=0.4013 right_y=0.1158 right_z=0.0344 right_yaw=0.0591 right_pitch=-0.1368 right_roll=-0.0884 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.2513, 6.9675, 1.707, -0.0562, -0.0562, -0.0122, -0.4991, -6.7897, 6.5709, 1.5604, 0.2369, -0.0513, -0.0171]",
      "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, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9991, 0.4046, 2.0552, 0.5171, 1.2621, 0.3595, 0.078, 0.9995]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.005 left_pitch=-0.0992 left_roll=-0.0052 left_gripper=0.9991 right_x=0.4254 right_y=0.1184 right_z=0.0388 right_yaw=0.035 right_pitch=0.3246 right_roll=-0.0073 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -1.4291, 7.0769, 1.8242, -0.0562, -0.0659, -0.0122, 0.0752, -5.0667, 1.812, 0.6813, 0.1392, -0.4908, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beed3e095020ab15e3aac61b4af392894b5cde46944bb1ff96649b770c720173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6811e8532b18765305d5b408c5d5be74620eae910b1518269c9d5c0f682e1da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d31d3a582460082d8019e6c1ba180850f72160cb4b11585307810774a4e5f316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwgKEAgSGAI4AUIIdGhpbmtpbmcSDOuphyDzntrIGWjsJRoMOpLZ4nwrULKhy7sMIjCFh0yyNstFZ/EQueqMAgCflMXZlbWICR5qzC8aUQVgtQwt2af6nKV30pKnhDmdm9wqpAcCLetGY9ihDGceNrGjVWPDn5ZGgO9stVA12TYQQHj1qDXHyc7MjnIjuC9/5d5dulEi/QqdDkf87/6xTFhNexGhMo54OpFo8vWjHafjaUamkP7KKfZ8pSoMP+lQ6Gu5DAivvTc8TDdraU+lqDou2gyGrbzqC7kQ0MKZT+w3bMbd00Lpnypq78/ffaId6837PJPBW9tywQFeWDnUqZvz/9WneNaEi2ISPOCrXBRuNG2ZvceT8eKom9dCdAq22s5F0Et0wjHU9O9h0KF6j1atBcAqUR10oF4Ut5eal72cZXifXR2Bkreg1u8mkTfQS1mWAhqBWQKwYV8ODtWwLy6aF8RqXBMZtoORRCLbAXsaYsNumHnrq4MeRmoOm2tcqE5DLIPGVK8XP1PZUAHYZtY6ZH76bX/6f9wDpsDscdE1qfSsUnhZInBB7NuvzhXLc6y3sr+UsF3K/wVX6su6HOp9bprNOe9rVFbvdYzMgVjI3gsu2Te6gJwReuxIg4pDF+0144jTayCr5d5GhK8G8mzEQJ2qlIx6LCTPOKYFFFsjQeskqfEb3fQHpl/4oKQ7EbZwRNDCcb9bcZMFzzOpzQnrKyco8R2cdOtw+YnGc5ohCL3fqxFoL6Wez9P9jkczN2jwxLNUSd3zg/1wWJuvXLK9mIM0kFHOvlM4ThXzZ/uybRHlRtjNwLfSzvHEd4XS0XHeV0b1cUtmpR6sGzAqwXrTheDJeDMZS7OwQhZLWExEY+wYdcv2OHe5gzJIYqFH81tVNfHSPQuBOoDIfLX6xoezFgS8zRQ9ZagkWBASLSVLEgK62WvtUq9twMn6ttu3MLFro3UX5a2S2e4FG8S37aSwl6JC9X+Sz5toZDnNspjBv6eoi6OWYLEg0idmhKkPFOU41OV4nb+z9ymIBl1qfU86bfIuGtjaKtcSxcLvGk6KHowuY0xINbCoJfcnnFGfTN85HEPeUqc/Al3ppcjR1LsGWsOHIljOCKNY7O1Ws93/OQOAJukl0SvdyRJoD5NtRicLC05gXlUHD6M+5a9cgVaCaywMVg08SSTc1M911Mum6BclxXEEK3dcvdFfT1sAp+/AFtzdziF+eKiE5rxIdx5UyAFNc2IrI75LdaKPvGJONEvMGgaz6Y0nbpU1d14aqzhiRk8yMmX4a0mPzbOnbgJQ+Qlz/ywCjwYwN0VszjW/zPdnVIriozX2xH/uyfHL+LxsLq8u74kd8okmuoCNoHprdV+qPfHPdxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EZU3owyZvSS5Qu4RMQ6inj",
      "input": {
        "note": "Pitch helped; lemon now at the bottom of the wrist view, slightly right of the jaws. Shifting 1 cm right and descending around it.",
        "targets": {
          "right_pitch": 0.25,
          "right_x": 0.425,
          "right_y": 0.108,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EZU3owyZvSS5Qu4RMQ6inj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4801, -0.0189, -0.0383, 0.9991, 0.3756, 2.0819, 0.519, 1.3117, 0.3214, 0.0879, 0.9995]\nstate[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.157 left_yaw=0.0048 left_pitch=-0.1064 left_roll=-0.0047 left_gripper=0.9991 right_x=0.4299 right_y=0.1134 right_z=0.0389 right_yaw=0.0308 right_pitch=0.3444 right_roll=0.0219 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.2513, 6.9675, 1.6825, -0.0806, -0.0562, -0.0122, -0.5675, -5.1077, 3.9316, 1.1404, 0.1587, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cb7a71fa05f2a6725e11e02ecec4f0d21bd598963abc89e47d9c0bd1f372ac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4a56e54f54ba92df7f113a0e9ceeac023d0bb9c5a31870c3e51f1125491077b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:211fb520feac2e5bcdd96778351566bd5cc8497b67ba0568fdb3e3fca80359f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 6.341 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0189, -0.0383, 0.9991, 0.3969, 1.7199, 0.7151, 0.247, 0.2985, 0.1417, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1618 left_yaw=0.0047 left_pitch=-0.0824 left_roll=-0.0053 left_gripper=0.9991 right_x=0.4013 right_y=0.1158 right_z=0.0344 right_yaw=0.0591 right_pitch=-0.1368 right_roll=-0.0884 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.2513, 6.9675, 1.707, -0.0562, -0.0562, -0.0122, -0.4991, -6.7897, 6.5709, 1.5604, 0.2369, -0.0513, -0.0171]",
      "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, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9991, 0.4046, 2.0552, 0.5171, 1.2621, 0.3595, 0.078, 0.9995]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.005 left_pitch=-0.0992 left_roll=-0.0052 left_gripper=0.9991 right_x=0.4254 right_y=0.1184 right_z=0.0388 right_yaw=0.035 right_pitch=0.3246 right_roll=-0.0073 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -1.4291, 7.0769, 1.8242, -0.0562, -0.0659, -0.0122, 0.0752, -5.0667, 1.812, 0.6813, 0.1392, -0.4908, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4801, -0.0189, -0.0383, 0.9991, 0.3756, 2.0819, 0.519, 1.3117, 0.3214, 0.0879, 0.9995]\nstate[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.157 left_yaw=0.0048 left_pitch=-0.1064 left_roll=-0.0047 left_gripper=0.9991 right_x=0.4299 right_y=0.1134 right_z=0.0389 right_yaw=0.0308 right_pitch=0.3444 right_roll=0.0219 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.2513, 6.9675, 1.6825, -0.0806, -0.0562, -0.0122, -0.5675, -5.1077, 3.9316, 1.1404, 0.1587, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cb7a71fa05f2a6725e11e02ecec4f0d21bd598963abc89e47d9c0bd1f372ac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4a56e54f54ba92df7f113a0e9ceeac023d0bb9c5a31870c3e51f1125491077b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:211fb520feac2e5bcdd96778351566bd5cc8497b67ba0568fdb3e3fca80359f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QoKEAgSGAI4AUIIdGhpbmtpbmcSDHuOYV0RNUNaK0ZsGxoMcduVZFzRZb0vfNdkIjAK3ng7p1TQjZTneImEYOQGU9DSqPHUiK5fXUIvMaeYgP8wiALyeWju0GXAQBSrBWsq8glfOCYWsZbdDFClO6OXo3qzXDBhmIFjI1bmTlKtvH85pwtlJxYLjtLtuei6jC0Z3ano+mEScMHvZsL/5hoSKQ62RnzHB36mezeDYppT8SqS2OJCcMmGbdTDjiA14M9jc44Giz1Qm2hcnh87FIkHjXU7agsPVBgVMxsEzfPXTMOS3JiEl9H969kSTY1PuBAfYoom4aK1D0DazXtn2MFAqO7OXmao9zFTedW/cmq19Ax8gmgLDRB6LGZe8H8qc5JP2LpnMdV2RPDgRMwtIJ89RWwqUzvxUzb1QxHvbWf9gvun9dNOdRLj3VyBAu+tBo3tTAgtLuQhZCXsV7TPFNvYbndEkaOTbJJUzA9nx2QJsGUjvogsevIm9kaMOjx89xqA2DS1/GD05KQowf5sTWDU9itzndikxjycib0mH9TB4rL+ypbxOMxbFAdk5B/3WM/GUHVKldiIK9g3qrfHyYVgcDAUySEI2ADyCtO/aEYkUOrcqKk7jB8pEZxa9lHngUnYmHgtyf3SR/IXXPhfRD2UEcG+5f4PlC4D5sVBS0r79nhfLYv4NQLOOwi220Fki8I4l5YjlF+Ff/2eb0KWfy3eXJfbH42QX7DEPYN0zzD08WRnFv+oUyIz0irOIFqKMexmhGC+YZ4iKBUkdoRuhc3uKZJs1SyEC1OKohpMGxCvCB4+Endtf11JQF9LC3kL+MeWv1xSf4rf1Kof3dUIcFUV9+AAgTcVGEt22W7yFPUxMjRqg4BTjYcaNI4cAm71X6xaVGP2Srd5CI/aHCqRR94dGPv8wZVugj6RWDnDFsqnu6aiti3FAd76PcOaC8FLwweOpwEzeENH80gfzSPR5dl8PC/Gu0L7ISGUfqbtQ+tldIUUKbHCiJiSqFgKPIXJtCvp4Y7ZBf95+xnAlUryhPoK33JBVyB69vyngSuG+B1j0hKdEC2iKolrALcG5sHdmLNjUGL+8qeGublwlxDdf1X7/Cm8jQuBTEASwE9xZ3aPL0pAqiJd3+HbJfaQ2mJ85P4vHNnKn7FxvJdfrlQ7yTLuzmdkzHCF3+EgIlD96QzWyMG4KgqDlNLKPTqJW2Ptg9BrXrshQ5QqA0WbrJgyMSTQPj6dCcHHxr7smT94D6FnrZAQsPq90tO6VjnxbcOc2TIB2kIl4Oka7g0mlEPbfxfU9X1E4wzOC55ry/X4ha4B42tv9gLLF1noF3yDKT8HFLbYPqIDoiFR9nl6fCN3/tuSlpzWcaegxipslKCusUVKN3xCmN7D8A7tPzhNJsiflOlSK2MGCKjiqi7PXMWr9CoDMPW0HjpmuSkSd597YwaZdQip1+aPpIhprqtKogkEIMJiPJ2bjbmpcT7YdQ0feP+Ro7CfTJUZlgXCXWNPQczCPNZES4ApEV9b17vaWy25D1kobH5woJXc6TrAVOuY43TTOK9FrBXWwNHu89ao4g7Lobg8xB/vHBOH6VxD2sgyANrOcBnhpoJNIyIHadvPCRfufKVwJ1JGf0OCBelJ8EypeeBjdcrumQSPzvtNx7NYPe+fdPSSqefwpyAD84EUylwa3JXq/XCJx9mCa/IlCLnF0TItpomOgQuFGVNphwat12/EE+hhS+2HzDQjDBGu/JHtItIKbqCLt8WQA+r0SjE4mHjL0/LgEywyWu92KkDO0y7RYkevMuXYCZZ9G1PtArdBKcJ4jM0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NEzYZpSYrYPapZup4JqP9Z",
      "input": {
        "note": "Descent stopped at z≈0.039, about the lemon's mid-height, with the lemon between the jaws. Closing the gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NEzYZpSYrYPapZup4JqP9Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4808, -0.0189, -0.0383, 0.9991, 0.3687, 2.1078, 0.5232, 1.235, 0.3065, 0.0895, 0.0086]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1568 left_yaw=0.0048 left_pitch=-0.1072 left_roll=-0.0047 left_gripper=0.9991 right_x=0.4246 right_y=0.1107 right_z=0.0115 right_yaw=0.0459 right_pitch=0.2499 right_roll=-0.0059 right_gripper=0.0086\nstate[joint_eff]: [-0.1026, -1.2376, 6.9538, 1.619, -0.0659, -0.0611, -0.0122, -0.2667, -7.6923, 2.9744, 1.9219, 0.0952, -0.0366, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eb6cfe0b4ddd90a117dd59fbee0065ac250f866af0d21c1b3fef9fc548e5d97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f0d723b260e669f0459638ef447abef9e5565adebbbd9f3f99786ff38a3de23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:442826a0e6e3304399f6d71f45ca1e00d2419427bdb0788531866d6428a5d77b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.749 s
model
claude-opus-5-5
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, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9991, 0.4046, 2.0552, 0.5171, 1.2621, 0.3595, 0.078, 0.9995]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.005 left_pitch=-0.0992 left_roll=-0.0052 left_gripper=0.9991 right_x=0.4254 right_y=0.1184 right_z=0.0388 right_yaw=0.035 right_pitch=0.3246 right_roll=-0.0073 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -1.4291, 7.0769, 1.8242, -0.0562, -0.0659, -0.0122, 0.0752, -5.0667, 1.812, 0.6813, 0.1392, -0.4908, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4801, -0.0189, -0.0383, 0.9991, 0.3756, 2.0819, 0.519, 1.3117, 0.3214, 0.0879, 0.9995]\nstate[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.157 left_yaw=0.0048 left_pitch=-0.1064 left_roll=-0.0047 left_gripper=0.9991 right_x=0.4299 right_y=0.1134 right_z=0.0389 right_yaw=0.0308 right_pitch=0.3444 right_roll=0.0219 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.2513, 6.9675, 1.6825, -0.0806, -0.0562, -0.0122, -0.5675, -5.1077, 3.9316, 1.1404, 0.1587, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4808, -0.0189, -0.0383, 0.9991, 0.3687, 2.1078, 0.5232, 1.235, 0.3065, 0.0895, 0.0086]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1568 left_yaw=0.0048 left_pitch=-0.1072 left_roll=-0.0047 left_gripper=0.9991 right_x=0.4246 right_y=0.1107 right_z=0.0115 right_yaw=0.0459 right_pitch=0.2499 right_roll=-0.0059 right_gripper=0.0086\nstate[joint_eff]: [-0.1026, -1.2376, 6.9538, 1.619, -0.0659, -0.0611, -0.0122, -0.2667, -7.6923, 2.9744, 1.9219, 0.0952, -0.0366, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eb6cfe0b4ddd90a117dd59fbee0065ac250f866af0d21c1b3fef9fc548e5d97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f0d723b260e669f0459638ef447abef9e5565adebbbd9f3f99786ff38a3de23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:442826a0e6e3304399f6d71f45ca1e00d2419427bdb0788531866d6428a5d77b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowoKEAgSGAI4AUIIdGhpbmtpbmcSDBSfvVqygbFKC7OzuhoMX2sLtsIzDUCxJ3s4IjDjNAA2UTuP0kt7cacHI2a6MIkg+5Y4VguhTO7EMEVHPF5ghPt1x0OAGolDhFlZqd4qwAnNB4xlwX4K3sgRi+WYuSdo5PH8exUvLu0F/37LL+0ljK6bq3/L7gyGifix9I6tW+Z3ZNwXYksJNDf9NBNbRDwPwe/17KlwsNHZ4bsyCFnDoLIhIThnLMZ4nREpHE08Gu9y5y5rSNvuN1ACTmBNEhfJPp0qA8x1nw0fsAw/SxC7bOyRt10E8djrl2xxq4kluDb0Hojm8F91UCfXek2doNZYrJaUo4cad47ENNoDHWllbRPr6BLOPjCNTf2rdKxYvT5Pyr3BnwdLvbespBItWE+eA47DZquu3+QelbOnG3pGDYBPgKgb5sjQnqgzJysrRYUGnTKjRb2Mqt/zNnV26mZ/SmyTsnNvkUyVtSkDyDCW3JzjnIJsSKEsPAOoqBeMWbhUQZbRsDNC23b1pwqkyWOcYYRb5Ut15x9hLp68iaE5PU8IuzB7rUwmtxYsmLtdSN2aX5M8jwOwAqJZ7m5Qf6LS77lcSkiuSny2Akeufu27DHmN4nHkWUWZUcs+8uwEvN77YyFhTjiMw1I1LVUKKO4Dtmh7kgIsfgU1kcofhqi4sd/6gCeXHs8SF/DEheGpX7dcu5PEIUcQXyZ8Kqes9GKhCkFVfC1wwNEu4Kpg+yuYnvXy5pEW85V8MFOh9v4nAqWymfEOq9txxzl09IuhpzDoG8X6eDg8gUgodFYO5keLJsAju5AVcMnw+iaKDxG/e3RHUL9Aolx/QNQZLMrFzEEEAxM4oYNV0CjwMg8xXljLLzk68AwrWaa/L8TPZNNOp4UjvW3vKyYNCh9AWi5nq21QMXqOOD2borbdIsn1xISG4h3F/gOmeVIG+0280Qv5+U/Zhg3IwJvWI97p8FIn+a0PRPlPruu143cz9NBy05flHbECDj5hgs+HWRqYW0la7geXBLHKatNtllFSZAx57S6YcSpgYwYOYcbyFtoR+PXIkZ8tA9sDUz4FJ9qsmXF9NyOA2btt7mPABl0aI76QTQc46zaojsNVhaFz5l7tL13dej5M8NebYq+8ov5i+211RbYmYcj+m34QrVZ1m9fOfEf3m3m/3OnhMpFELm45Fpc6O4PlOMokK64rf2T4sjmCifgo2O9Bq/V5FF4IVdd9KPNe9xZO/AdVsh7p0gCjxS2AOhaS48PQ7/u+aG7VXR5MaTZRYmGTryZxsmbowE0B+WRhfoseGTHp7bCFzxJN12x+CCcduH8k3ArDPRe1QUl4qjmYvVaXMUAFxHddlwDWf5azitbD20htmd5vj7uOitxPSuXnev/0Xweeb7EQVakcdsrN9AejTob/bHGgr1f4ZmFo0dbio7/Xgf+J0lU9bOflU0iJbcI6Xz7/QJMWf9LREqulR4SOSdNILpPhhIy2rSWaCvMdav8SNQj2HLw+bVOtIxBTqJqhM3qov3e7aVrgc4phIxULvJH3V+VTsTogbbBXmcr49u6KKDYuDkqnEeYNIJpihDH+IVFIfEtAgARv0U+ypP552KzjCojj855TaOMXcvs2Xwi15YhogEscjfLMqQTs6pl9xSwzbQaJWfvMgz8S1dkUXhZAS3/lwoAQTKGXlukEi3gzEHQfMx4NMiehH6ffqqJDkekQsbOj3dOe2ZIWg6AeWda9cU+N5yQZh8FDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HMYacPQvMCT9PZeVfPNuSm",
      "input": {
        "note": "Empty close: the lemon was nudged forward and now stands ~5 cm ahead of the jaws. Opening, lifting and moving forward above it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.465,
          "right_y": 0.12,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HMYacPQvMCT9PZeVfPNuSm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4957, -0.0189, -0.0383, 0.9991, 0.3565, 1.9503, 0.6617, 0.9306, 0.2913, 0.0639, 0.9946]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.154 left_yaw=0.0048 left_pitch=-0.122 left_roll=-0.0044 left_gripper=0.9991 right_x=0.455 right_y=0.1191 right_z=0.055 right_yaw=0.0619 right_pitch=0.2401 right_roll=-0.0282 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.265, 6.9675, 1.8193, -0.022, -0.0464, -0.0122, -0.5812, -10.4957, 6.6667, 2.0586, 0.0269, 0.0952, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a48667cb356788abfd41159c843ede42138b7428d98d18d3624d0733acfee85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbcd1c3371ddbc8b0878ef5f2f5a32af4c03097598a25e381d92a6cf8bc3f6e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69e1447a3b8106329dd015d7fcd6691c4c12d13d9f7fdd1520e503a20490ce64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.15 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4801, -0.0189, -0.0383, 0.9991, 0.3756, 2.0819, 0.519, 1.3117, 0.3214, 0.0879, 0.9995]\nstate[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.157 left_yaw=0.0048 left_pitch=-0.1064 left_roll=-0.0047 left_gripper=0.9991 right_x=0.4299 right_y=0.1134 right_z=0.0389 right_yaw=0.0308 right_pitch=0.3444 right_roll=0.0219 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.2513, 6.9675, 1.6825, -0.0806, -0.0562, -0.0122, -0.5675, -5.1077, 3.9316, 1.1404, 0.1587, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4808, -0.0189, -0.0383, 0.9991, 0.3687, 2.1078, 0.5232, 1.235, 0.3065, 0.0895, 0.0086]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1568 left_yaw=0.0048 left_pitch=-0.1072 left_roll=-0.0047 left_gripper=0.9991 right_x=0.4246 right_y=0.1107 right_z=0.0115 right_yaw=0.0459 right_pitch=0.2499 right_roll=-0.0059 right_gripper=0.0086\nstate[joint_eff]: [-0.1026, -1.2376, 6.9538, 1.619, -0.0659, -0.0611, -0.0122, -0.2667, -7.6923, 2.9744, 1.9219, 0.0952, -0.0366, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4957, -0.0189, -0.0383, 0.9991, 0.3565, 1.9503, 0.6617, 0.9306, 0.2913, 0.0639, 0.9946]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.154 left_yaw=0.0048 left_pitch=-0.122 left_roll=-0.0044 left_gripper=0.9991 right_x=0.455 right_y=0.1191 right_z=0.055 right_yaw=0.0619 right_pitch=0.2401 right_roll=-0.0282 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.265, 6.9675, 1.8193, -0.022, -0.0464, -0.0122, -0.5812, -10.4957, 6.6667, 2.0586, 0.0269, 0.0952, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a48667cb356788abfd41159c843ede42138b7428d98d18d3624d0733acfee85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbcd1c3371ddbc8b0878ef5f2f5a32af4c03097598a25e381d92a6cf8bc3f6e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69e1447a3b8106329dd015d7fcd6691c4c12d13d9f7fdd1520e503a20490ce64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4gcKEAgSGAI4AUIIdGhpbmtpbmcSDLMhMoRwCYkjeYpXwxoM9DM9gKNDfKTCRnQEIjCFkLx5xhw8pnR/iwy4qITVkQmX5Rx5NwNqlJ++I2nchziG29BlpgYzwg2+PIQBIGcq/wZ9LI/DGPyqmmHdk0MXoQVC8ktN2YZigkXr7thslBSYjdqAqu3fgdXeoYVpqTwVt2hWS8/q0uOWkc8tE5J63OkOEtt/iC5NPKzKtpZY2pOMjuHJaifkoRkFdkxhYGB3TC19T/bpDDkdpZe0xslAIuHZb2SvQWbuS9x1rjlkc5DJm5quAIjWoNiYPCQHt8wtE/dN1bCoQDB1gPrVGMaFvlCvKAw1P51T+/HLhRNXc6sbUCPXzkB3zn/pZPaKmSplQyAX/XomKCF6YiX+EHjTaHGqRPo/m7qwLme8ay+J21po2eSj9J0WoM6MvHchVlGilwBIuGrA+iqbcpGyoJ0/U+2bIaU+sYgfYklJDXWhwTHKh9+dfY/7h6mssyADigUPQpRf9SGZZ5C6b+4m9nUA79AZaac/bjG1VNVjFLBMFsAaGcLa+ibf5ftaMbGt4d7kE+DlkkK9tdJPxb1rrGo8S4vjm/9232O3ACCpfixzhTX939bXkF1QIAY7IjEGQg3dwgy8pH5BQnto3vchu/843+59haWe6OvtpH6FWJ3GcczlTuKHpxLLt3IDxxNBJ1vb7MTtPfmNG/Gz4pLaaimYcMVsDW3y1ZMmI9qUpRnn3N0wzqN0crErIawqSuMzRuMVhSfDeIe9gW6UeCxkZ0cLOBrE39OXo0b+erqlORHf7bLekfZVwhz1isiX65Uyvstv13MINa68V8Zl2ZuWeZoUjLSE149nLjewUv1XCLUA8COAWz2z2dTE+fdyEi5Za5FlXNo2ePrqjz0DqVMnhF9vzy3CbBzal+Bu/Uh3/upMonYFIry9SPyYiEUXhWgvi2DT2tP5Ev4FaHQNZxNGg+xQdvO4cj0cIUkxj6oQBxLRoLKrkWC+178iWFf+ngYSQ9HYABS5IkTpsvoc2X3+mncbPs6p8PQT5gU5oRNF7Ldojw1weajiSm4usDlW24skdRCszFK5PqvvVnmHYg6CEfAR/qbcB4WG+ILybPIReeeTniREOs9Jz6y87LELKtyTlVi0YSDPbg9BiJCWaoBOA0QJNCKxnEiNuLd1yDKZmOt56lpjahG9k5PgozLkXZpUosPP+YcwXldwq8pjnzSFKv7QVqVliUPbF7niiQS7bzn+KPViM6gMdEgLxCUfASCi+iyhAfsLUl7v4udoHO84rKWAAEEB0ACbjmPa7d4Q6PJ2EeQgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013AVXkHju7zUeG2xVMnrRJu",
      "input": {
        "note": "Lemon now sits between the open jaws in the wrist view, slightly right. Descending straight down around it.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.465,
          "right_y": 0.115,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013AVXkHju7zUeG2xVMnrRJu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6067, -0.5068, -0.0189, -0.0383, 0.9991, 0.3443, 2.1262, 0.6861, 1.182, 0.2684, 0.0719, 0.9953]\nstate[eef_state]: left_x=0.2774 left_y=0.0017 left_z=0.1512 left_yaw=0.0049 left_pitch=-0.1358 left_roll=-0.004 left_gripper=0.9991 right_x=0.4695 right_y=0.1224 right_z=0.0401 right_yaw=0.0565 right_pitch=0.3339 right_roll=0.0166 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.306, 6.9949, 1.7705, -0.0562, 0.022, -0.0122, -0.9778, -6.0786, 3.1795, 0.5153, 0.3297, -0.3932, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e756404fe0d891392e98fa8664e5fd03169026b37363310c2fd481bc4ec5c148",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf9d39bba551b4d2693ae24878122710c1e426ddff10467671397a66e2204d12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d1c2a6594b8611940093d9ce752312feab511122bc7b7febc0c2a3ca0f113ba",
        "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 · 5.449 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4808, -0.0189, -0.0383, 0.9991, 0.3687, 2.1078, 0.5232, 1.235, 0.3065, 0.0895, 0.0086]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1568 left_yaw=0.0048 left_pitch=-0.1072 left_roll=-0.0047 left_gripper=0.9991 right_x=0.4246 right_y=0.1107 right_z=0.0115 right_yaw=0.0459 right_pitch=0.2499 right_roll=-0.0059 right_gripper=0.0086\nstate[joint_eff]: [-0.1026, -1.2376, 6.9538, 1.619, -0.0659, -0.0611, -0.0122, -0.2667, -7.6923, 2.9744, 1.9219, 0.0952, -0.0366, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4957, -0.0189, -0.0383, 0.9991, 0.3565, 1.9503, 0.6617, 0.9306, 0.2913, 0.0639, 0.9946]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.154 left_yaw=0.0048 left_pitch=-0.122 left_roll=-0.0044 left_gripper=0.9991 right_x=0.455 right_y=0.1191 right_z=0.055 right_yaw=0.0619 right_pitch=0.2401 right_roll=-0.0282 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.265, 6.9675, 1.8193, -0.022, -0.0464, -0.0122, -0.5812, -10.4957, 6.6667, 2.0586, 0.0269, 0.0952, -0.105]\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 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, 0.8124, 0.6067, -0.5068, -0.0189, -0.0383, 0.9991, 0.3443, 2.1262, 0.6861, 1.182, 0.2684, 0.0719, 0.9953]\nstate[eef_state]: left_x=0.2774 left_y=0.0017 left_z=0.1512 left_yaw=0.0049 left_pitch=-0.1358 left_roll=-0.004 left_gripper=0.9991 right_x=0.4695 right_y=0.1224 right_z=0.0401 right_yaw=0.0565 right_pitch=0.3339 right_roll=0.0166 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.306, 6.9949, 1.7705, -0.0562, 0.022, -0.0122, -0.9778, -6.0786, 3.1795, 0.5153, 0.3297, -0.3932, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e756404fe0d891392e98fa8664e5fd03169026b37363310c2fd481bc4ec5c148",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf9d39bba551b4d2693ae24878122710c1e426ddff10467671397a66e2204d12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d1c2a6594b8611940093d9ce752312feab511122bc7b7febc0c2a3ca0f113ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QcKEAgSGAI4AUIIdGhpbmtpbmcSDBx8GmiOXYx4XRZtzxoMl7QnP79GUCi6EQOGIjBnCbVlUn9HEGGVtgIPxD/gt25XIfWZ9Z9B7RUZvtgcDRIQ42WDp/bC+sEvKHVxZ3sqjgcUQ/rkPbSZQh9d0UiNMLMxjQE9BBaZVc6Pyk3snckx5gUcI97u58SrDYJKmhUG4F438HyYDwu3mAj1As4W5tRUexfZKbvMBtDQ3rFmql80osZmTH+PQhw1VIb/gfZfIVWaOAYDbp1L0nirXAGGsJt0LS2+V6+JUQChqkBAca6G1aO580p2jRisGbJ5U9tMo0gXSTMqZQcNMYPkUx842NC0mpdu8xYSOzmGcsiV70LG23ZJss6FGSLdlZ2rbEg5TZ4WARPpidIN+EOrJhAQajEGlTTSmsyKWYWiW7PRE8KBxtI559tH7PfbzBhezDAwXFhRS4E7p7pxQKCHYsMoyCMPLofn8pQ2rRxpjcoJ4JGrllrcYbml8SFk8g121U5LAiXQjei5qsoGJT27oHn8LzOGn+siX9bfosJ6E28fHODA3BhuqQ71e8v+GdyH7iA9xS1kHXoyrsGKVF+OYVfqTkecNCf5iJXGMBNLBwEyY582ZJeOwqF9Ha5VNi4yd9Els+5ZtzvZSM7CciQ99bLSfZWXctIC0FSQbVUizcHYD0B5qZpAvfforOg+IwXGrlEmXaNtDueTUBjCoH0wquZPr2Ykam0O7y7ruXPZm7UUCMsECMRCrP90HyYCzeaAcPDFA3xGK9GfhtbiVD5FtmQ+JHyDCWMhF7ubs9V0hD0dvbqaFosaW3Tp+qHH71rtG0wUnPprFYFZ22o6juUGj50p6+zJY1PEOqCNJ7lkKBg/ODVRAvBEDLDrWj2Lwz1ktB52zgrXJGYEp1w+2ZbIkNUQLFByONVg70vFp5z6tp552vDWEBkiMlUKG5VXhYfoh1I9jbeBgHaz0YJNIBF6DkzkuA2NqLCWldfA8fL5xYrLcWcDabDcxZ9I48X+dKGUCJ3Nf7rK4ikicAmQToEHe/oAsjgl1sK5bM3meiFiJuLOF3ANGiBU2vkl0WkZc3ZFs6r4iDHNny3MBXtmOSow2BG1dRXHUDAmH7w2mJEdWZiYytfP0o9+8DwQncWpODULKCc9CFeHMSics2CXIM7mxPVh1PLcwsHn8Xz42txj3pSrX2ab3+gb26s8M7sHbutSxonVCr3Q8wyz3e+TOCjjuoQGutyMghJf2gKK3GcxHhNrShxdiFuaAdR4RkkgJXoCFzDGIzyUzI7i+cXQ87gVpv9U6NyRm/87diZ71Kar2hyYxHKcJ/Mr6vG5ezRrjLN9+KEjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RQEhwi4u2AY58L9jGTkMNw",
      "input": {
        "note": "Lemon centred between the jaws; arm still settling downward (z 0.04), repeating descent target so it reaches grasp height before closing.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.465,
          "right_y": 0.118,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01RQEhwi4u2AY58L9jGTkMNw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.514, -0.0189, -0.0383, 0.9991, 0.3447, 2.1681, 0.688, 1.2663, 0.2596, 0.0692, 0.9953]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1494 left_yaw=0.0049 left_pitch=-0.1449 left_roll=-0.0038 left_gripper=0.9991 right_x=0.4715 right_y=0.1249 right_z=0.0409 right_yaw=0.0616 right_pitch=0.3758 right_roll=0.0292 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.3607, 6.8991, 1.6923, -0.0464, -0.022, -0.0122, -0.6496, -9.9624, 3.0838, 1.3211, -0.0073, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb33900d58b1961ade20d287d755a7152c43af0fe69d1f0390708177bc42d157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f0b4a32dc2aac4beaff5fd3e3ceaea0e847fa12e4f4521a1dec9b83b31a1b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e85fbed6807547ecfa6edd76a3a2d7143292c9db84d406202a8e8aad79b3f42",
        "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 · 8.349 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4957, -0.0189, -0.0383, 0.9991, 0.3565, 1.9503, 0.6617, 0.9306, 0.2913, 0.0639, 0.9946]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.154 left_yaw=0.0048 left_pitch=-0.122 left_roll=-0.0044 left_gripper=0.9991 right_x=0.455 right_y=0.1191 right_z=0.055 right_yaw=0.0619 right_pitch=0.2401 right_roll=-0.0282 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.265, 6.9675, 1.8193, -0.022, -0.0464, -0.0122, -0.5812, -10.4957, 6.6667, 2.0586, 0.0269, 0.0952, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8124, 0.6067, -0.5068, -0.0189, -0.0383, 0.9991, 0.3443, 2.1262, 0.6861, 1.182, 0.2684, 0.0719, 0.9953]\nstate[eef_state]: left_x=0.2774 left_y=0.0017 left_z=0.1512 left_yaw=0.0049 left_pitch=-0.1358 left_roll=-0.004 left_gripper=0.9991 right_x=0.4695 right_y=0.1224 right_z=0.0401 right_yaw=0.0565 right_pitch=0.3339 right_roll=0.0166 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.306, 6.9949, 1.7705, -0.0562, 0.022, -0.0122, -0.9778, -6.0786, 3.1795, 0.5153, 0.3297, -0.3932, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8143, 0.6067, -0.514, -0.0189, -0.0383, 0.9991, 0.3447, 2.1681, 0.688, 1.2663, 0.2596, 0.0692, 0.9953]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1494 left_yaw=0.0049 left_pitch=-0.1449 left_roll=-0.0038 left_gripper=0.9991 right_x=0.4715 right_y=0.1249 right_z=0.0409 right_yaw=0.0616 right_pitch=0.3758 right_roll=0.0292 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.3607, 6.8991, 1.6923, -0.0464, -0.022, -0.0122, -0.6496, -9.9624, 3.0838, 1.3211, -0.0073, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb33900d58b1961ade20d287d755a7152c43af0fe69d1f0390708177bc42d157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f0b4a32dc2aac4beaff5fd3e3ceaea0e847fa12e4f4521a1dec9b83b31a1b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e85fbed6807547ecfa6edd76a3a2d7143292c9db84d406202a8e8aad79b3f42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAgKEAgSGAI4AUIIdGhpbmtpbmcSDDbvXzLZfTYxK0v2YhoMCJc02ANUGldCsnisIjCpOlUi6AR2vQPzL50cZGcDzYGMRNa9KNw+iTxgOvEk4i1zQbrC/3XDVEEacbBOIpYqsQeSz+sMC6fOE4Aez51Z83qK7bx2+KCsmRD9FYHXawlPbTfC7pCWi4Vx+wmO0BZWF2n0xHI0DjjOPtytQOq7VvQhctbNZmKa7JUbomG6SLwFe7N0R7nN3S4EBsgJw/XSSarBpsLTrBNujKJPJzzTqWyZVJP3jm16o+2PP+qg2ou+Apoe1XMvAOudMqdg8v24b8/InVLpH56CZivERni4HNBGonqVU5NavRSZ4MzDCSst7RPgCwDe17cnEpEqKhEbMLv1xWc2eMR0/tKvKuee3Lu7r8fsNN+3CcFCq0fnfh7OkoxMpqkujXlrdYze4lWuyU3elZLgIakHlYonQNFyIysO3PSFOmk9Hs/2MpAY/fuLoUY7KPvPyL9x0nouJxAnt9vRTEUyeR4SB8z5vpYWvj+Fqr1bGSzBPWf6ZvC0abLf3ht7FiVjZ9GUk4MAzcMQtHb38FpVQ82G1U8Y/8f0h8n9SbqR5GzdH10yEtj6qU/y3L35KW/JfYiWFLGAAl2HnNefHV3SdEABNiCn5UxqwGY3PzOJA/42KZXtN6jDwaKWrklUv+bASayzdHBJt2pS2M3b+4vD3cCws0EH9YpGmq7IMdIFrGlv7VUWgmnvHB3OnaAsk6z7OuLWBqDhK3jJO5RuqsmdVMQ8bXvM2O921CVlfTgO+pnZH8gETrgnEBcW811ZNa+OO6n40C4j1M4pJ0mFZrQYT2z5PIsTaO0vHJAF7JpulpFZ4rkJ7Gel6fxdiW8KraQ0Apd65k5utKswMglyH0q8mMI1lq7/g+7yVECz+zsazJlVDyNh1kNJw1GqEps8/0qO2xlnuNdDuJgHhaGnU/PJLDG36gXvlZMCjbz6b5vX1LW6U3qaueUqb8uPGYdCFDayVO97VF1Facz973kvmrZDf5ffw+eobN3mff88eGNxzxPkdtosIiL/gfnywk4APp2IxNSr9kNRwVH+Jtv5WgPjsVSBCG/r8Rp3FXs/Xfc1RbmP6eKAK2UTIJV26ga8DJhvBUw/hFYdfLuxxl1SN9fSqVFyCeoNZ6X9SkGOHOslkmArVt2YZiR8XhF8slXT+gLkq9FdfL+lQ6rvHvvxzcmeJArLeL/NQZSmcX4HQsesr/sTRVHP20ul4s/YAuNUReKdUJyEq6ivcKkPtox5RR2feptxPwTbBn6hn4VYje8GhOZTq+5RUynNwNW2z+Ff26j/FlsYMs3RcrGRqgVLB754G0AV3D8eKAJUNl7LbCySQUi8SX/HVJ3sNITMxbcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018jyWPsTsdSZnRxVBHQaGzj",
      "input": {
        "note": "Arm holding at z≈0.04 with the lemon squarely between the jaws; closing now.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018jyWPsTsdSZnRxVBHQaGzj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5377, -0.0189, -0.038, 0.9991, 0.3431, 2.1578, 0.6804, 1.2175, 0.2394, 0.0792, 0.5103]\nstate[eef_state]: left_x=0.2725 left_y=0.0018 left_z=0.1439 left_yaw=0.0048 left_pitch=-0.1731 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4674 right_y=0.1263 right_z=0.0316 right_yaw=0.0769 right_pitch=0.3299 right_roll=0.0311 right_gripper=0.5103\nstate[joint_eff]: [-0.1436, -1.4154, 6.8991, 1.8584, -0.0513, 0.0073, -0.0122, -0.1436, -9.0872, 3.5214, 1.7753, 0.2369, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a12f501ceee26daa4847c1849dbbefed736773f6d735fa6f51e5c38d39364a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e27235f7b0d81d0d4e091cafdebf4c84eae2396106b3353cadf1e04fc4dc88ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7e02e2adff70af82649f43a1ff6ec33ecb157615a6778d737bd0246ab5ed5a3",
        "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 · 6.323 s
model
claude-opus-5-5
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, 0.8124, 0.6067, -0.5068, -0.0189, -0.0383, 0.9991, 0.3443, 2.1262, 0.6861, 1.182, 0.2684, 0.0719, 0.9953]\nstate[eef_state]: left_x=0.2774 left_y=0.0017 left_z=0.1512 left_yaw=0.0049 left_pitch=-0.1358 left_roll=-0.004 left_gripper=0.9991 right_x=0.4695 right_y=0.1224 right_z=0.0401 right_yaw=0.0565 right_pitch=0.3339 right_roll=0.0166 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.306, 6.9949, 1.7705, -0.0562, 0.022, -0.0122, -0.9778, -6.0786, 3.1795, 0.5153, 0.3297, -0.3932, 0.0611]\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, 0.8143, 0.6067, -0.514, -0.0189, -0.0383, 0.9991, 0.3447, 2.1681, 0.688, 1.2663, 0.2596, 0.0692, 0.9953]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1494 left_yaw=0.0049 left_pitch=-0.1449 left_roll=-0.0038 left_gripper=0.9991 right_x=0.4715 right_y=0.1249 right_z=0.0409 right_yaw=0.0616 right_pitch=0.3758 right_roll=0.0292 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.3607, 6.8991, 1.6923, -0.0464, -0.022, -0.0122, -0.6496, -9.9624, 3.0838, 1.3211, -0.0073, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5377, -0.0189, -0.038, 0.9991, 0.3431, 2.1578, 0.6804, 1.2175, 0.2394, 0.0792, 0.5103]\nstate[eef_state]: left_x=0.2725 left_y=0.0018 left_z=0.1439 left_yaw=0.0048 left_pitch=-0.1731 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4674 right_y=0.1263 right_z=0.0316 right_yaw=0.0769 right_pitch=0.3299 right_roll=0.0311 right_gripper=0.5103\nstate[joint_eff]: [-0.1436, -1.4154, 6.8991, 1.8584, -0.0513, 0.0073, -0.0122, -0.1436, -9.0872, 3.5214, 1.7753, 0.2369, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a12f501ceee26daa4847c1849dbbefed736773f6d735fa6f51e5c38d39364a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e27235f7b0d81d0d4e091cafdebf4c84eae2396106b3353cadf1e04fc4dc88ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7e02e2adff70af82649f43a1ff6ec33ecb157615a6778d737bd0246ab5ed5a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AfrCKFsLtqpQHCEGkeH8Xk",
      "input": {
        "note": "Gripper settled at 0.51 (~4.8 cm), suggesting something is held, though the wrist view is ambiguous. Lifting to verify.",
        "targets": {
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AfrCKFsLtqpQHCEGkeH8Xk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5472, -0.0189, -0.0387, 0.9991, 0.3435, 1.9148, 0.6758, 0.9352, 0.2272, 0.0822, 0.5074]\nstate[eef_state]: left_x=0.2709 left_y=0.0018 left_z=0.1421 left_yaw=0.0052 left_pitch=-0.1831 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4612 right_y=0.1265 right_z=0.0762 right_yaw=0.0898 right_pitch=0.2866 right_roll=0.0257 right_gripper=0.5074\nstate[joint_eff]: [-0.0615, -0.7453, 6.9128, 1.6728, -0.0855, -0.0513, -0.0122, -0.3897, -10.1128, 6.7624, 2.3077, 0.0952, -0.0757, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6636762369d1f2268f39571a97d493e4370d57629a800b91bb313ec15b8daccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1830a173e1f544a7ed75d72e4f568d3f1bed9b18fd4c9a2ca197061f23e9401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f488499324ecef87b1a5478712b25c2b25acc0f996bfddf5b5b671eff9b2d50",
        "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 · 11.59 s
model
claude-opus-5-5
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, 0.8143, 0.6067, -0.514, -0.0189, -0.0383, 0.9991, 0.3447, 2.1681, 0.688, 1.2663, 0.2596, 0.0692, 0.9953]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1494 left_yaw=0.0049 left_pitch=-0.1449 left_roll=-0.0038 left_gripper=0.9991 right_x=0.4715 right_y=0.1249 right_z=0.0409 right_yaw=0.0616 right_pitch=0.3758 right_roll=0.0292 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.3607, 6.8991, 1.6923, -0.0464, -0.022, -0.0122, -0.6496, -9.9624, 3.0838, 1.3211, -0.0073, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5377, -0.0189, -0.038, 0.9991, 0.3431, 2.1578, 0.6804, 1.2175, 0.2394, 0.0792, 0.5103]\nstate[eef_state]: left_x=0.2725 left_y=0.0018 left_z=0.1439 left_yaw=0.0048 left_pitch=-0.1731 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4674 right_y=0.1263 right_z=0.0316 right_yaw=0.0769 right_pitch=0.3299 right_roll=0.0311 right_gripper=0.5103\nstate[joint_eff]: [-0.1436, -1.4154, 6.8991, 1.8584, -0.0513, 0.0073, -0.0122, -0.1436, -9.0872, 3.5214, 1.7753, 0.2369, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5472, -0.0189, -0.0387, 0.9991, 0.3435, 1.9148, 0.6758, 0.9352, 0.2272, 0.0822, 0.5074]\nstate[eef_state]: left_x=0.2709 left_y=0.0018 left_z=0.1421 left_yaw=0.0052 left_pitch=-0.1831 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4612 right_y=0.1265 right_z=0.0762 right_yaw=0.0898 right_pitch=0.2866 right_roll=0.0257 right_gripper=0.5074\nstate[joint_eff]: [-0.0615, -0.7453, 6.9128, 1.6728, -0.0855, -0.0513, -0.0122, -0.3897, -10.1128, 6.7624, 2.3077, 0.0952, -0.0757, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6636762369d1f2268f39571a97d493e4370d57629a800b91bb313ec15b8daccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1830a173e1f544a7ed75d72e4f568d3f1bed9b18fd4c9a2ca197061f23e9401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f488499324ecef87b1a5478712b25c2b25acc0f996bfddf5b5b671eff9b2d50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAoKEAgSGAI4AUIIdGhpbmtpbmcSDK6pyqG+eTkE+dr4aRoMD8HqhpgQD2g7mmeOIjCd4gjfgG4iq2AqzYDzDP4VxDiqzfmU9O1ibPAJ82rEZZ7UH7wRYhik3wuld7A+dGYqsQkgmw9x61byZagfuVeERwwnLYSh3uY75mdETw3Bjz9Dbxm6cS1+QMYmPhRothR745Ffl4tKVk8ht1Sx7BWSm2pcu2G03EiWpfQebEtVrb7rJybiuqQAZMPuToCpDs1xg1JAXCrZdHDsHrouKF0lwwlirvjn2zUJ2pxBxxGP5JXMhGDr3m2eNWjUXqRnM68NOvuE9JpHMx7dErTXaxEa9yfdWxkNkpjT70FFSFszDaNfF5AStG5Tv4h7/idOfYn/1dzfMheG6T9tw1NGbLNm1rOwXLCgKmVWssaTjRTWVSi9D2MCY8PQnPgK3h8IRmEZwXsOERkLJYYgSC1uHVAyXNSOEz2xcqOzNM2CiDbdMbyMoiJKXHFRpNbs4j4zdsxPc+H+uiXsp3Tbzb88A8gHmRnPFMal/rb90jNgFph+KnZK3i5PxeUPt5mR/Ljrx9J9AQDKpfyIu0zp5+uizMpemLHHluhQDa7+olBeVui8RyvESOW2SSUNnKE5OZCSmo3/lezgQZ0ISt0nIo2dlXpRxOpyfxSKIDnWbAluf9EWwaaulKVVHzyQM2Loj3+aWCVmmhEKYCp7amO2TAvv0juVaT//9jSIu1e9zgR2nwkbRLDdA78lSj6bgEy9x9hqYexMPJahbv5VztLAioqYhQNkkhkPycq7lKAgGuXmnJNU6a7FHoVfY7zyQMoBzbbmmPmLdxWdE5IveIC8j0IwKvARMXBssCyGEHgITP0wQiyDzHNrC7Ovlf1nGhki4bLhNWLgsTRM/BhUuu7OZfzLvJZU5GqZcIUxAWO8Px2JJRermgw0IGwsXp3m6JRAo+igy1HaVTDlxFYgBhjhcb5cUMModRGlBiK1D4pT58edYgGAOuzos4+3p+tK/wbcEfDG6tlf1PfFTFsjIH4qYPju1Un6g26z+YiUZSaEU+/aFcn4uaL8e1vPW2PUTRlbNj9dhNFUFkcWKyavjPj0qmG+HcTR3IgT4VBKhu+yW2aFbYAocbwnhYUbFlqxiecML8FcE46C+eqIqKcBLgATDGb0rrnxutVz2sI/bfb470yxSTlZb0QCRa9QkWwmidWsfEwTbQmS/eJ0g7GlrCRzWiAayAifr7S7APH1swSp1u9bJKE4ghaJL4EEWZa/UGAhaBzTzTvDVOOsFW0F07EAlzJtQKF27k91j6oMkSBCKzuq1R40efip3oUiPndXK+8TCM1EedDnIWIX+U0fJ/I/S1HJoY2YOyBfKEQizKyXftdbJMzmw0w1e58f987ast/0PRWaUAPdNevJt0pSKiqq/0P598PELc8dEw4Vi0bPAB3ziEl73spdYlMGdfMsZfqhCzI8hYQ8Q1DViY/sKfh5Ii4EuWt7iI0dG2qTllfktEU6q4ZwovUghyL5sY5Y5PzN1hcSVVI/X8fMFgIlJc2IipmAxgyxwb2algKV3E1Q0+Jq+mQvaDpthI6Z21ZEAq1ylu4R/MQ//atEHWmjO7kufLr7t3525VUPbKEXWUgknhdeAub02wBXTO9W58pT1ZbXiwZUeoOFzMWXIlAYCLq8hhtlhav5mLsbeNU/Ehjr3JVbDwoI8yEolrPSv1LXTG19vqJCJqXLLj/0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017323aSxY8YrmEY7pfgZ6vV",
      "input": {
        "note": "Lemon lifted with the jaws (gripper still 0.51). Carrying it over the safe's red interior, which is to the left.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.24,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017323aSxY8YrmEY7pfgZ6vV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5617, -0.0189, -0.0383, 0.9991, 0.6758, 1.7836, 0.8848, 0.4583, 0.5205, 0.1886, 0.5074]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0051 left_pitch=-0.1972 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4252 right_y=0.2329 right_z=0.1207 right_yaw=0.1251 right_pitch=0.2036 right_roll=-0.0262 right_gripper=0.5074\nstate[joint_eff]: [0.0068, -1.1009, 7.0222, 1.6972, -0.0806, -0.0562, -0.0122, 0.3214, -11.8496, 8.7863, 2.2393, 0.1636, 0.0904, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d05790a3aeadb0fb911a63cfdab1e534b1e30df98b9ea49ff1f62a98caa47c2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8b7919009d99b360881c70fb52407cc055b915d53f19dca57d3a507b9565aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a6b10655eaeea7045192055fb3f896e9585bff077ee3ff10789f48c0f3d1600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 4.869 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5377, -0.0189, -0.038, 0.9991, 0.3431, 2.1578, 0.6804, 1.2175, 0.2394, 0.0792, 0.5103]\nstate[eef_state]: left_x=0.2725 left_y=0.0018 left_z=0.1439 left_yaw=0.0048 left_pitch=-0.1731 left_roll=-0.0028 left_gripper=0.9991 right_x=0.4674 right_y=0.1263 right_z=0.0316 right_yaw=0.0769 right_pitch=0.3299 right_roll=0.0311 right_gripper=0.5103\nstate[joint_eff]: [-0.1436, -1.4154, 6.8991, 1.8584, -0.0513, 0.0073, -0.0122, -0.1436, -9.0872, 3.5214, 1.7753, 0.2369, -0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5472, -0.0189, -0.0387, 0.9991, 0.3435, 1.9148, 0.6758, 0.9352, 0.2272, 0.0822, 0.5074]\nstate[eef_state]: left_x=0.2709 left_y=0.0018 left_z=0.1421 left_yaw=0.0052 left_pitch=-0.1831 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4612 right_y=0.1265 right_z=0.0762 right_yaw=0.0898 right_pitch=0.2866 right_roll=0.0257 right_gripper=0.5074\nstate[joint_eff]: [-0.0615, -0.7453, 6.9128, 1.6728, -0.0855, -0.0513, -0.0122, -0.3897, -10.1128, 6.7624, 2.3077, 0.0952, -0.0757, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5617, -0.0189, -0.0383, 0.9991, 0.6758, 1.7836, 0.8848, 0.4583, 0.5205, 0.1886, 0.5074]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0051 left_pitch=-0.1972 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4252 right_y=0.2329 right_z=0.1207 right_yaw=0.1251 right_pitch=0.2036 right_roll=-0.0262 right_gripper=0.5074\nstate[joint_eff]: [0.0068, -1.1009, 7.0222, 1.6972, -0.0806, -0.0562, -0.0122, 0.3214, -11.8496, 8.7863, 2.2393, 0.1636, 0.0904, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d05790a3aeadb0fb911a63cfdab1e534b1e30df98b9ea49ff1f62a98caa47c2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8b7919009d99b360881c70fb52407cc055b915d53f19dca57d3a507b9565aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a6b10655eaeea7045192055fb3f896e9585bff077ee3ff10789f48c0f3d1600",
        "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_018WXuNnUrLoQpASg6S7G4Hu",
      "input": {
        "note": "The lemon was not actually held — it's still on the table right of the safe, farther forward (~x 0.49, y 0.11). Opening and hovering above it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.48,
          "right_y": 0.11,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_018WXuNnUrLoQpASg6S7G4Hu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5739, -0.0189, -0.0387, 0.9991, 0.2909, 1.7607, 0.7971, 0.6094, 0.1814, 0.0223, 0.9976]\nstate[eef_state]: left_x=0.2663 left_y=0.0019 left_z=0.1374 left_yaw=0.0054 left_pitch=-0.2097 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4754 right_y=0.1128 right_z=0.1199 right_yaw=0.1136 right_pitch=0.2342 right_roll=-0.0292 right_gripper=0.9976\nstate[joint_eff]: [-0.0068, -1.1282, 7.0496, 1.6239, -0.0659, -0.0708, -0.0122, -0.335, -9.8667, 5.8188, 2.293, 0.0708, -0.0855, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:130f864b858ab2758ece0492e1593761df762690499c9330fd961cc6cb99a76c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20f48a9a6bdcde6b277ed2df37d98a11c0e6f1ef417770526959709ddc285b5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:266da6d0c83d6bd82b8aa799f1a4ad5d0c7fa7cf6b9057dfa48f8715f989cab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 7.213 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5472, -0.0189, -0.0387, 0.9991, 0.3435, 1.9148, 0.6758, 0.9352, 0.2272, 0.0822, 0.5074]\nstate[eef_state]: left_x=0.2709 left_y=0.0018 left_z=0.1421 left_yaw=0.0052 left_pitch=-0.1831 left_roll=-0.0032 left_gripper=0.9991 right_x=0.4612 right_y=0.1265 right_z=0.0762 right_yaw=0.0898 right_pitch=0.2866 right_roll=0.0257 right_gripper=0.5074\nstate[joint_eff]: [-0.0615, -0.7453, 6.9128, 1.6728, -0.0855, -0.0513, -0.0122, -0.3897, -10.1128, 6.7624, 2.3077, 0.0952, -0.0757, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5617, -0.0189, -0.0383, 0.9991, 0.6758, 1.7836, 0.8848, 0.4583, 0.5205, 0.1886, 0.5074]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0051 left_pitch=-0.1972 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4252 right_y=0.2329 right_z=0.1207 right_yaw=0.1251 right_pitch=0.2036 right_roll=-0.0262 right_gripper=0.5074\nstate[joint_eff]: [0.0068, -1.1009, 7.0222, 1.6972, -0.0806, -0.0562, -0.0122, 0.3214, -11.8496, 8.7863, 2.2393, 0.1636, 0.0904, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5739, -0.0189, -0.0387, 0.9991, 0.2909, 1.7607, 0.7971, 0.6094, 0.1814, 0.0223, 0.9976]\nstate[eef_state]: left_x=0.2663 left_y=0.0019 left_z=0.1374 left_yaw=0.0054 left_pitch=-0.2097 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4754 right_y=0.1128 right_z=0.1199 right_yaw=0.1136 right_pitch=0.2342 right_roll=-0.0292 right_gripper=0.9976\nstate[joint_eff]: [-0.0068, -1.1282, 7.0496, 1.6239, -0.0659, -0.0708, -0.0122, -0.335, -9.8667, 5.8188, 2.293, 0.0708, -0.0855, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:130f864b858ab2758ece0492e1593761df762690499c9330fd961cc6cb99a76c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20f48a9a6bdcde6b277ed2df37d98a11c0e6f1ef417770526959709ddc285b5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:266da6d0c83d6bd82b8aa799f1a4ad5d0c7fa7cf6b9057dfa48f8715f989cab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAgKEAgSGAI4AUIIdGhpbmtpbmcSDOflcrbY8bEGOJTYSRoMWN3YjsfD1Owh9WbVIjA7R1rho9y8TSFQSL0TL4B+ZkdRx9/vB/E/icUvFPPtCqTfAOHdT2KCKtuOMblTTBkqpQclIRmhEYHQm8KpS/x2jmUv8p6SDJpDziIhfZDz0Ub+VE2TayNIlyT3oHCuAHBZEi1ulhRcTTTk7fWv1HTSGQ4EILrvtSxQB4b0TWkULHLT4hs4uGx6jL93zX8hHKcmDcPdOiNWX6pDXaD/ytvFHRbQc0fJacwE7aeihjOAZTz47KeEUyrzaTNOdXH6LIyaWVdNi6eRT+u4aiIej/SGqycY5fJ87RwGJwiANqpDrVuTOX5VXdZsD/FVuF0gxcs7wK+HLkIVlyzsDmUfiMgRjIDjTsSovWC74j/jLSw/+j4O3ow65SPtrI8G0t61OGk7mzZ7VbdCJWnJBzfSvddsInVvvbw+SuZU0ojGKwcPqujD941v6Jtb9QvEDZ9Sis94mrNUHBWhazNhbtxjEwbJ6tR1FdXA1MrHXWK3EldKZYS5HxMnkHlBa9+egcIx8jh8CAkAiJSdzy3DtWXnn43qPNmICLBm5YPYg3sU1fK5D4XqfEllU/E5udz5r9Dtm5c1/lRSrBW1QnX0rrk6TiTpmgV8RqP5K38J7/Sqe9ruQ8pTvwVxUrvWm8BRV+P+/UkabHW4jp2y5BbUyc2YJBo9P0EjQKSBZh9yREXEQYn9+yD4rCprazoj0uorHI/dPhwmun5G6uhjhU6DOltlYsAgUOycdjO6/wt6GlgVWPN85IvsSYQD3tyksMV9vyZ2zHjlJkwTgctOxEjE15aBJpU+wCto5NM6/CSdKLXhqJVLqaLKlB6KNQQvpOhN0bOnA/Ob/z9umP9PZbxwNxPD/1VubmeG0bbMZDqC8id41b6I+7xgfClZEjhSilPyQNEowjx4xsTcD4zT9dpq8sWOZSqm2YNhvx3PJfz1Mh5ta8+uQQRcGoCY7qYlk3Zi3xaQkHcvkG65BXFLmmE1dDRj4e2twQMmbYnR1luUBckTptkUDuxP/FhzgF0Q+kfhOtGOhcGwZZ3k0vfGMSJNO7nL30SV7clC95ygm86nJCdcer7pxGM8iJaMA7D9C/41cYovfzL+jWf5uJe+yGX7EpDgzrNdvTOcw1oYURP60PQ6TzczCy1fl+54ZELrDskYtvDsCa7IzKjHNm+MvhA4DO7Z2myD2Z2iT6CU/AsSptYwDNyJnIAfrYD8Jrp9vM+SdlNVIb9O0mH8cdeSg2QyFmJ3v7iwTX76WqyuY/ZaIHpZYHFkyZOuE2rhxBw5ZLyWk0y1xRwFL72Lepqzde+/tpR2TWiSaw1YNquQmPMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V7au2UgVPQjfftkBkw6ZzJ",
      "input": {
        "note": "Lemon is right under the jaws, slightly right of centre, long axis radial. Shifting 1.5 cm right and descending to grasp across its width.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.485,
          "right_y": 0.098,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01V7au2UgVPQjfftkBkw6ZzJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.585, -0.0189, -0.0383, 0.9991, 0.247, 2.1227, 0.7254, 1.1248, 0.1303, 0.012, 0.9988]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1351 left_yaw=0.0052 left_pitch=-0.2223 left_roll=-0.0019 left_gripper=0.9991 right_x=0.4859 right_y=0.1026 right_z=0.04 right_yaw=0.1164 right_pitch=0.3124 right_roll=-0.0103 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -1.3744, 6.8581, 1.6386, -0.0269, -0.0317, -0.0122, -0.759, -7.0359, 4.2872, 0.8767, 0.1978, -0.2076, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:765329e20c4b793d6c5290c6c821efa1a129387bce2a22d3459fc7e3d96489e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03a642bd0a1564afc56b1a36847a9e5505b98dc141f0372a836441c3924e6b81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bd8a7b86306b032aabf7234bb5d0f4c74678a41c9c4b072989a61512dc0233c",
        "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 · 7.282 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5617, -0.0189, -0.0383, 0.9991, 0.6758, 1.7836, 0.8848, 0.4583, 0.5205, 0.1886, 0.5074]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0051 left_pitch=-0.1972 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4252 right_y=0.2329 right_z=0.1207 right_yaw=0.1251 right_pitch=0.2036 right_roll=-0.0262 right_gripper=0.5074\nstate[joint_eff]: [0.0068, -1.1009, 7.0222, 1.6972, -0.0806, -0.0562, -0.0122, 0.3214, -11.8496, 8.7863, 2.2393, 0.1636, 0.0904, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5739, -0.0189, -0.0387, 0.9991, 0.2909, 1.7607, 0.7971, 0.6094, 0.1814, 0.0223, 0.9976]\nstate[eef_state]: left_x=0.2663 left_y=0.0019 left_z=0.1374 left_yaw=0.0054 left_pitch=-0.2097 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4754 right_y=0.1128 right_z=0.1199 right_yaw=0.1136 right_pitch=0.2342 right_roll=-0.0292 right_gripper=0.9976\nstate[joint_eff]: [-0.0068, -1.1282, 7.0496, 1.6239, -0.0659, -0.0708, -0.0122, -0.335, -9.8667, 5.8188, 2.293, 0.0708, -0.0855, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.585, -0.0189, -0.0383, 0.9991, 0.247, 2.1227, 0.7254, 1.1248, 0.1303, 0.012, 0.9988]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1351 left_yaw=0.0052 left_pitch=-0.2223 left_roll=-0.0019 left_gripper=0.9991 right_x=0.4859 right_y=0.1026 right_z=0.04 right_yaw=0.1164 right_pitch=0.3124 right_roll=-0.0103 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -1.3744, 6.8581, 1.6386, -0.0269, -0.0317, -0.0122, -0.759, -7.0359, 4.2872, 0.8767, 0.1978, -0.2076, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:765329e20c4b793d6c5290c6c821efa1a129387bce2a22d3459fc7e3d96489e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03a642bd0a1564afc56b1a36847a9e5505b98dc141f0372a836441c3924e6b81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bd8a7b86306b032aabf7234bb5d0f4c74678a41c9c4b072989a61512dc0233c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01937EqYVEPsw1vmVV6aQdSx",
      "input": {
        "note": "Lemon sits right of the jaw centre and the right finger appears to be resting on it (descent halted at z 0.04). Shifting further right before lowering.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.485,
          "right_y": 0.085,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01937EqYVEPsw1vmVV6aQdSx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5854, -0.0189, -0.0387, 0.9991, 0.2256, 2.1586, 0.725, 1.203, 0.0906, 0.0074, 0.9989]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.135 left_yaw=0.0054 left_pitch=-0.2227 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4892 right_y=0.0996 right_z=0.0412 right_yaw=0.1311 right_pitch=0.3529 right_roll=0.0004 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.1419, 7.0632, 1.4921, -0.0659, -0.0366, -0.0122, -1.6342, -7.0632, 2.7556, 1.4237, 0.3736, -0.105, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a60350f83bd9d2f28737a0e3f4b6829d5dcd280a055835518311b649624b0fd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02e08531797ac86b8417c0eb4844a8102c160b39f31280cf9a149031581ddbc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc6af23d930e395a469181c740810decf364fcb439446c493d9d69e97381f8e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 4.54 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5739, -0.0189, -0.0387, 0.9991, 0.2909, 1.7607, 0.7971, 0.6094, 0.1814, 0.0223, 0.9976]\nstate[eef_state]: left_x=0.2663 left_y=0.0019 left_z=0.1374 left_yaw=0.0054 left_pitch=-0.2097 left_roll=-0.0025 left_gripper=0.9991 right_x=0.4754 right_y=0.1128 right_z=0.1199 right_yaw=0.1136 right_pitch=0.2342 right_roll=-0.0292 right_gripper=0.9976\nstate[joint_eff]: [-0.0068, -1.1282, 7.0496, 1.6239, -0.0659, -0.0708, -0.0122, -0.335, -9.8667, 5.8188, 2.293, 0.0708, -0.0855, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.585, -0.0189, -0.0383, 0.9991, 0.247, 2.1227, 0.7254, 1.1248, 0.1303, 0.012, 0.9988]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1351 left_yaw=0.0052 left_pitch=-0.2223 left_roll=-0.0019 left_gripper=0.9991 right_x=0.4859 right_y=0.1026 right_z=0.04 right_yaw=0.1164 right_pitch=0.3124 right_roll=-0.0103 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -1.3744, 6.8581, 1.6386, -0.0269, -0.0317, -0.0122, -0.759, -7.0359, 4.2872, 0.8767, 0.1978, -0.2076, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5854, -0.0189, -0.0387, 0.9991, 0.2256, 2.1586, 0.725, 1.203, 0.0906, 0.0074, 0.9989]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.135 left_yaw=0.0054 left_pitch=-0.2227 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4892 right_y=0.0996 right_z=0.0412 right_yaw=0.1311 right_pitch=0.3529 right_roll=0.0004 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.1419, 7.0632, 1.4921, -0.0659, -0.0366, -0.0122, -1.6342, -7.0632, 2.7556, 1.4237, 0.3736, -0.105, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a60350f83bd9d2f28737a0e3f4b6829d5dcd280a055835518311b649624b0fd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02e08531797ac86b8417c0eb4844a8102c160b39f31280cf9a149031581ddbc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc6af23d930e395a469181c740810decf364fcb439446c493d9d69e97381f8e3",
        "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_01HT9wKxV4B4PqsFNqumaLdK",
      "input": {
        "note": "Right finger is resting on the lemon and the arm won't slide sideways in contact; lifting a bit and shifting right to clear it. (The safe lid appears to be falling closed on its own.)",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.485,
          "right_y": 0.08,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01HT9wKxV4B4PqsFNqumaLdK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5884, -0.0189, -0.0387, 0.9991, 0.1997, 2.1639, 0.7231, 1.2175, 0.0662, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1345 left_yaw=0.0055 left_pitch=-0.2258 left_roll=-0.0021 left_gripper=0.9991 right_x=0.491 right_y=0.0911 right_z=0.0414 right_yaw=0.1272 right_pitch=0.3597 right_roll=0.0061 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -1.1829, 6.8581, 1.5214, -0.0806, -0.0513, -0.0122, -0.7179, -7.5556, 2.9607, 1.6484, 0.105, -0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18b9eb628e0bfaad3309048325e8c90d598ed3a7ebaa102b3ebda7ba91afaf5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05daac98b38d18dc806e1fee83236170898c84e272531e61ace3395d9c68ce52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61b6ba93b18d6cf278df9f15540f4489024001d3c774aad553d92fdf2d5b188d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 6.911 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.585, -0.0189, -0.0383, 0.9991, 0.247, 2.1227, 0.7254, 1.1248, 0.1303, 0.012, 0.9988]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1351 left_yaw=0.0052 left_pitch=-0.2223 left_roll=-0.0019 left_gripper=0.9991 right_x=0.4859 right_y=0.1026 right_z=0.04 right_yaw=0.1164 right_pitch=0.3124 right_roll=-0.0103 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -1.3744, 6.8581, 1.6386, -0.0269, -0.0317, -0.0122, -0.759, -7.0359, 4.2872, 0.8767, 0.1978, -0.2076, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5854, -0.0189, -0.0387, 0.9991, 0.2256, 2.1586, 0.725, 1.203, 0.0906, 0.0074, 0.9989]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.135 left_yaw=0.0054 left_pitch=-0.2227 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4892 right_y=0.0996 right_z=0.0412 right_yaw=0.1311 right_pitch=0.3529 right_roll=0.0004 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.1419, 7.0632, 1.4921, -0.0659, -0.0366, -0.0122, -1.6342, -7.0632, 2.7556, 1.4237, 0.3736, -0.105, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5884, -0.0189, -0.0387, 0.9991, 0.1997, 2.1639, 0.7231, 1.2175, 0.0662, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1345 left_yaw=0.0055 left_pitch=-0.2258 left_roll=-0.0021 left_gripper=0.9991 right_x=0.491 right_y=0.0911 right_z=0.0414 right_yaw=0.1272 right_pitch=0.3597 right_roll=0.0061 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -1.1829, 6.8581, 1.5214, -0.0806, -0.0513, -0.0122, -0.7179, -7.5556, 2.9607, 1.6484, 0.105, -0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18b9eb628e0bfaad3309048325e8c90d598ed3a7ebaa102b3ebda7ba91afaf5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05daac98b38d18dc806e1fee83236170898c84e272531e61ace3395d9c68ce52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61b6ba93b18d6cf278df9f15540f4489024001d3c774aad553d92fdf2d5b188d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/AgKEAgSGAI4AUIIdGhpbmtpbmcSDJWzzVYyU6t0iehd3xoMXwmeKfKlNgw5E/7RIjATot0jrPEX+AfcP1E3+aGhgeZgk71HNk3W4+AJcEczL15ogWn9qy5OMvlAZ1dPZ7oqmQhGL8COLilvIUU8zztN/kPINPITP6QekIcgVjKcmfLi4xGKCMlEIQuGluitiyDFdMlNoTZoyyTDRwPedqQI3qhy71wOx0xxjqh1RfSHG3dx1SugmcHSLVe0rAV/OkfKUDttFGzcNTHyTUOOxbW3ZbTW8B52J9brDjFu9kGvgT03YKVoZQU63XG1FTt4LSCL5gtCy4dOzVUwymWaIyGz4CzVVbHKpK7wxfbsr3Skb5JmNiMRWoZVpp2k8fLmmZvUwVBUDOslhrqBZXEMEP2/d5qqw1J9CG1qXSMBGlt5Ndj4xErhlbbOzjnxNLSDpBfBN4o0Ci4NALVgO6mobs/hDa6kmkUwsPrYnxUFwwOCKK5SIXrZWKZ1O01+UVfwpLc2QAZ05Vs8XM/cDaT53hEIxu1NKqx95Xa353OHSUXupULE+EAOWftx7lTZarcbIPFXWfmk7sHzVCd4yC0bphjchY601GMJlaa1Ae0ekBF2xrEgM5IS0hI9zCFYhVPC+yzdi+rC2ZPq9kdzwFWIAqVZt5NW5qjwX1ucpirjI/LsNEsgVA8r9DjFAz8/lAiszlx1uesGCD9I1CrydIdZwFuwrD/QrIQ3S2a/4DdEDZce+FPOiFYjym0mSotnsOxV4t85pJEkVrSqetGGObeqYmXpyAybr+kIdmsFgVW33UYron2QMVyNufPwZBlas8ZhxRdwaL31ncLUaMulnIhtfKldl98WBWMOCC2KLqhIpZ88HZ2/Z9xEnKx8c7FGhlfic4fe6ulATMKsmk5sb0zD+vUOEdsDfcpMT/IgX/33JH1/GrtLEa34EIWmEcnsFrERT1G7STfy8fGtUWQNlPq/eOlT7fOyrDtDY/PO3C0CLjh8f3htkboFODLalIr6hCZVupwmB4tYJOD6wj9WhXFPGF6oZz9o8wqVvK/H00uUyFrx/U7EHHTRDbH7dC1hD43uQVLtlsfKNnbWYnPxxYc6E8Bc4H/EOG2MUt/R8CrJAQo+kRzn1ASZJIxmmBBMCI21Ci6K8VoNYHZIudc5r3EPEvutWXSd2d9XWaUqqEWRxn80xnu306FwwmRxnv/iQ8ofTXlf9uhcOsi9nDnchubk3B+h0lOoqVJTeyxoZtmSJ0wxqU5Qo2hy4H2RA3Z7LhNSufDlCKDqLtpzfoDh4kzBWURGlmv5LH7xEgeEzMI9IxppX3y93DzLksVZ0Gl023BUsn0Z6VmW0YrmIUr6Jpg6Y/QoonDAPOaF6b9FfWygks5193OpYmYgjqxJzCmt3mH1uEKQDsN1vrwVvOcSmMRY/MYTfbfZv26qgdcS8L4lhyp1boV+z7xaNJEQ37hAAZ/AZdK9UHdNGF/T0Xh1Fgq4xT0v1iuzwh+HgxmfNY0NDQBojjKiDu0rHfiLSS0/dhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vs5bnCKab4BnTFmzKRywQh",
      "input": {
        "note": "Lemon now sits between the jaws at grasp height; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Vs5bnCKab4BnTFmzKRywQh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5888, -0.0189, -0.0383, 0.9991, 0.2016, 2.1639, 0.7235, 1.2465, 0.0547, 0.0048, 0.0087]\nstate[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.1344 left_yaw=0.0053 left_pitch=-0.2261 left_roll=-0.0018 left_gripper=0.9991 right_x=0.4921 right_y=0.0944 right_z=0.0485 right_yaw=0.1397 right_pitch=0.3889 right_roll=0.0088 right_gripper=0.0087\nstate[joint_eff]: [-0.0205, -1.1692, 6.8308, 1.5604, -0.0562, -0.0269, -0.0122, -0.3077, -9.6068, 3.9316, 1.5897, 0.1099, 0.0269, 0.7399]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49ef6d5d3e0efaeab777884b617e900021c3212aaa7c30e8e5e9d5f6559814ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5c9bfa5c49347c55b11b22073708f465787de236aa494a79e73bea80ae51046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d5383a1a514404bbcfe4a1bf8da19844e2230adc2239660789deabf87ac1ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 3.83 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5854, -0.0189, -0.0387, 0.9991, 0.2256, 2.1586, 0.725, 1.203, 0.0906, 0.0074, 0.9989]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.135 left_yaw=0.0054 left_pitch=-0.2227 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4892 right_y=0.0996 right_z=0.0412 right_yaw=0.1311 right_pitch=0.3529 right_roll=0.0004 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.1419, 7.0632, 1.4921, -0.0659, -0.0366, -0.0122, -1.6342, -7.0632, 2.7556, 1.4237, 0.3736, -0.105, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5884, -0.0189, -0.0387, 0.9991, 0.1997, 2.1639, 0.7231, 1.2175, 0.0662, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1345 left_yaw=0.0055 left_pitch=-0.2258 left_roll=-0.0021 left_gripper=0.9991 right_x=0.491 right_y=0.0911 right_z=0.0414 right_yaw=0.1272 right_pitch=0.3597 right_roll=0.0061 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -1.1829, 6.8581, 1.5214, -0.0806, -0.0513, -0.0122, -0.7179, -7.5556, 2.9607, 1.6484, 0.105, -0.149, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5888, -0.0189, -0.0383, 0.9991, 0.2016, 2.1639, 0.7235, 1.2465, 0.0547, 0.0048, 0.0087]\nstate[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.1344 left_yaw=0.0053 left_pitch=-0.2261 left_roll=-0.0018 left_gripper=0.9991 right_x=0.4921 right_y=0.0944 right_z=0.0485 right_yaw=0.1397 right_pitch=0.3889 right_roll=0.0088 right_gripper=0.0087\nstate[joint_eff]: [-0.0205, -1.1692, 6.8308, 1.5604, -0.0562, -0.0269, -0.0122, -0.3077, -9.6068, 3.9316, 1.5897, 0.1099, 0.0269, 0.7399]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49ef6d5d3e0efaeab777884b617e900021c3212aaa7c30e8e5e9d5f6559814ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5c9bfa5c49347c55b11b22073708f465787de236aa494a79e73bea80ae51046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d5383a1a514404bbcfe4a1bf8da19844e2230adc2239660789deabf87ac1ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwsKEAgSGAI4AUIIdGhpbmtpbmcSDA1i8D0G12mQflts0BoMvRnZMrAvHIBoA1lJIjBsUWJFLfn33BS2fGc6K8rl/cwmAKx2VoRqodlOvUuaTlkVb6ZNb1C8xC61jKJgNAQq4AoaCC7SQycmYd0wGgIKKsr2mxrqbpgx9s/uIW68thRp4ETvpx2C9cueWO/EdxYj0qwWM1jtBNnXgTNWj1i2zSW9X8E9+m7fq8sH0QXktRxI6EldIcETurblbYHwTReCZfUxFrx1lBvSf18zYNZCBkj/fnTtnYWWSx19NGj7rDAAcjUodhP7T5uMlKW3rFLKIZb2F/lQ3mM4pchgisRqq8cALHZyOF+gkQ2CS9hhei62QVxla4QXwhNYT5ECuaV04+H7NB3HnBv0s0lh42ZGdGL6qbASN1chqYxfpvFnND1USlGHXuLeenjQk5XeamU9xLLkfXIWb6KDKMvxyafloxgSQ/2f5N5hMGFv8Nj6sC8DcciZGZ9r+EYu3pHjaVegcOc0ouoWVpUv5SOw7AFrUOc7Pspi/31f22kEtKl7naofcbc8oSuTahtjKa+QB7xnaCsFdSRZJD0XiZGe7e0OhxK4XblIKPSDEEpyupRUdVRgliXmDazIAxpjqIvXBN6Y4Eu5PQo0wfr1n9W7d/pa0D4M0vkXbwDJgFrVN/T+HjhSr22homtP5wlKVqedvC3se9WTWBA5A4T8ITAaoBrHhnAe7CcTwq3uPhlPLYun4F8562cupQXdRbF4heK52mobbUXFTcYe5tC57SdfUWgzNbRu+R2sbidOpChITMb5mFAj6vjCvyI2l+X6+yqwbiFsTZUA40rwzzVLWMVczp0bpXAnOofCo5wDRHYxg8VaoOuNWaxkg8nKB/8uJgS/60NcAUeyBO+4gJyTXYlDRSQT17XNIlmW4zU0g0t4BkPqxEWDsMPKNHiCFvd0xDB+e/ImRZplez8mFifv5fs0WSrtfML4HYNVfqYdXSyEcZ4k3gEXX6EcNMn21vM7j7H1SHINXz775VMZzCXuh2gOKyRZ/1zTRHDt3wnq48qgaLAU/KW+JBcTWpph578emvxEu+pBnT4tiA/0mDdM7WrQNPikXeDN8uySkZo3oPxHd8gbYy56sPsjUFGTzzPpp5CDkCumpAniokPKL/UTgtO6Z31dIjLW20iXvGmJlNyEjYE7W+wPAuBMvwPKQo1CJkYXFt70HPVWEYXbxDDHbyKy0ix6lKZjPBN/FngMssXrA3ydNa76YrTVgGW3bWmh0d3mQq4gaQLgxGA4npDgwTtk/13A+8/vXWBSD40DUNitUOACOwrYVtW2+w0by76e070aBy61uNF+Pdl77G0lB1pKydEtKtuQJOzNSuwFLzcIqKzmAx3DGaMlIFuiPEe1BFSNjqlm1veI3AWNXmpzSSst1WsTKMSbR2dBtxKhe4gw5OCMYqDTgPX2UYfTiLlg6SGn0bP/3IgD8DVvlZAcXu0N13Nx7vyvW9eDqPu1D5ToXoUShRjtUqF4L4T3upy2f6MwtywBkBD3GRxu7d+2PNXopB2bSjVH2K4lsRvpqSuPeipYxJdkqonbEugwAAOuMLentMF+kJCMbm486uLkaL+hV54hVJOeitgOiHJ8A3J9amiNRS52AT1VEOjgfow6ewpvwNL6QInyBqY4ZZ5k0QWAjpE5QloNkW1bRvPMOitkkwh5UK57sYsR8tsGDWp12Ro1l1Y98/0ZQs47sTmW2gPfc3eB8k6SFYkMXh/+RbcvfmjCZMA1dNct26hI7v4I4S1gNw2+vrYZb8TA6I+Qr2b/oktXSIIn2U44OM/l5X39EwZWdcPGTuVU3bmnBDMBtjPYI59S78i51zzbKoXBfb80PpxpL0PMoOZS5b79RO+VgQdMSCJw9aIOUFuWadUgBACTu5bI6bNac98rwFU6c/2IBhsFoCT2yFXHdMN4X9W/4fYkoKDwPxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kbwig3Ac5dZUU6mwtQh8uC",
      "input": {
        "note": "Jaws closed just short of the lemon: it lies beyond the fingertips near the reach limit. Opening and reaching further with more forward wrist pitch.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.55,
          "right_x": 0.525,
          "right_y": 0.095,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Kbwig3Ac5dZUU6mwtQh8uC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0189, -0.0387, 0.9991, 0.1894, 2.3478, 0.86, 1.4776, 0.0322, -0.0044, 0.9946]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1338 left_yaw=0.0055 left_pitch=-0.23 left_roll=-0.002 left_gripper=0.9991 right_x=0.523 right_y=0.0981 right_z=0.0589 right_yaw=0.1496 right_pitch=0.5724 right_roll=0.0116 right_gripper=0.9946\nstate[joint_eff]: [-0.2667, -1.2239, 6.8308, 1.5116, -0.0855, -0.0513, -0.0122, -0.6632, -8.0479, 4.6838, 1.6777, 0.0171, -0.0513, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89b0a2ebe681e74278dcf2d15018d829dd2fb0b11337870c242144a48f0b36ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2520336bc23862b81fecc18b6519d74ee5932d9b7046c3364bc7f80447263c05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0715aa0680da72a594356830d9e5e824c47fced16655190a8e68a5f187dc2a51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 16.41 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5884, -0.0189, -0.0387, 0.9991, 0.1997, 2.1639, 0.7231, 1.2175, 0.0662, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1345 left_yaw=0.0055 left_pitch=-0.2258 left_roll=-0.0021 left_gripper=0.9991 right_x=0.491 right_y=0.0911 right_z=0.0414 right_yaw=0.1272 right_pitch=0.3597 right_roll=0.0061 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -1.1829, 6.8581, 1.5214, -0.0806, -0.0513, -0.0122, -0.7179, -7.5556, 2.9607, 1.6484, 0.105, -0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5888, -0.0189, -0.0383, 0.9991, 0.2016, 2.1639, 0.7235, 1.2465, 0.0547, 0.0048, 0.0087]\nstate[eef_state]: left_x=0.2637 left_y=0.0019 left_z=0.1344 left_yaw=0.0053 left_pitch=-0.2261 left_roll=-0.0018 left_gripper=0.9991 right_x=0.4921 right_y=0.0944 right_z=0.0485 right_yaw=0.1397 right_pitch=0.3889 right_roll=0.0088 right_gripper=0.0087\nstate[joint_eff]: [-0.0205, -1.1692, 6.8308, 1.5604, -0.0562, -0.0269, -0.0122, -0.3077, -9.6068, 3.9316, 1.5897, 0.1099, 0.0269, 0.7399]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0189, -0.0387, 0.9991, 0.1894, 2.3478, 0.86, 1.4776, 0.0322, -0.0044, 0.9946]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1338 left_yaw=0.0055 left_pitch=-0.23 left_roll=-0.002 left_gripper=0.9991 right_x=0.523 right_y=0.0981 right_z=0.0589 right_yaw=0.1496 right_pitch=0.5724 right_roll=0.0116 right_gripper=0.9946\nstate[joint_eff]: [-0.2667, -1.2239, 6.8308, 1.5116, -0.0855, -0.0513, -0.0122, -0.6632, -8.0479, 4.6838, 1.6777, 0.0171, -0.0513, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89b0a2ebe681e74278dcf2d15018d829dd2fb0b11337870c242144a48f0b36ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2520336bc23862b81fecc18b6519d74ee5932d9b7046c3364bc7f80447263c05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0715aa0680da72a594356830d9e5e824c47fced16655190a8e68a5f187dc2a51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QYKEAgSGAI4AUIIdGhpbmtpbmcSDKbo09l0tmaeMdgM5xoMVznak+7NTLm7TBYbIjCnpqchDlyJ52FaxL7BpEZbcPJvCbwhl4U3P5Wu6K3qvqRxnFpUMP+ty2b1kkNdLV4qhgahDrPaIv8AsJvfCEu7begTUxO6pcwbff9FbVxIGGmttP4Arp5lu8sDE9dt/Utn2DtoDVXRM+0xsJtwm7sIWLeBxKENV1Bl+FFaz2gAP3KxURxs+EZtp6KH3KpIlvVNVU0HXbmMHIhm+uFJ4PwygC40yiuuwQMgmY/hDAPMfsMwv89i6zIrL1XWQzXb1iKZQZb8syOflna7HuTr5wEncC3Ecw6yVY3HUDRKMreWry1gTEorYU1d8twwkWX0wVGilkgkViWqVC7hhMqfOUi2urgMBGn7CzM5/83hak4ZNZDYlZvQ32a7sH2UrTUpkG+tOcgS7SjdaAas7S3SlCxolETGBvDacxPC2Y/CBmUXNdFR9rRYNzcf9xiOHFpwHaiLFjjH9R2VwA6Ds+Jwr5/6CDvR/MjVBYk/P9Ah3c7R17fybFAJhA0F9CwGaldANWumVop7hrOMsFhD+Q1k04ov2/cMPjp5TW+64V3e5SHUDBOKlQd28P45NsQ8SJaUdpqY7IzWuy/N3URQ5VoDBVvGh55GcjWVAUYHoBciXSGTVrbVvg3wATYAeURLSuUU4F0ZdOQ1MFD21PWSS9DtpxUyVDC4ggOVFuWnoFB/Mp3d07GjX16ZLdGPMY1ZpiTNGGMgFtfG6BNQOtMzQaMAJqYPD2oDhmuHTSuq01SvLn5aRRGh+MA5UvAMn5WhpG/P5dgOKaiHOImSEJ0x2GcGR5HkDZfLVf9Vc+aI/kesevGpTtMX+Pkq27PZksa9ufhZ/72xAbwLSKZFas7Fd7YXUwhVjQJUzBqQQVdrbdS1WVDIIpi6IpjFwaZoidLCiqxjxu47lbY7kLciXbkx/Wvf7POR+rUw40HDYDQucvU0zaOn4uBAOZih9vd+/mCXuXYhZ8Ny69J/vzkZPD6Laug1rN+7rO/s3YLcIoFm9vWZ770H2Gg8Euyf6eCoADC0pXB8eYIpt8F979NOg+xNf7uC7HlrSI4OaoWh1tuZ3H1MSUrnH3+QDqbTr6aPXSgj8xpcsxCgKxLz3QzCq1IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W6MChEcad6jzhHTikVMVu6",
      "input": {
        "note": "Lemon now at the bottom of the wrist view just right of the jaw centre; nudging right and descending onto it.",
        "targets": {
          "right_pitch": 0.55,
          "right_x": 0.525,
          "right_y": 0.09,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01W6MChEcad6jzhHTikVMVu6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0185, -0.0387, 0.9991, 0.1772, 2.4218, 0.915, 1.5787, 0.004, 0.0029, 0.9953]\nstate[eef_state]: left_x=0.263 left_y=0.0019 left_z=0.1338 left_yaw=0.0052 left_pitch=-0.23 left_roll=-0.0023 left_gripper=0.9991 right_x=0.5315 right_y=0.0981 right_z=0.0634 right_yaw=0.1597 right_pitch=0.6544 right_roll=0.0223 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -1.1966, 7.0496, 1.5556, -0.0171, -0.0513, -0.0122, -1.0735, -4.4513, 1.894, 1.6728, 0.1245, -0.1245, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5ae58eac16047ce89c70b978599c953b08322a2e15bd55f707764cfc708726b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c37777036b34141be6b1dca09f1b34d376d4d7ccf6037e28276d384f41c982a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:287142e6103948e9eae010da4e48364af7c701a6d62fda5733e7163f5b07b921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]