adhoc

completed
2026-09-22T22:27:53.108024+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
390.2 s
total steps
347
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows an open red-lined safe in the centre, a yellow lemon to its right, a light teddy bear to its left and a brown teddy bear in front of it. Moving the right arm to hover ~15 cm above the lemon to begin picking it up.
move_to
right_x0.3000right_y0.1060right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3882, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6067, -0.4026, -0.0204, -0.0265, 0.9996] state[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1787 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.001 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4308, -1.4291, 10.2906, 1.9756, -0.0806, 0.1685, -0.0904, -0.5402, -1.4427, 9.5932, 2.0781, -0.0269, 0.0757, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.106, "right_z": 0.15, "right_gripper": 1.0}, "note": "Top view shows an open red-lined safe in the centre, a yellow lemon to its right, a light teddy bear to its left and a brown teddy bear in front of it. Moving the right arm to hover ~15 cm above the lemon to begin picking it up."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteWrist view shows the lemon centred slightly right of the jaw column but well above the jaw row, meaning it is still further out than the fingertips. Advancing 4 cm radially and descending to 10 cm.
move_to
right_x0.3300right_y0.1000right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4049, -0.0193, -0.038, 0.9992, 0.5671, 1.0172, 0.5816, -0.3027, 0.411, 0.2829, 0.9996] state[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1748 left_yaw=0.0021 left_pitch=-0.0206 left_roll=-0.0028 left_gripper=0.9992 right_x=0.2893 right_y=0.1048 right_z=0.1316 right_yaw=0.0607 right_pitch=-0.0764 right_roll=-0.0421 right_gripper=0.9996 state[joint_eff]: [-0.1026, -1.7162, 6.8171, 1.8877, -0.0708, -0.022, -0.0171, 0.0889, -3.0154, 8.4855, 1.9756, 0.2759, 0.1099, -0.0562] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.1, "right_z": 0.1}, "note": "Wrist view shows the lemon centred slightly right of the jaw column but well above the jaw row, meaning it is still further out than the fingertips. Advancing 4 cm radially and descending to 10 cm."})
tool
executing move_to over 4 steps (0.4s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe previous step was clamped so the arm only advanced ~1 cm; the lemon still sits high in the wrist view, i.e. beyond the fingertips. Pushing further out to x=0.35 and lower to 8 cm.
move_to
right_x0.3500right_y0.1000right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8009, 0.6067, -0.408, -0.0193, -0.0383, 0.9992, 0.498, 1.1267, 0.5549, -0.2222, 0.3744, 0.2474, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1736 left_yaw=0.0023 left_pitch=-0.0259 left_roll=-0.003 left_gripper=0.9992 right_x=0.3011 right_y=0.0942 right_z=0.1012 right_yaw=0.0375 right_pitch=-0.1385 right_roll=-0.0729 right_gripper=0.9996 state[joint_eff]: [0.0068, -1.1966, 7.0085, 1.7851, -0.0611, -0.0464, -0.0122, 0.1846, -4.1368, 7.0222, 1.9512, 0.0513, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.1, "right_z": 0.08}, "note": "The previous step was clamped so the arm only advanced ~1 cm; the lemon still sits high in the wrist view, i.e. beyond the fingertips. Pushing further out to x=0.35 and lower to 8 cm."})
tool
executing move_to over 4 steps (0.4s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe arm is stalling around x=0.30 despite a further target; commanding a combined descent to table level and a further reach so the fingertips straddle the lemon.
move_to
right_x0.3600right_y0.1000right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4091, -0.0193, -0.0383, 0.9992, 0.498, 1.1259, 0.5549, -0.2024, 0.358, 0.2356, 0.9996] state[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1732 left_yaw=0.0023 left_pitch=-0.0274 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3033 right_y=0.0985 right_z=0.104 right_yaw=0.0583 right_pitch=-0.1254 right_roll=-0.0623 right_gripper=0.9996 state[joint_eff]: [0.0068, -1.1419, 7.0085, 1.6972, -0.0659, -0.0171, -0.0122, -0.0752, -4.0547, 7.0496, 1.8877, 0.1636, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.1, "right_z": 0.01}, "note": "The arm is stalling around x=0.30 despite a further target; commanding a combined descent to table level and a further reach so the fingertips straddle the lemon."})
tool
executing move_to over 7 steps (0.7s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteFingertips are now near table level but still short of the lemon, which sits high in the wrist view. Re-sending the forward target to close the remaining few centimetres.
move_to
right_x0.3700right_y0.0950right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.8051, 0.6067, -0.4217, -0.0189, -0.0383, 0.9992, 0.3927, 1.4387, 0.5034, 0.0463, 0.3077, 0.1829, 0.9996] state[eef_state]: left_x=0.29 left_y=0.0013 left_z=0.1697 left_yaw=0.0016 left_pitch=-0.0439 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3233 right_y=0.0799 right_z=0.0271 right_yaw=0.0145 right_pitch=-0.2486 right_roll=-0.1126 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.4291, 7.0222, 1.9023, -0.022, -0.0464, -0.0122, 0.7043, -7.747, 5.2991, 1.7411, 0.3053, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.095, "right_z": 0.0}, "note": "Fingertips are now near table level but still short of the lemon, which sits high in the wrist view. Re-sending the forward target to close the remaining few centimetres."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe lemon fills the top of the wrist view, still ~3 cm beyond the jaws, and each command is only advancing ~1 cm. Commanding a deliberately larger forward target so the clamped motion still closes the gap.
move_to
right_x0.4200right_y0.0950right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4286, -0.0193, -0.0387, 0.9992, 0.3988, 1.5242, 0.4767, 0.2005, 0.3141, 0.1612, 0.9996] state[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1688 left_yaw=0.0025 left_pitch=-0.0488 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3329 right_y=0.085 right_z=0.0152 right_yaw=0.0312 right_pitch=-0.2091 right_roll=-0.1169 right_gripper=0.9996 state[joint_eff]: [-0.253, -1.1145, 7.1726, 1.7363, -0.0708, -0.0659, -0.0122, 0.1436, -6.2838, 4.8889, 1.5311, 0.188, 0.105, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.095, "right_z": 0.0}, "note": "The lemon fills the top of the wrist view, still ~3 cm beyond the jaws, and each command is only advancing ~1 cm. Commanding a deliberately larger forward target so the clamped motion still closes the gap."})
tool
executing move_to over 7 steps (0.7s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe arm is stuck at x=0.333 near table level — it appears to be at a configuration limit. Lifting to 10 cm and pitching the tool forward to gain reach toward the lemon.
move_to
right_x0.4000right_y0.0950right_z0.1000right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.3988, 1.5242, 0.4767, 0.2005, 0.3172, 0.1608, 0.9996] state[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1674 left_yaw=0.0025 left_pitch=-0.0557 left_roll=-0.0026 left_gripper=0.9992 right_x=0.333 right_y=0.0845 right_z=0.0153 right_yaw=0.0289 right_pitch=-0.2083 right_roll=-0.1193 right_gripper=0.9996 state[joint_eff]: [-0.0752, -1.2923, 7.2137, 1.7705, -0.0562, -0.0562, -0.0122, -0.0342, -6.3932, 4.8889, 1.5458, 0.1978, 0.0855, -0.0171] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.095, "right_z": 0.1, "right_pitch": 0.3}, "note": "The arm is stuck at x=0.333 near table level \u2014 it appears to be at a configuration limit. Lifting to 10 cm and pitching the tool forward to gain reach toward the lemon."})
tool
executing move_to over 17 steps (1.7s)
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 notePitching forward gained the needed reach: the lemon now sits right at the jaw column near the bottom of the wrist view. Descending to grasp height.
move_to
right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8074, 0.6067, -0.4541, -0.0193, -0.0391, 0.9992, 0.4046, 1.6257, 0.4377, 0.7681, 0.3935, 0.0063, 0.9996] state[eef_state]: left_x=0.2854 left_y=0.0016 left_z=0.1626 left_yaw=0.0028 left_pitch=-0.0786 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3882 right_y=0.0964 right_z=0.0759 right_yaw=0.0594 right_pitch=0.1977 right_roll=-0.1413 right_gripper=0.9996 state[joint_eff]: [-0.0068, -1.6068, 6.9675, 1.7949, -0.0757, -0.0708, -0.0122, -0.4034, -5.4496, 6.0923, 2.2784, 0.315, 0.0317, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). 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_z": 0.025}, "note": "Pitching forward gained the needed reach: the lemon now sits right at the jaw column near the bottom of the wrist view. Descending to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteLemon is centred on the jaw column just below the fingertip row; descending the last centimetre and closing the gripper on it.
move_to
right_z0.0100right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.4595, -0.0193, -0.0387, 0.9992, 0.4046, 1.8606, 0.4091, 1.0603, 0.3965, 0.0154, 0.9996] state[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1612 left_yaw=0.0026 left_pitch=-0.0854 left_roll=-0.002 left_gripper=0.9992 right_x=0.393 right_y=0.0979 right_z=0.0402 right_yaw=0.0496 right_pitch=0.2256 right_roll=-0.1237 right_gripper=0.9996 state[joint_eff]: [-0.0068, -1.4017, 7.1043, 1.6825, -0.0659, -0.0513, -0.0122, -0.0479, -5.0803, 2.5368, 0.6667, 0.0708, -0.1197, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.01, "right_gripper": 0.0}, "note": "Lemon is centred on the jaw column just below the fingertip row; descending the last centimetre and closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe close was empty (gripper reads 0.01) and the lemon still sits just beyond the jaws. Re-opening and advancing ~3.5 cm further out.
move_to
right_gripper1.0000right_x0.4250right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4732, -0.0189, -0.0387, 0.9992, 0.4049, 2.0296, 0.4049, 1.1942, 0.3958, 0.0105, 0.0098] state[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1583 left_yaw=0.0023 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3891 right_y=0.0966 right_z=0.0037 right_yaw=0.0562 right_pitch=0.1882 right_roll=-0.142 right_gripper=0.0098 state[joint_eff]: [-0.0889, -1.347, 7.0906, 1.79, -0.0659, -0.0708, -0.0122, -0.0342, -6.3521, 3.4256, 2.1612, 0.0952, 0.0073, 0.6764] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.425, "right_z": 0.015}, "note": "The close was empty (gripper reads 0.01) and the lemon still sits just beyond the jaws. Re-opening and advancing ~3.5 cm further out."})
tool
executing move_to over 10 steps (1.0s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe lemon now sits squarely between the two open jaw tips in the wrist view. Closing the gripper on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4805, -0.0193, -0.0387, 0.9992, 0.3576, 2.0323, 0.5201, 1.071, 0.3546, -0.0124, 0.9948] state[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1569 left_yaw=0.0026 left_pitch=-0.1072 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4185 right_y=0.0947 right_z=0.0068 right_yaw=0.0567 right_pitch=0.1708 right_roll=-0.15 right_gripper=0.9948 state[joint_eff]: [-0.1709, -1.265, 7.0769, 1.6777, -0.0366, -0.0659, -0.0122, -0.4034, -9.0051, 4.7385, 1.7558, 0.0024, -0.022, -0.2222] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The lemon now sits squarely between the two open jaw tips in the wrist view. Closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteGripper settled at 0.42 (~4 cm) — the lemon is grasped. Lifting it 20 cm clear of the table before carrying it to the safe.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4961, -0.0193, -0.0387, 0.9992, 0.3584, 2.0327, 0.5217, 1.0519, 0.3511, -0.0189, 0.4236] state[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1539 left_yaw=0.0027 left_pitch=-0.1228 left_roll=-0.0012 left_gripper=0.9992 right_x=0.417 right_y=0.0951 right_z=0.003 right_yaw=0.0648 right_pitch=0.1527 right_roll=-0.1598 right_gripper=0.4236 state[joint_eff]: [-0.3077, -1.0598, 7.0085, 1.7656, -0.0806, -0.0562, -0.0122, -0.4034, -7.9248, 3.1385, 1.9658, 0.105, -0.0024, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Gripper settled at 0.42 (~4 cm) \u2014 the lemon is grasped. Lifting it 20 cm clear of the table before carrying it to the safe."})
tool
executing move_to over 15 steps (1.5s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteLemon is held aloft. Traversing left over the open safe (about 18 cm to the arm's left) at 22 cm height.
move_to
right_x0.4400right_y0.2700right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8124, 0.6067, -0.5106, -0.0193, -0.0383, 0.9992, 0.3584, 1.3838, 0.8894, -0.0109, 0.3431, -0.0265, 0.4267] state[eef_state]: left_x=0.2768 left_y=0.0018 left_z=0.1505 left_yaw=0.0025 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4149 right_y=0.0958 right_z=0.1937 right_yaw=0.0774 right_pitch=0.1067 right_roll=-0.1763 right_gripper=0.4267 state[joint_eff]: [-0.0615, -1.2923, 6.9265, 1.7851, -0.0659, -0.0073, -0.0122, -0.3487, -7.5556, 9.3744, 2.1758, 0.105, 0.0366, 0.6178] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.27, "right_z": 0.22}, "note": "Lemon is held aloft. Traversing left over the open safe (about 18 cm to the arm's left) at 22 cm height."})
tool
executing move_to over 15 steps (1.5s)
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 noteWrist view shows the red safe interior just to the left of the held lemon, so shifting 3 cm further left and lowering toward the box mouth.
move_to
right_y0.3000right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5251, -0.0193, -0.0387, 0.9992, 0.7551, 1.8091, 1.4342, -0.2993, 0.6483, 0.1867, 0.4298] state[eef_state]: left_x=0.2745 left_y=0.0018 left_z=0.1474 left_yaw=0.0028 left_pitch=-0.1564 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4327 right_y=0.2657 right_z=0.2031 right_yaw=0.1199 right_pitch=0.0539 right_roll=-0.2164 right_gripper=0.4298 state[joint_eff]: [-0.1436, -1.388, 6.9128, 1.7021, -0.0513, -0.0513, -0.0122, 0.2256, -9.388, 9.2239, 1.7265, 0.5153, 0.2662, 0.5983] 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_y": 0.3, "right_z": 0.16}, "note": "Wrist view shows the red safe interior just to the left of the held lemon, so shifting 3 cm further left and lowering toward the box mouth."})
tool
executing move_to over 3 steps (0.3s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe wrist view is now filled with the red safe interior beneath the lemon; opening the gripper to drop it into the safe.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.5289, -0.0189, -0.0387, 0.9992, 0.8001, 1.9022, 1.4471, -0.2634, 0.6758, 0.2119, 0.43] state[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1464 left_yaw=0.0025 left_pitch=-0.1613 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4312 right_y=0.2907 right_z=0.1711 right_yaw=0.1319 right_pitch=0.0325 right_roll=-0.2358 right_gripper=0.43 state[joint_eff]: [-0.0342, -1.2239, 6.8991, 1.6532, -0.0611, -0.0659, -0.0122, 0.4171, -9.935, 5.8735, 1.7998, 0.3883, 0.1587, 0.7985] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The wrist view is now filled with the red safe interior beneath the lemon; opening the gripper to drop it into the safe."})
tool
executing move_to over 6 steps (0.6s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe lemon is now inside the red safe interior. Withdrawing and moving to hover above the brown teddy bear that sits in front of the safe.
move_to
right_x0.2700right_y0.1900right_z0.2200right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.54, -0.0189, -0.0387, 0.9992, 0.8169, 1.9507, 1.4227, -0.2497, 0.6773, 0.2218, 0.9946] state[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.1444 left_yaw=0.0025 left_pitch=-0.1724 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4257 right_y=0.2969 right_z=0.14 right_yaw=0.1426 right_pitch=-0.0119 right_roll=-0.2651 right_gripper=0.9946 state[joint_eff]: [-0.0342, -1.2103, 7.0906, 1.707, -0.0513, -0.0611, -0.0122, -0.3897, -11.8632, 7.5829, 1.8828, 0.3639, 0.0659, -0.0317] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.19, "right_z": 0.22, "right_pitch": 0.2}, "note": "The lemon is now inside the red safe interior. Withdrawing and moving to hover above the brown teddy bear that sits in front of the safe."})
tool
executing move_to over 12 steps (1.2s)
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 noteLemon is safely in the safe. The brown bear should be roughly directly below the gripper; descending to 6 cm over it to grasp its body.
move_to
right_x0.2500right_y0.2100right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5617, -0.0189, -0.0387, 0.9992, 1.0416, 1.1946, 0.8101, -0.3126, 0.8997, 0.2565, 0.9953] state[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0026 left_pitch=-0.1976 left_roll=0.0002 left_gripper=0.9992 right_x=0.2732 right_y=0.2002 right_z=0.2059 right_yaw=0.1873 right_pitch=0.1545 right_roll=-0.2874 right_gripper=0.9953 state[joint_eff]: [-0.3214, -1.1829, 6.8855, 1.7705, -0.0611, -0.0562, -0.0122, 0.1299, -4.6154, 7.5009, 1.8779, 0.3639, 0.1441, 0.0562] 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_x": 0.25, "right_y": 0.21, "right_z": 0.06}, "note": "Lemon is safely in the safe. The brown bear should be roughly directly below the gripper; descending to 6 cm over it to grasp its body."})
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 noteWrist view shows the brown bear filling the lower-left, i.e. a few cm to the arm's left of the jaws. Shifting 4 cm left to centre it before closing.
move_to
right_y0.2500right_z0.0500
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, -0.5774, -0.0189, -0.0383, 0.9992, 1.1465, 1.536, 0.4423, 0.2195, 0.9573, 0.3611, 0.9954] state[eef_state]: left_x=0.2657 left_y=0.0019 left_z=0.1369 left_yaw=0.0024 left_pitch=-0.2132 left_roll=0.0008 left_gripper=0.9992 right_x=0.2465 right_y=0.2035 right_z=0.0541 right_yaw=0.2159 right_pitch=0.0933 right_roll=-0.3582 right_gripper=0.9954 state[joint_eff]: [-0.0479, -1.2376, 7.1726, 1.7021, -0.0513, -0.0024, -0.0122, 0.4991, -5.3265, 4.8068, 1.4676, 0.5788, 0.0855, -0.0073] 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_y": 0.25, "right_z": 0.05}, "note": "Wrist view shows the brown bear filling the lower-left, i.e. a few cm to the arm's left of the jaws. Shifting 4 cm left to centre it before closing."})
tool
executing move_to over 4 steps (0.4s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteBear is still left of the jaw column in the wrist view; nudging another 4 cm left and lowering to 3 cm to grasp its body.
move_to
right_y0.2900right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5854, -0.0189, -0.0387, 0.9992, 1.2125, 1.6894, 0.6022, 0.1619, 0.9848, 0.4286, 0.9954] state[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1355 left_yaw=0.0027 left_pitch=-0.2212 left_roll=0.0007 left_gripper=0.9992 right_x=0.2464 right_y=0.2486 right_z=0.0513 right_yaw=0.2345 right_pitch=0.0942 right_roll=-0.3532 right_gripper=0.9954 state[joint_eff]: [-0.0752, -1.2376, 6.9812, 1.5849, -0.0757, -0.0464, -0.0122, 0.4171, -5.8598, 5.4359, 1.0965, 0.5006, 0.1099, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.29, "right_z": 0.03}, "note": "Bear is still left of the jaw column in the wrist view; nudging another 4 cm left and lowering to 3 cm to grasp its body."})
tool
executing move_to over 4 steps (0.4s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe arm refused to shift further left at low height (readback unchanged). Raising to 16 cm first, where the IK has more freedom, then I will re-approach the bear from above.
move_to
right_z0.1600right_y0.3000right_x0.2400
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, -0.5858, -0.0189, -0.0387, 0.9992, 1.2163, 1.7012, 0.6193, 0.1287, 0.992, 0.4534, 0.9954] state[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1353 left_yaw=0.0027 left_pitch=-0.222 left_roll=0.0007 left_gripper=0.9992 right_x=0.246 right_y=0.249 right_z=0.0499 right_yaw=0.2235 right_pitch=0.0884 right_roll=-0.3579 right_gripper=0.9954 state[joint_eff]: [-0.0205, -1.2513, 6.8444, 1.4969, -0.0464, -0.0562, -0.0122, 0.1709, -5.9145, 5.5179, 1.0769, 0.4469, 0.0855, -0.0171] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16, "right_y": 0.3, "right_x": 0.24}, "note": "The arm refused to shift further left at low height (readback unchanged). Raising to 16 cm first, where the IK has more freedom, then I will re-approach the bear from above."})
tool
executing move_to over 8 steps (0.8s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteMotion is sluggish, likely the gripper is leaning on the bear. Lifting clear to 20 cm and shifting left before re-approaching from straight above.
move_to
right_z0.2000right_x0.2800right_y0.3000
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, -0.5884, -0.0189, -0.0387, 0.9992, 1.2518, 1.6897, 0.717, -0.0166, 1.0031, 0.4984, 0.9954] state[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1349 left_yaw=0.0027 left_pitch=-0.2246 left_roll=0.0008 left_gripper=0.9992 right_x=0.2414 right_y=0.2673 right_z=0.0676 right_yaw=0.2322 right_pitch=0.0853 right_roll=-0.3541 right_gripper=0.9954 state[joint_eff]: [-0.2667, -0.9368, 6.8444, 1.5556, -0.0415, -0.0562, -0.0122, 0.9915, -10.8239, 8.4171, 1.7411, 0.652, 0.2027, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.28, "right_y": 0.3}, "note": "Motion is sluggish, likely the gripper is leaning on the bear. Lifting clear to 20 cm and shifting left before re-approaching from straight above."})
tool
executing move_to over 9 steps (0.9s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteRe-estimating the brown bear at right-arm coords x≈0.23, y≈0.33; moving to hover 10 cm above it.
move_to
right_x0.2300right_y0.3300right_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, -0.5922, -0.0189, -0.0387, 0.9992, 1.1759, 1.6157, 1.1484, -0.4484, 0.9455, 0.3874, 0.9954] state[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1343 left_yaw=0.0027 left_pitch=-0.2281 left_roll=0.0008 left_gripper=0.9992 right_x=0.2764 right_y=0.3001 right_z=0.1815 right_yaw=0.2412 right_pitch=0.0662 right_roll=-0.3632 right_gripper=0.9954 state[joint_eff]: [-0.0205, -1.1966, 7.0085, 1.6288, -0.0611, -0.0757, -0.0122, -0.5949, -8.5128, 8.4581, 1.3211, 0.4078, 0.0122, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.23, "right_y": 0.33, "right_z": 0.1}, "note": "Re-estimating the brown bear at right-arm coords x\u22480.23, y\u22480.33; moving to hover 10 cm above it."})
tool
executing move_to over 6 steps (0.6s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe brown bear now fills the bottom of the wrist view right under the jaws. Descending onto it to grasp.
move_to
right_z0.0200right_y0.3400
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, -0.5926, -0.0189, -0.0383, 0.9992, 1.3247, 1.7969, 1.0729, -0.4107, 0.9974, 0.5766, 0.9954] state[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0025 left_pitch=-0.2284 left_roll=0.0011 left_gripper=0.9992 right_x=0.2312 right_y=0.326 right_z=0.1017 right_yaw=0.274 right_pitch=0.0227 right_roll=-0.4095 right_gripper=0.9954 state[joint_eff]: [-0.0068, -1.2513, 6.8308, 1.5751, -0.0562, -0.0122, -0.0122, 0.5265, -7.8427, 5.6137, 1.1258, 0.6716, 0.1197, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02, "right_y": 0.34}, "note": "The brown bear now fills the bottom of the wrist view right under the jaws. Descending onto it to grasp."})
tool
executing move_to over 6 steps (0.6s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe descent stopped on the bear's fur with the bear between the jaws; closing the gripper to grab it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 1.3334, 1.9709, 1.0386, -0.1318, 1.0542, 0.6075, 0.9954] state[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0027 left_pitch=-0.2284 left_roll=0.0009 left_gripper=0.9992 right_x=0.2383 right_y=0.347 right_z=0.0567 right_yaw=0.2384 right_pitch=0.1072 right_roll=-0.3449 right_gripper=0.9954 state[joint_eff]: [-0.0479, -1.2239, 6.8308, 1.4969, -0.0708, -0.0562, -0.0122, 0.1026, -5.2718, 3.2615, 0.1685, -0.1734, -0.2271, -0.0171] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The descent stopped on the bear's fur with the bear between the jaws; closing the gripper to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 194
assistant
agent noteGripper closed fully (fur compresses to nothing); lifting to see whether the bear comes up with the jaws.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 1.3338, 1.9728, 1.0401, -0.1261, 1.05, 0.6029, 0.0092] state[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0031 left_pitch=-0.2284 left_roll=0.0011 left_gripper=0.9992 right_x=0.2381 right_y=0.3486 right_z=0.0563 right_yaw=0.2426 right_pitch=0.1055 right_roll=-0.3425 right_gripper=0.0092 state[joint_eff]: [-0.212, -1.2376, 7.0496, 1.4969, -0.0806, -0.0708, -0.0122, -0.1162, -9.5111, 5.094, 0.9646, 0.4274, 0.0269, 0.6422] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "Gripper closed fully (fur compresses to nothing); lifting to see whether the bear comes up with the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 202
assistant
agent noteThe bear stayed on the table — the jaws only pinched fur. Opening wide and driving the jaws all the way down to table level so they straddle the bear's torso before closing.
move_to
right_gripper1.0000right_z-0.0100
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, -0.6075, -0.0189, -0.0387, 0.9992, 1.3338, 1.8034, 1.2675, -0.5549, 1.0351, 0.6025, 0.0112] state[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1316 left_yaw=0.0028 left_pitch=-0.2437 left_roll=0.0012 left_gripper=0.9992 right_x=0.2372 right_y=0.3502 right_z=0.1534 right_yaw=0.2519 right_pitch=0.079 right_roll=-0.3652 right_gripper=0.0112 state[joint_eff]: [-0.0205, -1.1556, 6.8171, 1.6093, -0.0757, -0.0611, -0.0122, -0.2256, -11.4667, 8.6632, 1.2039, 0.5299, -0.0171, 0.188] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": -0.01}, "note": "The bear stayed on the table \u2014 the jaws only pinched fur. Opening wide and driving the jaws all the way down to table level so they straddle the bear's torso before closing."})
tool
executing move_to over 11 steps (1.1s)
step 213
assistant
agent noteThe jaws are now down into the brown bear's body (descent stopped at 3 cm). Closing to squeeze a good handful of the torso.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6117, -0.0193, -0.0383, 0.9992, 1.3338, 2.0907, 1.0401, 0.0425, 1.1065, 0.6224, 0.9945] state[eef_state]: left_x=0.2596 left_y=0.0021 left_z=0.1306 left_yaw=0.003 left_pitch=-0.2494 left_roll=0.0019 left_gripper=0.9992 right_x=0.245 right_y=0.357 right_z=0.0323 right_yaw=0.1999 right_pitch=0.1748 right_roll=-0.3006 right_gripper=0.9945 state[joint_eff]: [0.0889, -1.3333, 6.9128, 1.5263, -0.0708, 0.0024, -0.0122, -0.0342, -5.2308, 2.8239, 0.188, -0.4762, -0.3736, -0.2271] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "The jaws are now down into the brown bear's body (descent stopped at 3 cm). Closing to squeeze a good handful of the torso."})
tool
executing move_to over 10 steps (1.0s)
step 223
assistant
agent noteGripper settled at 0.056 — it has a pinch of the bear's body. Lifting to check whether the bear comes with it.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6147, -0.0189, -0.0387, 0.9992, 1.3342, 2.0945, 1.0393, 0.0608, 1.1107, 0.6209, 0.0558] state[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1301 left_yaw=0.0029 left_pitch=-0.2525 left_roll=0.0014 left_gripper=0.9992 right_x=0.2455 right_y=0.3584 right_z=0.0327 right_yaw=0.1968 right_pitch=0.1836 right_roll=-0.2908 right_gripper=0.0558 state[joint_eff]: [-0.0068, -1.2103, 6.8034, 1.5263, -0.0366, -0.0415, -0.0122, -0.0889, -10.4, 4.8479, 0.8523, 0.3346, 0.0122, 0.3394] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.056 \u2014 it has a pinch of the bear's body. Lifting to check whether the bear comes with it."})
tool
executing move_to over 11 steps (1.1s)
step 234
assistant
agent noteBrown fur appears lifted just under the jaws. Carrying toward the open safe at the drop point that worked for the lemon.
move_to
right_x0.4300right_y0.3000right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6151, -0.0189, -0.0383, 0.9992, 1.3338, 1.8252, 1.3285, -0.5228, 1.0992, 0.617, 0.0562] state[eef_state]: left_x=0.259 left_y=0.002 left_z=0.13 left_yaw=0.0027 left_pitch=-0.2529 left_roll=0.0017 left_gripper=0.9992 right_x=0.2455 right_y=0.3616 right_z=0.1756 right_yaw=0.2079 right_pitch=0.1635 right_roll=-0.3133 right_gripper=0.0562 state[joint_eff]: [-0.1299, -1.2103, 6.8171, 1.5116, -0.0415, -0.0464, -0.0122, -0.3214, -11.7402, 8.1299, 1.0281, 0.5446, 0.0269, 0.0366] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.3, "right_z": 0.22}, "note": "Brown fur appears lifted just under the jaws. Carrying toward the open safe at the drop point that worked for the lemon."})
tool
executing move_to over 15 steps (1.5s)
step 249
assistant
agent noteThe bear slipped out of the fur pinch and is still on the table. Returning above it with jaws wide to try a deeper grasp around its torso.
move_to
right_x0.2450right_y0.3550right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6308, -0.0189, -0.0387, 0.9992, 0.8402, 1.821, 1.3945, -0.1818, 0.7467, 0.0517, 0.0563] state[eef_state]: left_x=0.2561 left_y=0.0021 left_z=0.1274 left_yaw=0.003 left_pitch=-0.2685 left_roll=0.0017 left_gripper=0.9992 right_x=0.4185 right_y=0.2927 right_z=0.2071 right_yaw=0.1992 right_pitch=0.1216 right_roll=-0.3432 right_gripper=0.0563 state[joint_eff]: [-0.0342, -1.1966, 6.9538, 1.6142, -0.0708, -0.0708, -0.0122, -0.2803, -8.2667, 9.3607, 1.9463, 0.3004, 0.1001, -0.0073] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.245, "right_y": 0.355, "right_z": 0.13, "right_gripper": 1.0}, "note": "The bear slipped out of the fur pinch and is still on the table. Returning above it with jaws wide to try a deeper grasp around its torso."})
tool
executing move_to over 14 steps (1.4s)
step 263
assistant
agent noteClear view now: lemon is in the case, light bear left of it, brown bear right under the jaws. Driving the open jaws down to table level around the brown bear's torso.
move_to
right_z0.0000right_y0.3700
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, -0.6373, -0.0189, -0.0387, 0.9992, 1.3106, 1.8629, 1.2198, -0.4156, 1.0401, 0.5674, 0.996] state[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1264 left_yaw=0.003 left_pitch=-0.275 left_roll=0.0019 left_gripper=0.9992 right_x=0.2483 right_y=0.3542 right_z=0.127 right_yaw=0.2423 right_pitch=0.0911 right_roll=-0.3697 right_gripper=0.996 state[joint_eff]: [-0.0615, -1.1966, 6.8308, 1.4921, -0.0366, -0.0562, -0.0122, 0.2667, -8.4171, 8.7043, 1.116, 0.6911, 0.2418, 0.0611] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0, "right_y": 0.37}, "note": "Clear view now: lemon is in the case, light bear left of it, brown bear right under the jaws. Driving the open jaws down to table level around the brown bear's torso."})
tool
executing move_to over 9 steps (0.9s)
step 272
assistant
agent noteThe jaws are stalling on top of the fluffy bear. Shifting 4 cm to the arm's left so the open jaws can drop down beside the bear's body at table level, then I'll close to scoop the torso.
move_to
right_y0.4100right_z0.0050
assistant
agent noteShifting 3 cm to the arm's left so the open jaws can drop beside the bear's body at table level, then close to scoop the torso.
move_to
right_y0.4000right_z0.0050
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, -0.6373, -0.0189, -0.0387, 0.9992, 1.3174, 2.1334, 1.1347, -0.0288, 1.0912, 0.59, 0.9972] state[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1264 left_yaw=0.003 left_pitch=-0.275 left_roll=0.0019 left_gripper=0.9992 right_x=0.2541 right_y=0.3704 right_z=0.0322 right_yaw=0.2108 right_pitch=0.1491 right_roll=-0.3423 right_gripper=0.9972 state[joint_eff]: [-0.0479, -1.0051, 6.9675, 1.4237, -0.0366, -0.0757, -0.0122, 0.3624, -6.2154, 4.7111, 0.5006, -0.188, -0.1294, 0.1148] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.41, "right_z": 0.005}, "note": "The jaws are stalling on top of the fluffy bear. Shifting 4 cm to the arm's left so the open jaws can drop down beside the bear's body at table level, then I'll close to scoop the torso."})
tool
target for right_y is outside [-0.08, 0.4]
assistant
move_to({"targets": {"right_y": 0.4, "right_z": 0.005}, "note": "Shifting 3 cm to the arm's left so the open jaws can drop beside the bear's body at table level, then close to scoop the torso."})
tool
executing move_to over 3 steps (0.3s)
step 275
assistant
agent noteJaws are buried in the bear's fur at table level; closing fully to get a firm handful of the torso.
move_to
right_gripper0.0000right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6376, -0.0189, -0.0383, 0.9992, 1.3296, 2.2303, 1.2606, -0.0021, 1.1332, 0.6147, 0.9971] state[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0028 left_pitch=-0.2754 left_roll=0.0022 left_gripper=0.9992 right_x=0.2597 right_y=0.4011 right_z=0.0329 right_yaw=0.1806 right_pitch=0.209 right_roll=-0.2836 right_gripper=0.9971 state[joint_eff]: [-0.1162, -1.1966, 6.7897, 1.4579, -0.0708, -0.0269, -0.0122, 0.6632, -8.4034, 4.7658, 0.6129, -0.0269, -0.0806, -0.022] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_z": 0.03}, "note": "Jaws are buried in the bear's fur at table level; closing fully to get a firm handful of the torso."})
tool
executing move_to over 10 steps (1.0s)
step 285
assistant
agent noteGripper has a grip of the bear's side fur; lifting and carrying toward the open case in one motion to see if the bear comes along.
move_to
right_x0.3800right_y0.3400right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6376, -0.0193, -0.0387, 0.9992, 1.335, 2.2501, 1.2808, -0.0124, 1.1332, 0.6182, 0.0375] state[eef_state]: left_x=0.2548 left_y=0.0022 left_z=0.1263 left_yaw=0.0033 left_pitch=-0.2753 left_roll=0.0022 left_gripper=0.9992 right_x=0.2583 right_y=0.4054 right_z=0.029 right_yaw=0.1859 right_pitch=0.2055 right_roll=-0.2896 right_gripper=0.0375 state[joint_eff]: [-0.1026, -1.1966, 7.0085, 1.453, -0.0513, -0.0415, -0.0073, -0.2803, -8.7316, 4.9026, 0.7546, 0.0855, 0.1685, 1.1355] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.34, "right_z": 0.2}, "note": "Gripper has a grip of the bear's side fur; lifting and carrying toward the open case in one motion to see if the bear comes along."})
tool
executing move_to over 12 steps (1.2s)
step 297
assistant
agent noteThe bear is coming along at the case's front edge. Advancing over the red interior before releasing.
move_to
right_x0.4400right_y0.3100right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 1.0077, 1.9106, 1.3266, -0.1005, 0.8982, 0.1917, 0.0377] state[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.003 left_pitch=-0.2754 left_roll=0.0019 left_gripper=0.9992 right_x=0.3728 right_y=0.3384 right_z=0.1621 right_yaw=0.1877 right_pitch=0.1514 right_roll=-0.3365 right_gripper=0.0377 state[joint_eff]: [-0.0479, -1.1966, 6.7897, 1.4188, -0.0464, -0.0171, -0.0122, -0.212, -12.9983, 9.2376, 1.5165, 0.2955, 0.0024, 1.033] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.31, "right_z": 0.16}, "note": "The bear is coming along at the case's front edge. Advancing over the red interior before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 303
assistant
agent noteBear is over the red interior; lowering slightly and opening the jaws to drop it into the safe.
move_to
right_gripper1.0000right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6376, -0.0189, -0.0383, 0.9992, 0.844, 1.9606, 1.3369, -0.0555, 0.7712, 0.062, 0.0377] state[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0028 left_pitch=-0.2754 left_roll=0.0022 left_gripper=0.9992 right_x=0.4265 right_y=0.2998 right_z=0.1384 right_yaw=0.1835 right_pitch=0.076 right_roll=-0.389 right_gripper=0.0377 state[joint_eff]: [-0.0205, -1.1419, 6.7897, 1.4579, -0.0464, -0.0366, -0.0122, -0.1983, -9.9487, 9.5795, 2.1563, 0.3541, 0.0708, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.12}, "note": "Bear is over the red interior; lowering slightly and opening the jaws to drop it into the safe."})
tool
executing move_to over 10 steps (1.0s)
step 313
assistant
agent noteLemon and brown bear are both inside the case. Closing the jaws and moving up and out to the top edge of the open lid so I can push it shut.
move_to
right_gripper0.0000right_x0.5200right_y0.3000right_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.6594, -0.0189, -0.0387, 0.9992, 0.8429, 1.964, 1.319, -0.0349, 0.7658, 0.0452, 0.9946] state[eef_state]: left_x=0.2508 left_y=0.0022 left_z=0.1219 left_yaw=0.0032 left_pitch=-0.3009 left_roll=0.0025 left_gripper=0.9992 right_x=0.4258 right_y=0.2991 right_z=0.1325 right_yaw=0.195 right_pitch=0.0699 right_roll=-0.4014 right_gripper=0.9946 state[joint_eff]: [-0.0479, -1.1966, 6.9949, 1.6093, -0.0708, -0.0611, -0.0122, 0.1846, -10.7282, 6.2974, 1.6386, 0.3199, 0.0464, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_x": 0.52, "right_y": 0.3, "right_z": 0.24}, "note": "Lemon and brown bear are both inside the case. Closing the jaws and moving up and out to the top edge of the open lid so I can push it shut."})
tool
executing move_to over 10 steps (1.0s)
step 323
assistant
agent noteThe closed gripper is at the top edge of the open lid. Sweeping toward the base and downward to fold the lid shut over the case.
move_to
right_x0.4200right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.675, -0.0189, -0.0387, 0.9992, 0.7082, 2.149, 1.9701, -0.4644, 0.6514, -0.0685, 0.0093] state[eef_state]: left_x=0.2478 left_y=0.0022 left_z=0.1183 left_yaw=0.0033 left_pitch=-0.3215 left_roll=0.003 left_gripper=0.9992 right_x=0.5114 right_y=0.3017 right_z=0.2224 right_yaw=0.2046 right_pitch=0.0373 right_roll=-0.42 right_gripper=0.0093 state[joint_eff]: [-0.2667, -1.5248, 6.8444, 1.5702, -0.0073, -0.022, -0.0122, -0.6632, -12.3692, 8.8957, 1.5604, 0.2076, 0.0024, 0.652] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_z": 0.13}, "note": "The closed gripper is at the top edge of the open lid. Sweeping toward the base and downward to fold the lid shut over the case."})
tool
executing move_to over 8 steps (0.8s)
step 331
assistant
agent noteThe gripper passed in front of the lid, which is taller than I assumed. Going up to 33 cm and back out to the lid's top edge for a proper push.
move_to
right_x0.5000right_z0.3300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6899, -0.0189, -0.0387, 0.9992, 0.841, 1.9965, 1.3567, -0.1719, 0.7341, 0.02, 0.0125] state[eef_state]: left_x=0.245 left_y=0.0023 left_z=0.1155 left_yaw=0.0034 left_pitch=-0.339 left_roll=0.0034 left_gripper=0.9992 right_x=0.4189 right_y=0.2961 right_z=0.1085 right_yaw=0.2296 right_pitch=-0.0551 right_roll=-0.4825 right_gripper=0.0125 state[joint_eff]: [-0.1983, -0.9641, 6.7077, 1.5702, -0.0513, -0.022, -0.0122, 0.5538, -12.6838, 7.1043, 1.8828, 0.4029, 0.1978, 0.315] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_z": 0.33}, "note": "The gripper passed in front of the lid, which is taller than I assumed. Going up to 33 cm and back out to the lid's top edge for a proper push."})
tool
executing move_to over 15 steps (1.5s)
step 346
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8352, 0.6067, -0.6998, -0.0189, -0.0387, 0.9992, 0.7177, 2.4729, 2.8723, -1.1912, 0.638, -0.0978, 0.0141] state[eef_state]: left_x=0.243 left_y=0.0023 left_z=0.1133 left_yaw=0.0035 left_pitch=-0.352 left_roll=0.0037 left_gripper=0.9992 right_x=0.5026 right_y=0.3039 right_z=0.2755 right_yaw=0.2368 right_pitch=-0.1049 right_roll=-0.5063 right_gripper=0.0141 state[joint_eff]: [-0.1162, -0.841, 6.8581, 1.4237, -0.0757, -0.0317, -0.0122, -0.6632, -15.1316, 8.1709, 1.4774, 0.3248, -0.0464, 0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 32.99 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3882, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6067, -0.4026, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1787 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.001 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4291, 10.2906, 1.9756, -0.0806, 0.1685, -0.0904, -0.5402, -1.4427, 9.5932, 2.0781, -0.0269, 0.0757, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5b1a44c5ed56221198982c3812692f87aaa4a4a5425d168dfdd27f67b1f92d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81f08abe849a384edcc55e7d55aae1848ecfa12c7407632e732a9e7dfe78e406",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50dd12ff04f2134bea2e75a4108ffd4d5526a32320d4a5b85217fd34a19f644f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.864 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3882, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6067, -0.4026, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1787 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.001 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4291, 10.2906, 1.9756, -0.0806, 0.1685, -0.0904, -0.5402, -1.4427, 9.5932, 2.0781, -0.0269, 0.0757, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5b1a44c5ed56221198982c3812692f87aaa4a4a5425d168dfdd27f67b1f92d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81f08abe849a384edcc55e7d55aae1848ecfa12c7407632e732a9e7dfe78e406",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50dd12ff04f2134bea2e75a4108ffd4d5526a32320d4a5b85217fd34a19f644f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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KQDkAQNhKzEykL3qStxWlBk2Pcx7AX9ni1UaXtiy0FM612kORtOGUi2c2fiO9a2r0cVa5SXskyiW3YMbd7X78dIQC0CdsfxAdw2KKEejYNZk6tm+QSrIl21u91JlzSqBTBrSm6Y8mZs16FbQnbep2f829ic84D9FC0+hUNo1sBTucDbT8sLYp98bSs1pqgIWg3+Slz7+SIjaoESw9REmbMpsAVhpJ8nq+3nY4CWkrJWwn2OMZibEoGHpV+ONEzHtk0ErMpgCrir87YuFbp3akEqtq6Pi8nlpjPHxsVayUpvRdhv7QijudCgIfXjTwSdmyIYI5wMyWiLxrajBjVMIWI06G4SBhCATQB8//3zl0NCttR+Uqhrh0vZW1gBtHrkRo2pOyLxx/pfs/PI0n3mkJ7vswZRoYr80Sto18ogPpSNZiGpw6OIB/4/CO8FBdPqgqO4EX9GApCEI5H7WuGsYnyod9o4z37wBHKiFVLDmriGoOccZspmwNDO3vYrvu9Ao8Bx0kRQWzM2nbPEPM3+zAH9bsWpeozopNLQH8+F5xaq+aCnNpBKJTNtJvECK2vxEQzCUxfFNzcBTl8TZDn9DhJUNljiohE7SJ3+ypZYrYrL8ogRUPkla3m8CLZNoEZw+aQstCchwXSb+IKh01i11gYu7F/myuVWoQ4jUfhYIXSbtlUUYOwkww3yRA3SeSa5tjcqakAqrz9r437Iu8QjO/2i/sMlRKXQCk3n/8Kd2nicMU2sRsyAjLrOa/M5YCsuo3c0kP0bBZXe2NOmDAvEgw+BEfszuWWsplJEVzcybmcfeu0QmOW9EtExbsEUoyZjcbTyAlScrsCYkbiJ0q/RRZm7Tqy+gbVg6Kh9p3LxXOUsCPQrALPI58V1U9boBf56nTRVQh/o49bFxrkB53cu5AottG0oPj3ZZ6mNnC6dtZXQ1pCEvs6LKfX0HOJlyJuCK1vtfC1e2O55nBPqynVr+HXP3nNY7nrAG7sayzGHz5r6tUA20xOV1HqrSFs5j4oYRHX32F/J9aMfKcJ0dJOpuWzmVvRhON+87TJ9x8AtO9YbSnyLNPu+mY9s+K7/Du9SJk1FhEAbAVvebqNV2TiYrtmzTQrsZ9jOYQ1Weh31xYqmH7a2EpHHOp8e2p5INISJMxBxL3r4TZ/ZOSrzuWE/X7PNRkNVP0OL/mHZ/wA58qaWYnOuTJliX35D1fr1epMo4MJTclvLAXZKFtB36iF17l8bs38a6kiZ5O99n+5gb1wZu8du6LmsIs/Zo+E9oyKw1xCqXqmwNfOQM2eBVXA7WkPYbkndtzXYYGU4vAii6Qok+9c4kXf80LqUSmwk2SHgr2lI8MTmR5/wCMFhhfwDJfx7PUz1gFevYWmDDM4F8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MJrf5n9TSshnsxfXcS1xbZ",
      "input": {
        "note": "Top view shows an open red-lined safe in the centre, a yellow lemon to its right, a light teddy bear to its left and a brown teddy bear in front of it. Moving the right arm to hover ~15 cm above the lemon to begin picking it up.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.106,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01MJrf5n9TSshnsxfXcS1xbZ",
      "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, -0.4049, -0.0193, -0.038, 0.9992, 0.5671, 1.0172, 0.5816, -0.3027, 0.411, 0.2829, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1748 left_yaw=0.0021 left_pitch=-0.0206 left_roll=-0.0028 left_gripper=0.9992 right_x=0.2893 right_y=0.1048 right_z=0.1316 right_yaw=0.0607 right_pitch=-0.0764 right_roll=-0.0421 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.7162, 6.8171, 1.8877, -0.0708, -0.022, -0.0171, 0.0889, -3.0154, 8.4855, 1.9756, 0.2759, 0.1099, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3806e04d169857d7b21a410748aa5643b815ad48411852ec6c6b03211f3915ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f39ca02cf3bae21aa8c00e0831abd26c8dd99767295cf558c662591af0ecb62a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ffade4de77d602593e516008469b2f0ecaff534eb420a53de88d66af561b273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 5.935 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3882, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6067, -0.4026, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1787 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.001 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4291, 10.2906, 1.9756, -0.0806, 0.1685, -0.0904, -0.5402, -1.4427, 9.5932, 2.0781, -0.0269, 0.0757, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4049, -0.0193, -0.038, 0.9992, 0.5671, 1.0172, 0.5816, -0.3027, 0.411, 0.2829, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1748 left_yaw=0.0021 left_pitch=-0.0206 left_roll=-0.0028 left_gripper=0.9992 right_x=0.2893 right_y=0.1048 right_z=0.1316 right_yaw=0.0607 right_pitch=-0.0764 right_roll=-0.0421 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.7162, 6.8171, 1.8877, -0.0708, -0.022, -0.0171, 0.0889, -3.0154, 8.4855, 1.9756, 0.2759, 0.1099, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3806e04d169857d7b21a410748aa5643b815ad48411852ec6c6b03211f3915ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f39ca02cf3bae21aa8c00e0831abd26c8dd99767295cf558c662591af0ecb62a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ffade4de77d602593e516008469b2f0ecaff534eb420a53de88d66af561b273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShQcKjgEIEhgCKkB6XheytZw/IYVTQNWZOMdndUVvVVDOnfIn/nLzX1oIppX949VwV5aarodM0Xr7XOuI94+uWCO5RXzUb42ueOtoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZmCzNUGEgw1uh6HyaZDvAjnIuwaDFuES+MOTNaBCxS27CIw14eiyXbhYJIKE5wVX0VtD0CXCJq2Aoki/0xeWIe0cbxYbPWKxOC+0ENS6rvAbjq7KqMFeglI8XWCDxTmxmGzn4zo9thdIDMK7ZcBHLSLnXSScX8iprK7CnxERa1X7p+iqCl1tje8byMOoszw39rkLwkiF/AzHmtLhUeCiRvYl568Oxiv+3RFXZ5ycpjTN4siZ0hAC8LadBZmt/M0fKnwkpKB1bOPipChV5GBQrYkZSDUvN+3uvHVcLYf1B6iEM3oGqZwdzcDTFzBcu82verKXs4i/SXVu5FvFqxBG9dYlLskboAaEjBF/eVf6lvyvBZ4DSh6JTvW7Tg6YHDAtvFNvKZAfO/YUBy1zMFN7n6jgQEAx0l0i+Xs28xhHSS16HAlA9thjLudHNKg0JfzXeW28JpzdT5pcRm6pM+YDebo5BfMAFLCNekj7vtt+nnFcGqWue1UYnazV4u+9nReMg2ZVwDR3qkyueeWtJWNNmL5MGtwZLukQMrgdvNJG0utapY7qQEc6r396FDuTCVELBF9Cxvg9ucqhw+69dOVGaEzOLxsg2Gfp9FwYhanUlPGWpXrDrKgiMrA3PeyOy7aQCIEbE5/b0FW1xFYpbaP0m+rtxyQn77cxTwLXSgV3Fkm6aL69Ubq8SVsz1IUPI45hALsXyRe2OKCwjPLcsul3/0W6ZD74v1pc9H3UEsMEPBrx2+DfFjp2Ezy2xnFN8OBXexKy0aM3kr7oNQofdLPnVlf1EX7cuHFaDQybRfIUC71lhhHSAtugDj9c9oU84wwMWNQ1HFnE3vPRiIGUguD3ulyrkRX9Jv7uBS+uv5Jo8UAHUiR8/JXqmLxwP1CP0iWfRe4qJHrAUsYgTuV/9hLsPxBYfgaTd28OmFhAb7mzrkBXW3buTpT0J5Er4HYalI4xvA2m+YzOIP6yxkRVFaA7JDwLEwilx1peeW5qvQLhf7uNHbnNCA67nAVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017QaeUxBmBbFZ1fLFt7diQT",
      "input": {
        "note": "Wrist view shows the lemon centred slightly right of the jaw column but well above the jaw row, meaning it is still further out than the fingertips. Advancing 4 cm radially and descending to 10 cm.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.1,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_017QaeUxBmBbFZ1fLFt7diQT",
      "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, 0.8009, 0.6067, -0.408, -0.0193, -0.0383, 0.9992, 0.498, 1.1267, 0.5549, -0.2222, 0.3744, 0.2474, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1736 left_yaw=0.0023 left_pitch=-0.0259 left_roll=-0.003 left_gripper=0.9992 right_x=0.3011 right_y=0.0942 right_z=0.1012 right_yaw=0.0375 right_pitch=-0.1385 right_roll=-0.0729 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.1966, 7.0085, 1.7851, -0.0611, -0.0464, -0.0122, 0.1846, -4.1368, 7.0222, 1.9512, 0.0513, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:831b756b0a456c87f4ad951730bf946c991bf066e0b6c38660d6a84622b371ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cdc619aa88ce2546f7b4b0d82e250c197cfef14b3cb9638aa97b42774cd1752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe2022d1dedaa5a36fa3167a6da8ece085925288ab69b4e2e977af9711a9697f",
        "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 · 10.72 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3882, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6067, -0.4026, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1787 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.001 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4291, 10.2906, 1.9756, -0.0806, 0.1685, -0.0904, -0.5402, -1.4427, 9.5932, 2.0781, -0.0269, 0.0757, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4049, -0.0193, -0.038, 0.9992, 0.5671, 1.0172, 0.5816, -0.3027, 0.411, 0.2829, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1748 left_yaw=0.0021 left_pitch=-0.0206 left_roll=-0.0028 left_gripper=0.9992 right_x=0.2893 right_y=0.1048 right_z=0.1316 right_yaw=0.0607 right_pitch=-0.0764 right_roll=-0.0421 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.7162, 6.8171, 1.8877, -0.0708, -0.022, -0.0171, 0.0889, -3.0154, 8.4855, 1.9756, 0.2759, 0.1099, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8009, 0.6067, -0.408, -0.0193, -0.0383, 0.9992, 0.498, 1.1267, 0.5549, -0.2222, 0.3744, 0.2474, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1736 left_yaw=0.0023 left_pitch=-0.0259 left_roll=-0.003 left_gripper=0.9992 right_x=0.3011 right_y=0.0942 right_z=0.1012 right_yaw=0.0375 right_pitch=-0.1385 right_roll=-0.0729 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.1966, 7.0085, 1.7851, -0.0611, -0.0464, -0.0122, 0.1846, -4.1368, 7.0222, 1.9512, 0.0513, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:831b756b0a456c87f4ad951730bf946c991bf066e0b6c38660d6a84622b371ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cdc619aa88ce2546f7b4b0d82e250c197cfef14b3cb9638aa97b42774cd1752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe2022d1dedaa5a36fa3167a6da8ece085925288ab69b4e2e977af9711a9697f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrwMKjgEIEhgCKkBownn/YX5ZoJpw1gIY962n7woGdq+FzlXBcKXxrb5YjhQktUw30OxqneocoK/22VoU4iC1QEcM4WEjF6FPOGFqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ+CzNUGEgzjMxL2GDal2+1WMrcaDKvxsxGx6ALjKctdtSIw1agQf5LRQSYKTyicwVdg+5S/guUrOMHSO44NwNzfXN8LkSGDjkMNjbuWas80WM2UKs0BwoQztWp4YpCThTDUAuuYQQt0dkmr0k8aPsxMrsZRGpd75V4EXHCZ27e5juKCFz7LOdHMdN6CoEX0VrG0EWveNRtWWumZJxgeRwAaY+t5RVWDHwzHrNt7herQLQzZb2sYen+wIvsZ/CzfnK0a6iMtrwgRr+QaUrYMrWJodabavb4nsdAmD8AFlh0zoO5qDM+RHk40M5P2aHE6PWEVBVRPleRArxSzS9mMksijUL10B7esq2U9no8YXvZjR4DWKuK5ZXn0dfx+F1LZKf/r7hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UqxVFxNobaeQjPBYt47vqN",
      "input": {
        "note": "The previous step was clamped so the arm only advanced ~1 cm; the lemon still sits high in the wrist view, i.e. beyond the fingertips. Pushing further out to x=0.35 and lower to 8 cm.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.1,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UqxVFxNobaeQjPBYt47vqN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4091, -0.0193, -0.0383, 0.9992, 0.498, 1.1259, 0.5549, -0.2024, 0.358, 0.2356, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1732 left_yaw=0.0023 left_pitch=-0.0274 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3033 right_y=0.0985 right_z=0.104 right_yaw=0.0583 right_pitch=-0.1254 right_roll=-0.0623 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.1419, 7.0085, 1.6972, -0.0659, -0.0171, -0.0122, -0.0752, -4.0547, 7.0496, 1.8877, 0.1636, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a934c926bcd61c70b696f5226bce31e0533cc6da72a2878b807b8a644cf0c53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ff5eb29d7d2174d3e854c6cdcf7d95bb61a98cd10c59c0282414188050faf9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ece6fe07178846579458e751000c1e1391484a6d78ec0b93f842dbbaf68cb62",
        "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 · 6.382 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4049, -0.0193, -0.038, 0.9992, 0.5671, 1.0172, 0.5816, -0.3027, 0.411, 0.2829, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1748 left_yaw=0.0021 left_pitch=-0.0206 left_roll=-0.0028 left_gripper=0.9992 right_x=0.2893 right_y=0.1048 right_z=0.1316 right_yaw=0.0607 right_pitch=-0.0764 right_roll=-0.0421 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.7162, 6.8171, 1.8877, -0.0708, -0.022, -0.0171, 0.0889, -3.0154, 8.4855, 1.9756, 0.2759, 0.1099, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8009, 0.6067, -0.408, -0.0193, -0.0383, 0.9992, 0.498, 1.1267, 0.5549, -0.2222, 0.3744, 0.2474, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1736 left_yaw=0.0023 left_pitch=-0.0259 left_roll=-0.003 left_gripper=0.9992 right_x=0.3011 right_y=0.0942 right_z=0.1012 right_yaw=0.0375 right_pitch=-0.1385 right_roll=-0.0729 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.1966, 7.0085, 1.7851, -0.0611, -0.0464, -0.0122, 0.1846, -4.1368, 7.0222, 1.9512, 0.0513, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8013, 0.6067, -0.4091, -0.0193, -0.0383, 0.9992, 0.498, 1.1259, 0.5549, -0.2024, 0.358, 0.2356, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1732 left_yaw=0.0023 left_pitch=-0.0274 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3033 right_y=0.0985 right_z=0.104 right_yaw=0.0583 right_pitch=-0.1254 right_roll=-0.0623 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.1419, 7.0085, 1.6972, -0.0659, -0.0171, -0.0122, -0.0752, -4.0547, 7.0496, 1.8877, 0.1636, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a934c926bcd61c70b696f5226bce31e0533cc6da72a2878b807b8a644cf0c53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ff5eb29d7d2174d3e854c6cdcf7d95bb61a98cd10c59c0282414188050faf9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ece6fe07178846579458e751000c1e1391484a6d78ec0b93f842dbbaf68cb62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuQkKjgEIEhgCKkDc4iZ2rdcHojGcwY17lNYFKD446dq7lmGmScg1RQLCpXPn3+qXQksXpzi2Ob8iJUi2IpVOn9tQl+gb+FjyNjBAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaqCzNUGEgzjQZx6wjOzMHwdaSsaDFAh09H/TB5B5IAbPCIw9IXqeIY1S9TH7XgooVjL20upC83JBXgq4DfYrYl+2AYO5uzIBgTQTmJLC393pvK7KtcH6rGJbPsqWDKgV/2CLP2mbw5Nb5cvLkAfgRCHPCYs17c2n05KU0nyFGX4AMpQ+Mtk3HCMPjMEWQSPL6MyX2J0z9UNbYjERawz6jXopkSKm5PihZ7isFz8eOAzgBAukK72WlhZFVMY1gcZcpjgpe6X9qGQKn/f0DAGzSeFL1n93SWjJ4pG9ZFlN7uEKYcSdXd2Rs+c5+mADzfyA0mucTaoD3QqeTrz9R4y55Ns//ql7nhi4aFZc1daMn+JvSrIABV5VzftwsjcM3Uq1gogKH1OxDXpi2HGVuBa1iYAcirN5tdEAdhs4URSyPtKWyfIGW+GC+JLqUhy1MF407b4ahR3plRCdnh/NmflmtRCEPUnJ2U88Rb/JjcaipknWCpe0JLEqrNISIzO1xcRIn8iElkky0cBq6obm8BdvUtU0WXeAXFeOGcruHLdBdIK5VuoMRRzsBRlgiLugetVerHgRLpsSVMTm/tyt4EHMUpFJdi0K5NjxqxKvXiG1ZnsqGux5LQonBeTfJWnZqRsuET51ytOhkhyd8y7yPGhQSkDRvwBpbe7K60dKG9+Y6jqpuuLTgxW8Lz2PB9y1t3DB1MYv250pVfM6ec3go4SsAOXKEsYRMuLuUag07osNjYhoXa5fiMHaUiXy9qBK60MuADdnyHlEpJbluPFQZPcL73QAerPS6XK07rOIW8mPLL2ltm2RF95PX2bZSjELOVtj7Ux+C1viSdfD3syQZn2v6fL8X7Ypr2zXBazumVOpkYbAJ/PG4mAU/Z3E1BFDpCXpE7GjRAcJgh2b8usd/Hxld56heJChLjKpclvvfJwjrkicUQ1y9B9Ay9B+rdEz6RfIV2zYso/ltWxkZvlp6ftR8azP0Y5Tfds8fI83AvgmoujR4Pd73IvWz3/kJwbN0mEF8Vv3RuP00pRRBeySBr/YU5zW7SfBxqJu2jIbaJccKtzFPxmEA0781N2Ov/N3UbdMCuLx2GjjCmEZCLj++c+/4U+XEN0usc9PXuWntbl7ZiBVR/QCS0G6k11ReIysIBU6AEcV21r4tbxpDnYCulotU8aESepU6Av2vP7itmBYFB6Ze7AV98idd1kmq87j4zNLMyknN6KJv34Ge+p+tO40Uvx8b/mCW6DasmcPWF20dC4FHED04fdnuytqaiyblKQizCtfLJszcpfG+dPYKUrUJiNV+WAWAvytlcILICUEnQmh3RjYXIZK+5TskuV4+yt713SBugup4xpN6QvxavPTGKnpXmSsKevaJyuBykCBbdKUHI5K3qUmqdVHXvZgH/2/9LxyRKfCeeGuJcj/CYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pvfrn7JPmSuSan8xkWStot",
      "input": {
        "note": "The arm is stalling around x=0.30 despite a further target; commanding a combined descent to table level and a further reach so the fingertips straddle the lemon.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.1,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Pvfrn7JPmSuSan8xkWStot",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.8051, 0.6067, -0.4217, -0.0189, -0.0383, 0.9992, 0.3927, 1.4387, 0.5034, 0.0463, 0.3077, 0.1829, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=0.0013 left_z=0.1697 left_yaw=0.0016 left_pitch=-0.0439 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3233 right_y=0.0799 right_z=0.0271 right_yaw=0.0145 right_pitch=-0.2486 right_roll=-0.1126 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.4291, 7.0222, 1.9023, -0.022, -0.0464, -0.0122, 0.7043, -7.747, 5.2991, 1.7411, 0.3053, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd988536c29750d9957f18ea5f3235bcf3533944f072dac00dfb2e9388ba9706",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19a4ccb360f3bb7878a506971bec0564327eb7ca0710e5c046b89e756807e738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e10c170b3a20f5363bce5bd0438601f7153737763d47c37a55f5c98530ec443a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 8.05 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8009, 0.6067, -0.408, -0.0193, -0.0383, 0.9992, 0.498, 1.1267, 0.5549, -0.2222, 0.3744, 0.2474, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1736 left_yaw=0.0023 left_pitch=-0.0259 left_roll=-0.003 left_gripper=0.9992 right_x=0.3011 right_y=0.0942 right_z=0.1012 right_yaw=0.0375 right_pitch=-0.1385 right_roll=-0.0729 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.1966, 7.0085, 1.7851, -0.0611, -0.0464, -0.0122, 0.1846, -4.1368, 7.0222, 1.9512, 0.0513, -0.0366, -0.0073]\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, 0.8013, 0.6067, -0.4091, -0.0193, -0.0383, 0.9992, 0.498, 1.1259, 0.5549, -0.2024, 0.358, 0.2356, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1732 left_yaw=0.0023 left_pitch=-0.0274 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3033 right_y=0.0985 right_z=0.104 right_yaw=0.0583 right_pitch=-0.1254 right_roll=-0.0623 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.1419, 7.0085, 1.6972, -0.0659, -0.0171, -0.0122, -0.0752, -4.0547, 7.0496, 1.8877, 0.1636, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.8051, 0.6067, -0.4217, -0.0189, -0.0383, 0.9992, 0.3927, 1.4387, 0.5034, 0.0463, 0.3077, 0.1829, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=0.0013 left_z=0.1697 left_yaw=0.0016 left_pitch=-0.0439 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3233 right_y=0.0799 right_z=0.0271 right_yaw=0.0145 right_pitch=-0.2486 right_roll=-0.1126 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.4291, 7.0222, 1.9023, -0.022, -0.0464, -0.0122, 0.7043, -7.747, 5.2991, 1.7411, 0.3053, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd988536c29750d9957f18ea5f3235bcf3533944f072dac00dfb2e9388ba9706",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19a4ccb360f3bb7878a506971bec0564327eb7ca0710e5c046b89e756807e738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e10c170b3a20f5363bce5bd0438601f7153737763d47c37a55f5c98530ec443a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8wMKjgEIEhgCKkAYd0aBnLKN7V2C+dMNlvbfRSTMINWAWbe+Vo8lyfsXgwjdAMveFZajmOi8jAEFE4D83XlC8Lgeb1XTBAX65KlhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbGCzNUGEgzZrK4bnVj9UH17ZPsaDJY/JGexYMqWVFbP/CIwM99G49Elm+nLk/Si9sCPzR/qW25L270SlZ5ujb1rlFHr7RfDgCAm+uc89VPbUV6OKpECp0TwDm+hy8Lyq2CrIM6RsWx2J99Tz9Au7BqEGEBBo9pPORMPuAFb277Q7KnuAdt9yJPuuqoczU9BSlPfYnS2WxwMmB4lakKvs+wH/OGdRx9PVz9Hc/rSSu4U18nSmwfbHYV8jA+rgw8X0RUdX15XoYLll+KxpagQnuIbhxH15JCBzaZ8q3rhbOfHnxTdPUedVEcxU6vP3xsOr2jsUn9XgiLR7CVdcvp+Axj095tzlCY4SpxyK6dul4ADABDOr2I+Z5HIvX+w+oUy2GvzGacCwWi+YLMG+Yg1wA18XiaZrLFX+dIXsVP0s1GKmxnLgw1jeTk4zWToiMvzNaLN9AsdQ/kPBEUIenhwx3JXH2KSLVd7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XyudNB1sLKAamZyNeP5h8i",
      "input": {
        "note": "Fingertips are now near table level but still short of the lemon, which sits high in the wrist view. Re-sending the forward target to close the remaining few centimetres.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.095,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XyudNB1sLKAamZyNeP5h8i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4286, -0.0193, -0.0387, 0.9992, 0.3988, 1.5242, 0.4767, 0.2005, 0.3141, 0.1612, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1688 left_yaw=0.0025 left_pitch=-0.0488 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3329 right_y=0.085 right_z=0.0152 right_yaw=0.0312 right_pitch=-0.2091 right_roll=-0.1169 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.1145, 7.1726, 1.7363, -0.0708, -0.0659, -0.0122, 0.1436, -6.2838, 4.8889, 1.5311, 0.188, 0.105, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36c2c7df787e2e554f06a4c83e4e4e3ae183404a2798091a89d646df42950936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3203d0123b21202377f327c8eb92262e5a8cf015624c5c8b5f189d861b563c11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c6628de2245b51218b4cb18d244250249c18216187842d2041b7af53fffc1c48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 10.31 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6067, -0.4091, -0.0193, -0.0383, 0.9992, 0.498, 1.1259, 0.5549, -0.2024, 0.358, 0.2356, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1732 left_yaw=0.0023 left_pitch=-0.0274 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3033 right_y=0.0985 right_z=0.104 right_yaw=0.0583 right_pitch=-0.1254 right_roll=-0.0623 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.1419, 7.0085, 1.6972, -0.0659, -0.0171, -0.0122, -0.0752, -4.0547, 7.0496, 1.8877, 0.1636, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.8051, 0.6067, -0.4217, -0.0189, -0.0383, 0.9992, 0.3927, 1.4387, 0.5034, 0.0463, 0.3077, 0.1829, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=0.0013 left_z=0.1697 left_yaw=0.0016 left_pitch=-0.0439 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3233 right_y=0.0799 right_z=0.0271 right_yaw=0.0145 right_pitch=-0.2486 right_roll=-0.1126 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.4291, 7.0222, 1.9023, -0.022, -0.0464, -0.0122, 0.7043, -7.747, 5.2991, 1.7411, 0.3053, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8032, 0.6067, -0.4286, -0.0193, -0.0387, 0.9992, 0.3988, 1.5242, 0.4767, 0.2005, 0.3141, 0.1612, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1688 left_yaw=0.0025 left_pitch=-0.0488 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3329 right_y=0.085 right_z=0.0152 right_yaw=0.0312 right_pitch=-0.2091 right_roll=-0.1169 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.1145, 7.1726, 1.7363, -0.0708, -0.0659, -0.0122, 0.1436, -6.2838, 4.8889, 1.5311, 0.188, 0.105, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36c2c7df787e2e554f06a4c83e4e4e3ae183404a2798091a89d646df42950936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3203d0123b21202377f327c8eb92262e5a8cf015624c5c8b5f189d861b563c11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6628de2245b51218b4cb18d244250249c18216187842d2041b7af53fffc1c48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwYKjgEIEhgCKkA/rC1H41HOidIuuZxXGpAvLsWZDJ07WTl1FgV9H9ijVYpB7xRWsA2HmucaI1ipvIcEgZ1/8X84mEp2g3f6PEIYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbmCzNUGEgzwAjyiJtvKFDdWP4YaDEHl0xhRV+fIJbEllyIww2KqNsg/rz6MIWoIdC+uZkW9JgAn7r00EdvZ+kVeAtKUy/WL4VSt49dkIl2/qQEWKt0ER83RQ/WNH/QB2RVIvDv5f10m6XffZI/QSk5qVE33Kcz9j37R34iojTR8x1xG1G1VSYt59D20+hFZlAEFMTNeyq9bMbmTXhBa3nxKYRlzns5NMEgtYiRgGmMESi7c2Pwm2HkpReO7gBqOqwlH3neEnIYNEfDt8PAW810sftF5XqJxkNDHiCvouc0ONBtG69NJkTp7NlfrF/BbIHS0/gxiiR9GkGq5UGhMzl+ZFtrYgF3IkaIlax5qCP5TICy6e6AwiynABjY2pI0nISGn29U4SsfCSsgFSsThDbCxv5I42w3eJP+4GXAujrOS3vHfJ4D7B9b4zQ8u8qdcIwo0qAj3fWqY0YaF+Vk4tf/NRNUAgjTBY9t3VmrwNNw7hVz2EYe+/YKFoWTqKZip66awIkvzUENtSYlHejCnG6pZ5F3Z7UMi40NmFZ6/V08zgAHb4hdg0x8zUskKoQWbYGW+mlTBFirfKSJeLixWvxSblkuC2d7QWWPhdu0d/Ks30fu/b7j9x/GkG1+s4vAdElbHASHw3drL11w+l77v5qzlTPNC0MHUpapcoQiYgAHRn5SHePCL7CuWCVaxspYJYM9kz933X2JA702PEVLnfHtnGxs3EwHssP9PaDlAZj6xEGVD7Og3Czo5jRL+1rq2BOvJmRRt9tfdXeQLPtdxUgjba+nwmxO2QfqolD9FyFUS7jRq5YDxhDUjHtXlQZCiX3Mr9xAHzT9s92Ms2nGaVzKjuBOBPhje8CXZH9LzaFDofEdQIQVpK1N64MEcOA3EQaUWMxDPCY0MXcUKHe0AY5ZQ+pwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NPpKB8zNE9Ptvx1MGqH4QD",
      "input": {
        "note": "The lemon fills the top of the wrist view, still ~3 cm beyond the jaws, and each command is only advancing ~1 cm. Commanding a deliberately larger forward target so the clamped motion still closes the gap.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.095,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NPpKB8zNE9Ptvx1MGqH4QD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.3988, 1.5242, 0.4767, 0.2005, 0.3172, 0.1608, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1674 left_yaw=0.0025 left_pitch=-0.0557 left_roll=-0.0026 left_gripper=0.9992 right_x=0.333 right_y=0.0845 right_z=0.0153 right_yaw=0.0289 right_pitch=-0.2083 right_roll=-0.1193 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.2923, 7.2137, 1.7705, -0.0562, -0.0562, -0.0122, -0.0342, -6.3932, 4.8889, 1.5458, 0.1978, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25137670f47da3a026df4e95f6f992f35449b009734fce1d4f009af58784d5ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:096771b34f46a85f0b984c45cd34dc0283365b4872f1016000f4dd9529de46bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe2f902828b699cbd534d32079803ab7fa704f0244102e48fc14ba40e7ea19ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 6.185 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.8051, 0.6067, -0.4217, -0.0189, -0.0383, 0.9992, 0.3927, 1.4387, 0.5034, 0.0463, 0.3077, 0.1829, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=0.0013 left_z=0.1697 left_yaw=0.0016 left_pitch=-0.0439 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3233 right_y=0.0799 right_z=0.0271 right_yaw=0.0145 right_pitch=-0.2486 right_roll=-0.1126 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.4291, 7.0222, 1.9023, -0.022, -0.0464, -0.0122, 0.7043, -7.747, 5.2991, 1.7411, 0.3053, -0.0171, -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, 0.8032, 0.6067, -0.4286, -0.0193, -0.0387, 0.9992, 0.3988, 1.5242, 0.4767, 0.2005, 0.3141, 0.1612, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1688 left_yaw=0.0025 left_pitch=-0.0488 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3329 right_y=0.085 right_z=0.0152 right_yaw=0.0312 right_pitch=-0.2091 right_roll=-0.1169 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.1145, 7.1726, 1.7363, -0.0708, -0.0659, -0.0122, 0.1436, -6.2838, 4.8889, 1.5311, 0.188, 0.105, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8032, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.3988, 1.5242, 0.4767, 0.2005, 0.3172, 0.1608, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1674 left_yaw=0.0025 left_pitch=-0.0557 left_roll=-0.0026 left_gripper=0.9992 right_x=0.333 right_y=0.0845 right_z=0.0153 right_yaw=0.0289 right_pitch=-0.2083 right_roll=-0.1193 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.2923, 7.2137, 1.7705, -0.0562, -0.0562, -0.0122, -0.0342, -6.3932, 4.8889, 1.5458, 0.1978, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25137670f47da3a026df4e95f6f992f35449b009734fce1d4f009af58784d5ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:096771b34f46a85f0b984c45cd34dc0283365b4872f1016000f4dd9529de46bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe2f902828b699cbd534d32079803ab7fa704f0244102e48fc14ba40e7ea19ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/AgKjgEIEhgCKkDoDebuFaYtdYY/pwOcXI7zAqmgIAy9Jy0ltQ4FtSPy0a2Y0QlHh5HlBn9Kk6Jc/UECG3e1LbiRMgr4t0qJ01vTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcWCzNUGEgyxCguRVToarM4YV0UaDF3q2vPr924ieBoEGCIw6n3QtGusVpG8i4JZThqvt53vG7xIx+0xIhlVBtQxY98+SiuM+Zbr83ygwAshB/AQKpoHKmmPRh3irFFc0jauQDaN9qEwnytzWDPDg8i/uuRGGRRLPd2f9XrpEBlAzD+xNC9y+d6C5Fd9dKaQ/TrqNsC5bDuCPASed83loGrO4aHsDmuGE6+KS3jUqnyzKk305YMtJMaAPPqkugMnWPdsiuVT30hhG6op/e6KHapZ5mU31yHM8l+aSRd+YEmnmMsQbUyy49ebCrbAoOPhs7GGo15dY0DHESSTr1iW6ii+NIv4e8j7y/52hiNEDKEzQ49/MgqVmO+OSoBOQYXkN7KQuqg5e9+vjC2o9gJWjPM06xGiU+PV6oPXTIUS9hi+fPavZz+iLarfeiiiGxGSSnbsvaQwSXF22dFIXeW4CUy6mnmxDNidDOocfWc4l7wXUBjWT5HkBKTHDKkBcbqvBC/9ofwEqgBeM44fpPw55aMZIGCehZ1M/yQ7bLfJfGi3ZEyCqolGyPtaDt15a1hDbQFOjw07HhUkmQZ/TCqtGOptB2a1W6XoP6Vn8WFMF9Wd8lJnD5vh/d35OWf3vkXFFM9u0A58jmXhbB1qM/g5NWi5NIKNIvhFzotCkvLyYOjgN+SWAM0kELsOQQiYcYg4TUH42FiAa1b9R0nfOxeCYgML29ZfHhYobHcnPtheRVjlde2H7Kegbx7mIIQ30c/If335VFrTSiAJNbhdr948MWOPOwGJCwQKD8s1lYTyLX9HXVBHDKU+CDf6dWVAlj81qauVFVLSHQbmB2UW8ZfyOVWRjzt1NDko5+TsPDuXCJuPzoOa6eMnJKTdkvChoVYTy/0MGrA12p+xqkM+Ourz1dvTB6PzGFkFq3iwFAU0R/md9WBox7liJTgcfgqWGAN1bBJFIypGKk/c6rs7b5yBSq/E5bCpXrtnwUH2/VXpu2iPnym1qoNYBR+Dvf88QMV2K3HDQJx8l7sIbrB5JR4HI1g0PhUv5VCZqs6FaOhqv2vGe7ZW26UfuC3Th8j999rEz9mQPxviHiH013uoMhAnNwGKuQ0zSp5Gkrq06M9ksiTgWiCWEyUaJg/RPUR8JIb4EzRrSaF2pg+BBPGc8oHOPhovCiuLb5Rct1F9SRP9IPvteeoq5ZMJiL2uPxIINmlhP70HQRgz3x90pwXCzp4rY6aXzT3OykKU6DoCOeZYF0GoDTKP48b2UIVWJqvogRUi1KB0kuXeLkWAxyKj+bH7rtUlimgxGx0gmdccxSFxdgfj0GX9mDvADaFcs8gTUQPAchgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01734x9N4VQ79KoRqSxPr2Yd",
      "input": {
        "note": "The arm is stuck at x=0.333 near table level — it appears to be at a configuration limit. Lifting to 10 cm and pitching the tool forward to gain reach toward the lemon.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.4,
          "right_y": 0.095,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01734x9N4VQ79KoRqSxPr2Yd",
      "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, 0.8074, 0.6067, -0.4541, -0.0193, -0.0391, 0.9992, 0.4046, 1.6257, 0.4377, 0.7681, 0.3935, 0.0063, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0016 left_z=0.1626 left_yaw=0.0028 left_pitch=-0.0786 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3882 right_y=0.0964 right_z=0.0759 right_yaw=0.0594 right_pitch=0.1977 right_roll=-0.1413 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.6068, 6.9675, 1.7949, -0.0757, -0.0708, -0.0122, -0.4034, -5.4496, 6.0923, 2.2784, 0.315, 0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11834449f9fe6c405240a8f3b527fa0634bd1746e0e4861eb39a448a5c903f7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:017a065a8045aa2b456f918e3e80345bed4c3dd0597763b912e10ae61e313c30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5e619bb851317c25b3caec97fcfe36fb08fd178ef85f61ba0e6a5108bf6eb9e",
        "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 · 4.928 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4286, -0.0193, -0.0387, 0.9992, 0.3988, 1.5242, 0.4767, 0.2005, 0.3141, 0.1612, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1688 left_yaw=0.0025 left_pitch=-0.0488 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3329 right_y=0.085 right_z=0.0152 right_yaw=0.0312 right_pitch=-0.2091 right_roll=-0.1169 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.1145, 7.1726, 1.7363, -0.0708, -0.0659, -0.0122, 0.1436, -6.2838, 4.8889, 1.5311, 0.188, 0.105, -0.0171]\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, 0.8032, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.3988, 1.5242, 0.4767, 0.2005, 0.3172, 0.1608, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1674 left_yaw=0.0025 left_pitch=-0.0557 left_roll=-0.0026 left_gripper=0.9992 right_x=0.333 right_y=0.0845 right_z=0.0153 right_yaw=0.0289 right_pitch=-0.2083 right_roll=-0.1193 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.2923, 7.2137, 1.7705, -0.0562, -0.0562, -0.0122, -0.0342, -6.3932, 4.8889, 1.5458, 0.1978, 0.0855, -0.0171]",
      "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, 0.8074, 0.6067, -0.4541, -0.0193, -0.0391, 0.9992, 0.4046, 1.6257, 0.4377, 0.7681, 0.3935, 0.0063, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0016 left_z=0.1626 left_yaw=0.0028 left_pitch=-0.0786 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3882 right_y=0.0964 right_z=0.0759 right_yaw=0.0594 right_pitch=0.1977 right_roll=-0.1413 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.6068, 6.9675, 1.7949, -0.0757, -0.0708, -0.0122, -0.4034, -5.4496, 6.0923, 2.2784, 0.315, 0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11834449f9fe6c405240a8f3b527fa0634bd1746e0e4861eb39a448a5c903f7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:017a065a8045aa2b456f918e3e80345bed4c3dd0597763b912e10ae61e313c30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5e619bb851317c25b3caec97fcfe36fb08fd178ef85f61ba0e6a5108bf6eb9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyQQKjgEIEhgCKkBBBDu1rCzDv0CsvO0HHhgskUc8W0iw/foQKo5PGDAjSpKlCj5ZcchaxlMzsCMZkeBGWU/gktqY0Zsb883rEbV/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2CzNUGEgy5Apo4DVRCxe6qKlYaDL5I3SDMFxocY4Qr5CIwYtur9Y5QxlYWZS35rv6UDjaUyIdCXDohWjzddDDHJ95EiXqgLIsFmmFhFXqnkggbKucCm8gVn+Ha+WuDyKEXiiUZ6E1SLOE1YTmVZkd0K7+IBOUgjhNmIrnF6ff+202rIqPDEL8gK0ICkGdJJ5ZrJM1VB5VlkZKfs1AqUSD/zRHty7amHs2Tu3Bd6XMv9P+xYk+L3LCEI0uxndFFUonLfOVq74HhAqoXbV8rqk+nb4UHE7EnxOWo7xKycTR8qyqzqFIMwXbhZ4x+6v93e6V/3nCTzuBGG8cACSsfNydqW5OvV9UQbRIrjpWmx//GjyCCECpcKE4se94o/RRFd8sWfV6apMVzWBqg9oteo/8APN1hY4OmKKkCyK++YVHTJzPyiNkB5EjxQH9kPaNdtB6TDj6fuMNVZ2v3YUGnwWvE1UJY7Wk9rQ7qcsYP0Et2BrNMaXmmkU4T9NAxo29KBg3ixHv5LNLu3hu4vKw+YxdBlSrh9K3nBmW+AjaCJzPzw8PK+KxZC8nwgtGYt2OcTyNi5ZvvPU76YkihxHwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013wHD2tBK2NCc6SvLdrquzk",
      "input": {
        "note": "Pitching forward gained the needed reach: the lemon now sits right at the jaw column near the bottom of the wrist view. Descending to grasp height.",
        "targets": {
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013wHD2tBK2NCc6SvLdrquzk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.4595, -0.0193, -0.0387, 0.9992, 0.4046, 1.8606, 0.4091, 1.0603, 0.3965, 0.0154, 0.9996]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1612 left_yaw=0.0026 left_pitch=-0.0854 left_roll=-0.002 left_gripper=0.9992 right_x=0.393 right_y=0.0979 right_z=0.0402 right_yaw=0.0496 right_pitch=0.2256 right_roll=-0.1237 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.4017, 7.1043, 1.6825, -0.0659, -0.0513, -0.0122, -0.0479, -5.0803, 2.5368, 0.6667, 0.0708, -0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1bc0a92464d42156c272b5d5a834ed510a6477d618fb716a510a5b7944bdbd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f09b08949dd8a465b7c5a7bcaa95ebe350a1bb83e653f994151a9b6385212ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bb298a871c7ecaf0d336c0fee3da8e9e2e972fecfd24f8055eb23f95b986536",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 5.733 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.3988, 1.5242, 0.4767, 0.2005, 0.3172, 0.1608, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1674 left_yaw=0.0025 left_pitch=-0.0557 left_roll=-0.0026 left_gripper=0.9992 right_x=0.333 right_y=0.0845 right_z=0.0153 right_yaw=0.0289 right_pitch=-0.2083 right_roll=-0.1193 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.2923, 7.2137, 1.7705, -0.0562, -0.0562, -0.0122, -0.0342, -6.3932, 4.8889, 1.5458, 0.1978, 0.0855, -0.0171]",
      "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, 0.8074, 0.6067, -0.4541, -0.0193, -0.0391, 0.9992, 0.4046, 1.6257, 0.4377, 0.7681, 0.3935, 0.0063, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0016 left_z=0.1626 left_yaw=0.0028 left_pitch=-0.0786 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3882 right_y=0.0964 right_z=0.0759 right_yaw=0.0594 right_pitch=0.1977 right_roll=-0.1413 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.6068, 6.9675, 1.7949, -0.0757, -0.0708, -0.0122, -0.4034, -5.4496, 6.0923, 2.2784, 0.315, 0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8089, 0.6067, -0.4595, -0.0193, -0.0387, 0.9992, 0.4046, 1.8606, 0.4091, 1.0603, 0.3965, 0.0154, 0.9996]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1612 left_yaw=0.0026 left_pitch=-0.0854 left_roll=-0.002 left_gripper=0.9992 right_x=0.393 right_y=0.0979 right_z=0.0402 right_yaw=0.0496 right_pitch=0.2256 right_roll=-0.1237 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.4017, 7.1043, 1.6825, -0.0659, -0.0513, -0.0122, -0.0479, -5.0803, 2.5368, 0.6667, 0.0708, -0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1bc0a92464d42156c272b5d5a834ed510a6477d618fb716a510a5b7944bdbd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f09b08949dd8a465b7c5a7bcaa95ebe350a1bb83e653f994151a9b6385212ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bb298a871c7ecaf0d336c0fee3da8e9e2e972fecfd24f8055eb23f95b986536",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwMKjgEIEhgCKkCK81O6o3N4aHe4oOGrY10Plcp/L30gEGhKnFyWAZcUGDKcS1aX3McKwyPv6I6EKid+EdOl1P4ECNGjGCACi74EMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdKCzNUGEgzT2SbM/jQ4BH8IybcaDGvKUZfn1DENkWYBmCIwNYWjjbAcAzm1u6iOMOHCnBjL3JlJV47W3bI2hUpPP9fKGJRyXZWNkWBHpjcICQesKt0B5KPHDGzQo+A4DBHU+5/T7OlgGKJmxnZVFBr6vqxhZfrRhTl0GXvyy0vKSTjUoBxLrhcMiQdoFMg90h4SIixvP2dmHRBgdutVUVFsH5HlBsQADoJSxM5O9VCqsuFpAFoBY5QyuC7pT8R+XfZLZenOzqNG2zWvu80wjqww+cQ3NqgAEyOHHaT8WyBM3TNgoklbQ0pdoZbfmTWTUORPXRim6Sofr++xr+hlF/orBtCZBPRqo04y1xeWgXzqLhWOMgzKuRL/CkrPKq3A4L8J0iv3NsjfqWHqV/DQw++zs7YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J8bVEMLYY1GDLvhzoJbucL",
      "input": {
        "note": "Lemon is centred on the jaw column just below the fingertip row; descending the last centimetre and closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J8bVEMLYY1GDLvhzoJbucL",
      "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, -0.4732, -0.0189, -0.0387, 0.9992, 0.4049, 2.0296, 0.4049, 1.1942, 0.3958, 0.0105, 0.0098]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1583 left_yaw=0.0023 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3891 right_y=0.0966 right_z=0.0037 right_yaw=0.0562 right_pitch=0.1882 right_roll=-0.142 right_gripper=0.0098\nstate[joint_eff]: [-0.0889, -1.347, 7.0906, 1.79, -0.0659, -0.0708, -0.0122, -0.0342, -6.3521, 3.4256, 2.1612, 0.0952, 0.0073, 0.6764]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab624b12cddbfa3f8f9a191d1bb84a42e942415e01c34b34fecc8264446da71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19dc67855eabbda6c01ed32cecee8bfda41fca4df7252c4e449998813188e996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ce3e13d81bd0cf75618f3774248e052d1be4453c398102c263ddaac826416b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 4.245 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8074, 0.6067, -0.4541, -0.0193, -0.0391, 0.9992, 0.4046, 1.6257, 0.4377, 0.7681, 0.3935, 0.0063, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0016 left_z=0.1626 left_yaw=0.0028 left_pitch=-0.0786 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3882 right_y=0.0964 right_z=0.0759 right_yaw=0.0594 right_pitch=0.1977 right_roll=-0.1413 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.6068, 6.9675, 1.7949, -0.0757, -0.0708, -0.0122, -0.4034, -5.4496, 6.0923, 2.2784, 0.315, 0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8089, 0.6067, -0.4595, -0.0193, -0.0387, 0.9992, 0.4046, 1.8606, 0.4091, 1.0603, 0.3965, 0.0154, 0.9996]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1612 left_yaw=0.0026 left_pitch=-0.0854 left_roll=-0.002 left_gripper=0.9992 right_x=0.393 right_y=0.0979 right_z=0.0402 right_yaw=0.0496 right_pitch=0.2256 right_roll=-0.1237 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.4017, 7.1043, 1.6825, -0.0659, -0.0513, -0.0122, -0.0479, -5.0803, 2.5368, 0.6667, 0.0708, -0.1197, -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 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, -0.4732, -0.0189, -0.0387, 0.9992, 0.4049, 2.0296, 0.4049, 1.1942, 0.3958, 0.0105, 0.0098]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1583 left_yaw=0.0023 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3891 right_y=0.0966 right_z=0.0037 right_yaw=0.0562 right_pitch=0.1882 right_roll=-0.142 right_gripper=0.0098\nstate[joint_eff]: [-0.0889, -1.347, 7.0906, 1.79, -0.0659, -0.0708, -0.0122, -0.0342, -6.3521, 3.4256, 2.1612, 0.0952, 0.0073, 0.6764]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab624b12cddbfa3f8f9a191d1bb84a42e942415e01c34b34fecc8264446da71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19dc67855eabbda6c01ed32cecee8bfda41fca4df7252c4e449998813188e996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ce3e13d81bd0cf75618f3774248e052d1be4453c398102c263ddaac826416b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AMKjgEIEhgCKkAHBWir6oDGGlC27eUM2H+zSKGyoqZHWYIVZOfFByVLsHIRjTYiPCOEQ6Q0VtywEHG+uhP5cnsxOmbQlVG26t4lMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdiCzNUGEgzPEBo9xbUQnUW+MIMaDP0W6RTFTcaTigLJFyIwZG7b1GXFt+kfIhY0y14aCU69k7+epCmJ17emdqhBBlu8LUgN0KuhdY7vxCHpsCLAKvoB4f50gKx32QkEMdoNxPwGUEKp79NlUDWEFl6a6ITYnk96FMfUoVQz2xGWjNF2YnCh7QThQukWbx2ItuntnlCsw8aep9Edla43/+/WfG0gy343WGCB2l1ReECiFokp65nPFDCLOilP5dPhY3F7Q3oG5F1R+CrcwB7iAB0364TSGR50QulAqgA/1nLDggjYcro370A1V4WLsXn7aEz52HebZhFoYhACIm/u2f37xsaflLKq0KPWfVV7Gjg1oJluwdLKYCdyFqGQnd9/bQSa2Km/Dqd0y9FtxLxcNCTJodnWPhWfcrbDT+osQDlQ5ubtc8Z/+9CMl3EiomgymxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S3fJgVfSheTVEYo2ztvrK9",
      "input": {
        "note": "The close was empty (gripper reads 0.01) and the lemon still sits just beyond the jaws. Re-opening and advancing ~3.5 cm further out.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.425,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01S3fJgVfSheTVEYo2ztvrK9",
      "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, -0.4805, -0.0193, -0.0387, 0.9992, 0.3576, 2.0323, 0.5201, 1.071, 0.3546, -0.0124, 0.9948]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1569 left_yaw=0.0026 left_pitch=-0.1072 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4185 right_y=0.0947 right_z=0.0068 right_yaw=0.0567 right_pitch=0.1708 right_roll=-0.15 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, -1.265, 7.0769, 1.6777, -0.0366, -0.0659, -0.0122, -0.4034, -9.0051, 4.7385, 1.7558, 0.0024, -0.022, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e542f9ace7d4e8b0c2d3550ba729dbb805db8a91b78298670452b7366fcfdb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb6be25dcb517bd223105f55bea383ab51a9560383efafef9d49fef13be6b18a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e072ef6f5392c4fa2f99c6c8532f1c5ef4266786effa7247af2f595d67e7a6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 15.65 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.4595, -0.0193, -0.0387, 0.9992, 0.4046, 1.8606, 0.4091, 1.0603, 0.3965, 0.0154, 0.9996]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1612 left_yaw=0.0026 left_pitch=-0.0854 left_roll=-0.002 left_gripper=0.9992 right_x=0.393 right_y=0.0979 right_z=0.0402 right_yaw=0.0496 right_pitch=0.2256 right_roll=-0.1237 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.4017, 7.1043, 1.6825, -0.0659, -0.0513, -0.0122, -0.0479, -5.0803, 2.5368, 0.6667, 0.0708, -0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4732, -0.0189, -0.0387, 0.9992, 0.4049, 2.0296, 0.4049, 1.1942, 0.3958, 0.0105, 0.0098]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1583 left_yaw=0.0023 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3891 right_y=0.0966 right_z=0.0037 right_yaw=0.0562 right_pitch=0.1882 right_roll=-0.142 right_gripper=0.0098\nstate[joint_eff]: [-0.0889, -1.347, 7.0906, 1.79, -0.0659, -0.0708, -0.0122, -0.0342, -6.3521, 3.4256, 2.1612, 0.0952, 0.0073, 0.6764]",
      "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, -0.4805, -0.0193, -0.0387, 0.9992, 0.3576, 2.0323, 0.5201, 1.071, 0.3546, -0.0124, 0.9948]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1569 left_yaw=0.0026 left_pitch=-0.1072 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4185 right_y=0.0947 right_z=0.0068 right_yaw=0.0567 right_pitch=0.1708 right_roll=-0.15 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, -1.265, 7.0769, 1.6777, -0.0366, -0.0659, -0.0122, -0.4034, -9.0051, 4.7385, 1.7558, 0.0024, -0.022, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e542f9ace7d4e8b0c2d3550ba729dbb805db8a91b78298670452b7366fcfdb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb6be25dcb517bd223105f55bea383ab51a9560383efafef9d49fef13be6b18a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e072ef6f5392c4fa2f99c6c8532f1c5ef4266786effa7247af2f595d67e7a6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AIKjgEIEhgCKkBHTwV86P230TBAIGeg6XL+QSodOz6BDgq/hNuZrpUB3om1znIoWQTkVQ1tXjL9OFt2F1g4yz3IPmV4kyAsiLuTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2CzNUGEgxFztLiy1mKPWDXt+MaDNu1Px5K+2z267xk0SIwjq3sK53WhFEvGBte7NJ5Uq2djA7UTdSzlxOQjv1usj4z2FkRL7QywROkzfJB9MerKm+hBhbwyh9gn1CmSJpgIUI8ruMNzw41kb5pf9bHEO1/D327sHGsuJPN/A7MI/r8LNkLir/W7bc7NDUMjcNQR2gPB55i7UL/dKszELKi9EUf73Mz1O66bSXcsmy+JsRwc2expXJnfx5auUkIP/lBJbUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011KwZHp5C1RjC2LwKUvQwN6",
      "input": {
        "note": "The lemon now sits squarely between the two open jaw tips in the wrist view. Closing the gripper on it.",
        "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_011KwZHp5C1RjC2LwKUvQwN6",
      "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, -0.4961, -0.0193, -0.0387, 0.9992, 0.3584, 2.0327, 0.5217, 1.0519, 0.3511, -0.0189, 0.4236]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1539 left_yaw=0.0027 left_pitch=-0.1228 left_roll=-0.0012 left_gripper=0.9992 right_x=0.417 right_y=0.0951 right_z=0.003 right_yaw=0.0648 right_pitch=0.1527 right_roll=-0.1598 right_gripper=0.4236\nstate[joint_eff]: [-0.3077, -1.0598, 7.0085, 1.7656, -0.0806, -0.0562, -0.0122, -0.4034, -7.9248, 3.1385, 1.9658, 0.105, -0.0024, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e37eb2864ab4b18ce91fadefc3e64f8bc60ba366c78856200671a671ecc72ba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd0d99c4c324f4c7273ebf84e931dfd52298f0a4103897e9c5905988906f4675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71d504848477042e4622156f1de7f03c7537b3c371892571ea504755dbcc9ffa",
        "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 · 4.569 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4732, -0.0189, -0.0387, 0.9992, 0.4049, 2.0296, 0.4049, 1.1942, 0.3958, 0.0105, 0.0098]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1583 left_yaw=0.0023 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3891 right_y=0.0966 right_z=0.0037 right_yaw=0.0562 right_pitch=0.1882 right_roll=-0.142 right_gripper=0.0098\nstate[joint_eff]: [-0.0889, -1.347, 7.0906, 1.79, -0.0659, -0.0708, -0.0122, -0.0342, -6.3521, 3.4256, 2.1612, 0.0952, 0.0073, 0.6764]",
      "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, -0.4805, -0.0193, -0.0387, 0.9992, 0.3576, 2.0323, 0.5201, 1.071, 0.3546, -0.0124, 0.9948]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1569 left_yaw=0.0026 left_pitch=-0.1072 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4185 right_y=0.0947 right_z=0.0068 right_yaw=0.0567 right_pitch=0.1708 right_roll=-0.15 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, -1.265, 7.0769, 1.6777, -0.0366, -0.0659, -0.0122, -0.4034, -9.0051, 4.7385, 1.7558, 0.0024, -0.022, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4961, -0.0193, -0.0387, 0.9992, 0.3584, 2.0327, 0.5217, 1.0519, 0.3511, -0.0189, 0.4236]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1539 left_yaw=0.0027 left_pitch=-0.1228 left_roll=-0.0012 left_gripper=0.9992 right_x=0.417 right_y=0.0951 right_z=0.003 right_yaw=0.0648 right_pitch=0.1527 right_roll=-0.1598 right_gripper=0.4236\nstate[joint_eff]: [-0.3077, -1.0598, 7.0085, 1.7656, -0.0806, -0.0562, -0.0122, -0.4034, -7.9248, 3.1385, 1.9658, 0.105, -0.0024, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e37eb2864ab4b18ce91fadefc3e64f8bc60ba366c78856200671a671ecc72ba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd0d99c4c324f4c7273ebf84e931dfd52298f0a4103897e9c5905988906f4675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71d504848477042e4622156f1de7f03c7537b3c371892571ea504755dbcc9ffa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NLwNnTLXmLs4boZTPPyfJA",
      "input": {
        "note": "Gripper settled at 0.42 (~4 cm) — the lemon is grasped. Lifting it 20 cm clear of the table before carrying it to the safe.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01NLwNnTLXmLs4boZTPPyfJA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6067, -0.5106, -0.0193, -0.0383, 0.9992, 0.3584, 1.3838, 0.8894, -0.0109, 0.3431, -0.0265, 0.4267]\nstate[eef_state]: left_x=0.2768 left_y=0.0018 left_z=0.1505 left_yaw=0.0025 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4149 right_y=0.0958 right_z=0.1937 right_yaw=0.0774 right_pitch=0.1067 right_roll=-0.1763 right_gripper=0.4267\nstate[joint_eff]: [-0.0615, -1.2923, 6.9265, 1.7851, -0.0659, -0.0073, -0.0122, -0.3487, -7.5556, 9.3744, 2.1758, 0.105, 0.0366, 0.6178]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f4102924db055e7fb71c9d1ceca2e81422afcdec5304d5de7285bcb3089d7f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16b9f3edc0a5335f84ec49c3cdf29fe7980300188339cbcd89d94f6f9d889aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32e2574d12fde8ba057be0db3f513de95a1597b71e251bc376f43a5155e59324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 7.797 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4805, -0.0193, -0.0387, 0.9992, 0.3576, 2.0323, 0.5201, 1.071, 0.3546, -0.0124, 0.9948]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.1569 left_yaw=0.0026 left_pitch=-0.1072 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4185 right_y=0.0947 right_z=0.0068 right_yaw=0.0567 right_pitch=0.1708 right_roll=-0.15 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, -1.265, 7.0769, 1.6777, -0.0366, -0.0659, -0.0122, -0.4034, -9.0051, 4.7385, 1.7558, 0.0024, -0.022, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4961, -0.0193, -0.0387, 0.9992, 0.3584, 2.0327, 0.5217, 1.0519, 0.3511, -0.0189, 0.4236]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1539 left_yaw=0.0027 left_pitch=-0.1228 left_roll=-0.0012 left_gripper=0.9992 right_x=0.417 right_y=0.0951 right_z=0.003 right_yaw=0.0648 right_pitch=0.1527 right_roll=-0.1598 right_gripper=0.4236\nstate[joint_eff]: [-0.3077, -1.0598, 7.0085, 1.7656, -0.0806, -0.0562, -0.0122, -0.4034, -7.9248, 3.1385, 1.9658, 0.105, -0.0024, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8124, 0.6067, -0.5106, -0.0193, -0.0383, 0.9992, 0.3584, 1.3838, 0.8894, -0.0109, 0.3431, -0.0265, 0.4267]\nstate[eef_state]: left_x=0.2768 left_y=0.0018 left_z=0.1505 left_yaw=0.0025 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4149 right_y=0.0958 right_z=0.1937 right_yaw=0.0774 right_pitch=0.1067 right_roll=-0.1763 right_gripper=0.4267\nstate[joint_eff]: [-0.0615, -1.2923, 6.9265, 1.7851, -0.0659, -0.0073, -0.0122, -0.3487, -7.5556, 9.3744, 2.1758, 0.105, 0.0366, 0.6178]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f4102924db055e7fb71c9d1ceca2e81422afcdec5304d5de7285bcb3089d7f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16b9f3edc0a5335f84ec49c3cdf29fe7980300188339cbcd89d94f6f9d889aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32e2574d12fde8ba057be0db3f513de95a1597b71e251bc376f43a5155e59324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpAIKjgEIEhgCKkBVnCpStcfB0fgEA7NBR6HYg9JePHta+ASwCl+gDCzmlnRtAjGWsez4e2F8eUmDLMKkEbIY+MilCfJ7zay47oQpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfSCzNUGEgxiTOrPP4WO4GaHXcoaDMkcSFJDXw4LVe9sKiIwlAYNm5spAX7d+4y/XHQkqz1/zxJULAdsaNv7aa4nP7FalINgiNXm7mnoMjJF4GDXKkOPdBkWyERFI536rXGN/kEX0Fo6ds9WGujnDMPDT9exjNMkQQ/guh5C77jPO1LEAs9CHFCinWpyb2VkpgW5dLlte7VCGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H1tJ5JVWzwmnB5Pt5Mia7Z",
      "input": {
        "note": "Lemon is held aloft. Traversing left over the open safe (about 18 cm to the arm's left) at 22 cm height.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.27,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01H1tJ5JVWzwmnB5Pt5Mia7Z",
      "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, -0.5251, -0.0193, -0.0387, 0.9992, 0.7551, 1.8091, 1.4342, -0.2993, 0.6483, 0.1867, 0.4298]\nstate[eef_state]: left_x=0.2745 left_y=0.0018 left_z=0.1474 left_yaw=0.0028 left_pitch=-0.1564 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4327 right_y=0.2657 right_z=0.2031 right_yaw=0.1199 right_pitch=0.0539 right_roll=-0.2164 right_gripper=0.4298\nstate[joint_eff]: [-0.1436, -1.388, 6.9128, 1.7021, -0.0513, -0.0513, -0.0122, 0.2256, -9.388, 9.2239, 1.7265, 0.5153, 0.2662, 0.5983]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a74048542f78971c79368a81cd531fd9f17e8e26518cbefa9dc236e5bc238378",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5cf325644cd746909645b8f5e6db0e6b9e37ae1006086013d1fc8ea1ac9ad55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3d0e6c2ce1318dbe0e3f64a25fa90ce5bbf2ea3df8f874971d06195d8d5f321",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 4.259 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4961, -0.0193, -0.0387, 0.9992, 0.3584, 2.0327, 0.5217, 1.0519, 0.3511, -0.0189, 0.4236]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1539 left_yaw=0.0027 left_pitch=-0.1228 left_roll=-0.0012 left_gripper=0.9992 right_x=0.417 right_y=0.0951 right_z=0.003 right_yaw=0.0648 right_pitch=0.1527 right_roll=-0.1598 right_gripper=0.4236\nstate[joint_eff]: [-0.3077, -1.0598, 7.0085, 1.7656, -0.0806, -0.0562, -0.0122, -0.4034, -7.9248, 3.1385, 1.9658, 0.105, -0.0024, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8124, 0.6067, -0.5106, -0.0193, -0.0383, 0.9992, 0.3584, 1.3838, 0.8894, -0.0109, 0.3431, -0.0265, 0.4267]\nstate[eef_state]: left_x=0.2768 left_y=0.0018 left_z=0.1505 left_yaw=0.0025 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4149 right_y=0.0958 right_z=0.1937 right_yaw=0.0774 right_pitch=0.1067 right_roll=-0.1763 right_gripper=0.4267\nstate[joint_eff]: [-0.0615, -1.2923, 6.9265, 1.7851, -0.0659, -0.0073, -0.0122, -0.3487, -7.5556, 9.3744, 2.1758, 0.105, 0.0366, 0.6178]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8143, 0.6067, -0.5251, -0.0193, -0.0387, 0.9992, 0.7551, 1.8091, 1.4342, -0.2993, 0.6483, 0.1867, 0.4298]\nstate[eef_state]: left_x=0.2745 left_y=0.0018 left_z=0.1474 left_yaw=0.0028 left_pitch=-0.1564 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4327 right_y=0.2657 right_z=0.2031 right_yaw=0.1199 right_pitch=0.0539 right_roll=-0.2164 right_gripper=0.4298\nstate[joint_eff]: [-0.1436, -1.388, 6.9128, 1.7021, -0.0513, -0.0513, -0.0122, 0.2256, -9.388, 9.2239, 1.7265, 0.5153, 0.2662, 0.5983]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a74048542f78971c79368a81cd531fd9f17e8e26518cbefa9dc236e5bc238378",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5cf325644cd746909645b8f5e6db0e6b9e37ae1006086013d1fc8ea1ac9ad55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3d0e6c2ce1318dbe0e3f64a25fa90ce5bbf2ea3df8f874971d06195d8d5f321",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugcKjgEIEhgCKkBiiYSMTEFjUCAps5BY0MWAhYC4eBd0tQ+jgyRXYIlrGYykAHo4fbUw5jgvvgyLCSZusDY+KojZtW/6AytYGBWSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf2CzNUGEgxvEtP/Qgkd4r7v7K0aDO6kvlck4DGPmhWxOCIwwyi/65aZJXilGjAPe1mTpBuxDPoJ/4TPVy7njg3F8UpUGEFkw79Ub8xJcdQ1umG9KtgFzd2+taP1YzBulfN2Zxs7F9njZvqhKcCEViHYP/zhVILQGYr8PBfLuNd+Jrnnw2M++CS1oIQ1MQi2GQsETNeCCwUhPw6hT6gCkiUKtOo53zgr9QpxL+dBXE769uf8TlBDIak0EDJwVwHurS/ytweLZHsRY1oAbgAubK8K+KL7Lnci4SlaiyGKW6Z1EAzivMq2kNG7xwis/ndpDc+TPP9nwNLs266bkwNJfyM7V+AFeVepBtL6wMKevRb66HqsX17vq9+PKOgr8xHoq1RIe6xYpVFvCUx7LPtcVdtZ2RbBnQB/nIK+poivXFtJoYtRf1DB+aND6qwo654H6LkXUILnZcWVLIXtYobWZDuE1ZDhVbLMvFJaPMOXnNMNq1uCjEK96U6rlEW26oCgClmRklvMJPcnKOOBre8irVKiJxPU87m/E5H2DmALQKzoqWgGLziZBL+Yp9Xk9491M0/VALigpxN0g298D0bJ6ZuTBnMEpjODFIxZNdkQox7qfIEFCPMlhSYlCpTOGmwLZqU0zJT3nf6e4xPTzdYWrabNvOG7WcNgRSYG3I252JU9fLQnse2us0Ein5UmSe0Rmm4R9Aymx2JKT7AhOMQajYcPD1tvTa66UgUjehvsOGjG2Xe8TDihTxGcY4/wfHvxRbu4pw1ZQYJBpuKw7EsZk3I4pf0ylvo0sgTtFGnyWatNBh3ShzBtdvPUQhtY09Abxpfw0TtPN20kyXylWeldynEKOIaieMvKEfchuAcf+a+lp7yhDg0WMA//y5P5ml1wGVf6Wzbz58a/dujWMNY4/V1MtnLVoodLSwyMMwTp/bMYvAi3qc7oIndmolHB8QESyAXhXl+NJNQBgIIx6pQ+1tlAKNCnOr8d7IeFXB/zv+pw/pWKlErSd7Eg06IDGC42srQUppdHxfwwpu6Wx3Jk3aUiUqOs8NY7XzID45wgrgjKn+aOQfv5wCD6Etmr7w8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0167GYoEzytagnvntTt3nP8Z",
      "input": {
        "note": "Wrist view shows the red safe interior just to the left of the held lemon, so shifting 3 cm further left and lowering toward the box mouth.",
        "targets": {
          "right_y": 0.3,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0167GYoEzytagnvntTt3nP8Z",
      "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, 0.8154, 0.6067, -0.5289, -0.0189, -0.0387, 0.9992, 0.8001, 1.9022, 1.4471, -0.2634, 0.6758, 0.2119, 0.43]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1464 left_yaw=0.0025 left_pitch=-0.1613 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4312 right_y=0.2907 right_z=0.1711 right_yaw=0.1319 right_pitch=0.0325 right_roll=-0.2358 right_gripper=0.43\nstate[joint_eff]: [-0.0342, -1.2239, 6.8991, 1.6532, -0.0611, -0.0659, -0.0122, 0.4171, -9.935, 5.8735, 1.7998, 0.3883, 0.1587, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ed600d23f3a648a42c4ad77f0a3cf029b0c0d29ee646e786592748ee8792e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98a5686162b476b30915c8acbbfde45efe8ad04912417460b17dbdf56db79d73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:687c3352b80862035316797eba22265ff19e73718ab7ec806868133c4e73c088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 7.53 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6067, -0.5106, -0.0193, -0.0383, 0.9992, 0.3584, 1.3838, 0.8894, -0.0109, 0.3431, -0.0265, 0.4267]\nstate[eef_state]: left_x=0.2768 left_y=0.0018 left_z=0.1505 left_yaw=0.0025 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4149 right_y=0.0958 right_z=0.1937 right_yaw=0.0774 right_pitch=0.1067 right_roll=-0.1763 right_gripper=0.4267\nstate[joint_eff]: [-0.0615, -1.2923, 6.9265, 1.7851, -0.0659, -0.0073, -0.0122, -0.3487, -7.5556, 9.3744, 2.1758, 0.105, 0.0366, 0.6178]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.8143, 0.6067, -0.5251, -0.0193, -0.0387, 0.9992, 0.7551, 1.8091, 1.4342, -0.2993, 0.6483, 0.1867, 0.4298]\nstate[eef_state]: left_x=0.2745 left_y=0.0018 left_z=0.1474 left_yaw=0.0028 left_pitch=-0.1564 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4327 right_y=0.2657 right_z=0.2031 right_yaw=0.1199 right_pitch=0.0539 right_roll=-0.2164 right_gripper=0.4298\nstate[joint_eff]: [-0.1436, -1.388, 6.9128, 1.7021, -0.0513, -0.0513, -0.0122, 0.2256, -9.388, 9.2239, 1.7265, 0.5153, 0.2662, 0.5983]",
      "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, 0.8154, 0.6067, -0.5289, -0.0189, -0.0387, 0.9992, 0.8001, 1.9022, 1.4471, -0.2634, 0.6758, 0.2119, 0.43]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1464 left_yaw=0.0025 left_pitch=-0.1613 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4312 right_y=0.2907 right_z=0.1711 right_yaw=0.1319 right_pitch=0.0325 right_roll=-0.2358 right_gripper=0.43\nstate[joint_eff]: [-0.0342, -1.2239, 6.8991, 1.6532, -0.0611, -0.0659, -0.0122, 0.4171, -9.935, 5.8735, 1.7998, 0.3883, 0.1587, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ed600d23f3a648a42c4ad77f0a3cf029b0c0d29ee646e786592748ee8792e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98a5686162b476b30915c8acbbfde45efe8ad04912417460b17dbdf56db79d73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:687c3352b80862035316797eba22265ff19e73718ab7ec806868133c4e73c088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuQIKjgEIEhgCKkAFgn+hNB/UxlbrXkFq08BJiIOTMSiy+59H4A5xIimEG2ZVgAtDosyh6HIyz42CJICcvY/cZUGHzxrdco/G34jMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYKDzNUGEgxx8x8+NoarZmd42uQaDKZX0O6ittNf6P/3piIwOnICjj+51LVtofEJEYGQshj6saWS7qqeOCbg+p8yx3Tq1FrLIk2ltPbWpsVuvBnyKlghv3ZCCTayLTEr8lAn1SH5qWnlQ/9goaV1/RNPcrE9RTaUmeN+Mkc+CeyvVdRt67rgrH8lKHdGx+U0TdOxNCf8unchX1YxtiW5ZXjLvh9TqPycNvLnzWAtGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ARfkNLhQ7QzuqTtx6irQbi",
      "input": {
        "note": "The wrist view is now filled with the red safe interior beneath the lemon; opening the gripper to drop it into the safe.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01ARfkNLhQ7QzuqTtx6irQbi",
      "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, 0.8154, 0.6067, -0.54, -0.0189, -0.0387, 0.9992, 0.8169, 1.9507, 1.4227, -0.2497, 0.6773, 0.2218, 0.9946]\nstate[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.1444 left_yaw=0.0025 left_pitch=-0.1724 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4257 right_y=0.2969 right_z=0.14 right_yaw=0.1426 right_pitch=-0.0119 right_roll=-0.2651 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -1.2103, 7.0906, 1.707, -0.0513, -0.0611, -0.0122, -0.3897, -11.8632, 7.5829, 1.8828, 0.3639, 0.0659, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e59d0473ac38f02af30fea849f93da2d01866c46e279af919d6d8f8851ca52db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a99a8091b961a919c4dca8d9a6699857352e31d45223e18a9c474a07ef282c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c83f7c91580f03fe0108d24f37ebfe15663478e01e135cfe155ca30be534badb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 16.7 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5251, -0.0193, -0.0387, 0.9992, 0.7551, 1.8091, 1.4342, -0.2993, 0.6483, 0.1867, 0.4298]\nstate[eef_state]: left_x=0.2745 left_y=0.0018 left_z=0.1474 left_yaw=0.0028 left_pitch=-0.1564 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4327 right_y=0.2657 right_z=0.2031 right_yaw=0.1199 right_pitch=0.0539 right_roll=-0.2164 right_gripper=0.4298\nstate[joint_eff]: [-0.1436, -1.388, 6.9128, 1.7021, -0.0513, -0.0513, -0.0122, 0.2256, -9.388, 9.2239, 1.7265, 0.5153, 0.2662, 0.5983]",
      "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, 0.8154, 0.6067, -0.5289, -0.0189, -0.0387, 0.9992, 0.8001, 1.9022, 1.4471, -0.2634, 0.6758, 0.2119, 0.43]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1464 left_yaw=0.0025 left_pitch=-0.1613 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4312 right_y=0.2907 right_z=0.1711 right_yaw=0.1319 right_pitch=0.0325 right_roll=-0.2358 right_gripper=0.43\nstate[joint_eff]: [-0.0342, -1.2239, 6.8991, 1.6532, -0.0611, -0.0659, -0.0122, 0.4171, -9.935, 5.8735, 1.7998, 0.3883, 0.1587, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8154, 0.6067, -0.54, -0.0189, -0.0387, 0.9992, 0.8169, 1.9507, 1.4227, -0.2497, 0.6773, 0.2218, 0.9946]\nstate[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.1444 left_yaw=0.0025 left_pitch=-0.1724 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4257 right_y=0.2969 right_z=0.14 right_yaw=0.1426 right_pitch=-0.0119 right_roll=-0.2651 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -1.2103, 7.0906, 1.707, -0.0513, -0.0611, -0.0122, -0.3897, -11.8632, 7.5829, 1.8828, 0.3639, 0.0659, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e59d0473ac38f02af30fea849f93da2d01866c46e279af919d6d8f8851ca52db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a99a8091b961a919c4dca8d9a6699857352e31d45223e18a9c474a07ef282c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c83f7c91580f03fe0108d24f37ebfe15663478e01e135cfe155ca30be534badb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AUKjgEIEhgCKkBdATKh1ss8JSnNNIZq1Q3UZ88aIQ/IJTmfyC86RoYWAbVagPRSW5bw9WGrOOWa3dq0/cO4tBBaHBI8CJO5Q3NOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYqDzNUGEgzpBh+W3vpUtGY9xQMaDL8pjycX3A4O587NAyIwlZNrHOiPqieLcjey6qMo+3vha6MrDLSFI9poUH3sM4lhs9VYh9kTNTYwANrhWotVKoYETQ4VYNjfIkPutfKR2sLyoHM/TyGn5uoqAsKeMR3goibOJYrz30ef/CWsSIGXm+UtDysAt6V1SAzyshX/tH8lsVDtUYoFXBwXSY97a4KD8+EvcQKl9eB8GUPHQvNIb2Dh7btBNYtrslUDBnosG3k2d5C6cLKWTDzLslf9+EP5HDQEkcaXFQ6cB8aGJ4L0saczHBnzdmj2Qs5yaRP0knNKbLl40D0EnOpABTxviRZcnMHx3Es2K0/K7hcmDWimgv59k8OeFgLINvwCM5e0pzASADPJb0FivMQPnH7LbNrG1rOvHX7VZ9LYnMDudz2tR6pd3LEp/DH+i97Pacub6yNtEd9s+ulZsaAscn3OW9j9xVbo3VILW4YONDC6RTiIGWAnPOznRpk+27fTMotk1Kh88H4MtnEFk3iDQRBHdmdtR8HJe5nBS7U24172mHgd1ddcw9Jpo6MqxH3CzqGkrSO5f0pPqhJfn9F9mhMoAbOwDssieTFb6Za2Q++NVGmBtXlrFAfMVgHAAcRxnyX1sAPgWnNcVOJYmuZNMeg8cj7zsqzi9/h68PJv73qqTBS/Bysvs51TIkWf+9dq6JjQQYHna/KKKA4Ws6hB9f5n1iPGxyLAXmqZ7M/2+TxVURzNmQg+LaKiP0Gc0kw3xLl+5liPsDoqgyOPa2MZ7RyVAh6H99S2Hm9eHqoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WcRvFw6Hkpe6f1U7Pfkn5y",
      "input": {
        "note": "The lemon is now inside the red safe interior. Withdrawing and moving to hover above the brown teddy bear that sits in front of the safe.",
        "targets": {
          "right_pitch": 0.2,
          "right_x": 0.27,
          "right_y": 0.19,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01WcRvFw6Hkpe6f1U7Pfkn5y",
      "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, -0.0387, 0.9992, 1.0416, 1.1946, 0.8101, -0.3126, 0.8997, 0.2565, 0.9953]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0026 left_pitch=-0.1976 left_roll=0.0002 left_gripper=0.9992 right_x=0.2732 right_y=0.2002 right_z=0.2059 right_yaw=0.1873 right_pitch=0.1545 right_roll=-0.2874 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -1.1829, 6.8855, 1.7705, -0.0611, -0.0562, -0.0122, 0.1299, -4.6154, 7.5009, 1.8779, 0.3639, 0.1441, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73c39bd780ad5104723c63d1d0436598f89db9ad8b9099faf026cf78efb230fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afab025f6215abb17d121ccac423d2d9068e59d9f6877d2e424aee79ac6beb28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4fc2749112983c66d5383d6476288a077830c2d30ae13d88de344cd85eb46bcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 9.058 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.5289, -0.0189, -0.0387, 0.9992, 0.8001, 1.9022, 1.4471, -0.2634, 0.6758, 0.2119, 0.43]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1464 left_yaw=0.0025 left_pitch=-0.1613 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4312 right_y=0.2907 right_z=0.1711 right_yaw=0.1319 right_pitch=0.0325 right_roll=-0.2358 right_gripper=0.43\nstate[joint_eff]: [-0.0342, -1.2239, 6.8991, 1.6532, -0.0611, -0.0659, -0.0122, 0.4171, -9.935, 5.8735, 1.7998, 0.3883, 0.1587, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8154, 0.6067, -0.54, -0.0189, -0.0387, 0.9992, 0.8169, 1.9507, 1.4227, -0.2497, 0.6773, 0.2218, 0.9946]\nstate[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.1444 left_yaw=0.0025 left_pitch=-0.1724 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4257 right_y=0.2969 right_z=0.14 right_yaw=0.1426 right_pitch=-0.0119 right_roll=-0.2651 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -1.2103, 7.0906, 1.707, -0.0513, -0.0611, -0.0122, -0.3897, -11.8632, 7.5829, 1.8828, 0.3639, 0.0659, -0.0317]",
      "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, 0.8188, 0.6067, -0.5617, -0.0189, -0.0387, 0.9992, 1.0416, 1.1946, 0.8101, -0.3126, 0.8997, 0.2565, 0.9953]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0026 left_pitch=-0.1976 left_roll=0.0002 left_gripper=0.9992 right_x=0.2732 right_y=0.2002 right_z=0.2059 right_yaw=0.1873 right_pitch=0.1545 right_roll=-0.2874 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -1.1829, 6.8855, 1.7705, -0.0611, -0.0562, -0.0122, 0.1299, -4.6154, 7.5009, 1.8779, 0.3639, 0.1441, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73c39bd780ad5104723c63d1d0436598f89db9ad8b9099faf026cf78efb230fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afab025f6215abb17d121ccac423d2d9068e59d9f6877d2e424aee79ac6beb28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fc2749112983c66d5383d6476288a077830c2d30ae13d88de344cd85eb46bcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LkYpVh54aWfsh2T4K29HG8",
      "input": {
        "note": "Lemon is safely in the safe. The brown bear should be roughly directly below the gripper; descending to 6 cm over it to grasp its body.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.21,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LkYpVh54aWfsh2T4K29HG8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5774, -0.0189, -0.0383, 0.9992, 1.1465, 1.536, 0.4423, 0.2195, 0.9573, 0.3611, 0.9954]\nstate[eef_state]: left_x=0.2657 left_y=0.0019 left_z=0.1369 left_yaw=0.0024 left_pitch=-0.2132 left_roll=0.0008 left_gripper=0.9992 right_x=0.2465 right_y=0.2035 right_z=0.0541 right_yaw=0.2159 right_pitch=0.0933 right_roll=-0.3582 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.2376, 7.1726, 1.7021, -0.0513, -0.0024, -0.0122, 0.4991, -5.3265, 4.8068, 1.4676, 0.5788, 0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc41b50456e1b779cb2891530d170636b52654a18716222d23d4423fa29f5355",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd8769f0909d64874d482eada1fbd97a22865d4ab4914ca56d946388a74355f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c6cd87932249cb3bbc0a5533a349fe4df3163445f8d94b54ee2e71971bd0dde6",
        "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 · 8.306 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.54, -0.0189, -0.0387, 0.9992, 0.8169, 1.9507, 1.4227, -0.2497, 0.6773, 0.2218, 0.9946]\nstate[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.1444 left_yaw=0.0025 left_pitch=-0.1724 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4257 right_y=0.2969 right_z=0.14 right_yaw=0.1426 right_pitch=-0.0119 right_roll=-0.2651 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -1.2103, 7.0906, 1.707, -0.0513, -0.0611, -0.0122, -0.3897, -11.8632, 7.5829, 1.8828, 0.3639, 0.0659, -0.0317]",
      "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, 0.8188, 0.6067, -0.5617, -0.0189, -0.0387, 0.9992, 1.0416, 1.1946, 0.8101, -0.3126, 0.8997, 0.2565, 0.9953]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0026 left_pitch=-0.1976 left_roll=0.0002 left_gripper=0.9992 right_x=0.2732 right_y=0.2002 right_z=0.2059 right_yaw=0.1873 right_pitch=0.1545 right_roll=-0.2874 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -1.1829, 6.8855, 1.7705, -0.0611, -0.0562, -0.0122, 0.1299, -4.6154, 7.5009, 1.8779, 0.3639, 0.1441, 0.0562]",
      "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, -0.5774, -0.0189, -0.0383, 0.9992, 1.1465, 1.536, 0.4423, 0.2195, 0.9573, 0.3611, 0.9954]\nstate[eef_state]: left_x=0.2657 left_y=0.0019 left_z=0.1369 left_yaw=0.0024 left_pitch=-0.2132 left_roll=0.0008 left_gripper=0.9992 right_x=0.2465 right_y=0.2035 right_z=0.0541 right_yaw=0.2159 right_pitch=0.0933 right_roll=-0.3582 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.2376, 7.1726, 1.7021, -0.0513, -0.0024, -0.0122, 0.4991, -5.3265, 4.8068, 1.4676, 0.5788, 0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc41b50456e1b779cb2891530d170636b52654a18716222d23d4423fa29f5355",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd8769f0909d64874d482eada1fbd97a22865d4ab4914ca56d946388a74355f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6cd87932249cb3bbc0a5533a349fe4df3163445f8d94b54ee2e71971bd0dde6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4gYKjgEIEhgCKkDn96pZOpwIHSuR+DpZZatXY0u4zjYFvJYKyWFwmQSAtE1TI0XAxBOwY/+GhnxPkgOfItdll529gz390et3pyykMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaaDzNUGEgwtUw+yAcd9SnI+T9UaDKEEqABblVEYo2gtICIwM3pkNL5T5Dm9STq6d1IXPwjmQ8RqgB3dNUr/YMB3k/c/rNOa8tOQFAmfFXd3vqHsKoAF06DMiY2DhdLvQbbVbbBlEr/ieDVhMY6dGZ1nNrBeoS1HekmYCihSaCEliFAkfZy5yEc2GLYsEtjdju4x+2bytwqXVF+E20m3JUd9UWVAIROkkbKZHzsHWRrrGSNQ49Wv/38An0psuiPOSb5PHqzcJgBg1NC1pn8Kxcb0uu06QmZGCAcERlmR6/Da+Zl1dU/AYhFUZ6KEsh/D00cIywj4ZYvVENNjVDFQgnSFHIMnVB6JwXXikEei8R5rdOvz1bBiG1WcTq8IHk5RJIflJPT8nObGBbyJry48OqVRycp0yhrkzF5Xlg8f4TnIoNx7x8E5RiA0bT9Ja3tRROLRVzC2xE24CtZyAfME3SSsCc38NvyJsZknSZGJ1wD16e4HZ0ie5WZthuDI8Hmju6AM7D4a+WHv7IaMuG+8VQFpplsQ5d7Q1RzJVOzhHuWPHR569rmOA2Bpy75omGIhioCRBD6shgML5+5i5hjWWzUcl3KPJquJIulmVAgKnH9nWViSyWKnuJ1LRKa/Er3O0dwwTPW8RNy3TyQLalyQJ0wvDsNdMlsGmzRjAbVSorB+pt4sZU61RTvVoLzlPOVd2KW28xQdyIs+v89Rhi0lKMI2WGSu61ZKeHaO/MocrzS/hymzS8rbVNtxGROHo0lTFNcJ2eEb4KxlOoaQ+yoVR0Y83BTUwqtenp0OTb+fVO11jwDwGUlIfNA2AqgrnBTEOIiMnLuoDELGCAcrHjE4JFJHpwVceabKp51DVY/GBf0hrt20h/VPfwgkPLNVVmnQ8Id8VDHkSn5zPKRkNFv8Oyj+sbPxZ4VGq3Ry/z34wWoBHSuYNkm3+mS8D9z+qHZ7N4R4N5ntXRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RJB1yqHEiSPPo6kGa4rR3M",
      "input": {
        "note": "Wrist view shows the brown bear filling the lower-left, i.e. a few cm to the arm's left of the jaws. Shifting 4 cm left to centre it before closing.",
        "targets": {
          "right_y": 0.25,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RJB1yqHEiSPPo6kGa4rR3M",
      "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, -0.5854, -0.0189, -0.0387, 0.9992, 1.2125, 1.6894, 0.6022, 0.1619, 0.9848, 0.4286, 0.9954]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1355 left_yaw=0.0027 left_pitch=-0.2212 left_roll=0.0007 left_gripper=0.9992 right_x=0.2464 right_y=0.2486 right_z=0.0513 right_yaw=0.2345 right_pitch=0.0942 right_roll=-0.3532 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.2376, 6.9812, 1.5849, -0.0757, -0.0464, -0.0122, 0.4171, -5.8598, 5.4359, 1.0965, 0.5006, 0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ef6a68a0e5e7d930c3bc2e853f2067477fd71907f4db8694b3401e7ba24f49a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c079b8c78123c272efcc4934cefeb1b8f18b7d38da99b02d826aac382317af3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46d596d6620ca534de03dfeffd1ea1686bc0a534d6d323367acb6453a4d22677",
        "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 · 7.881 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5617, -0.0189, -0.0387, 0.9992, 1.0416, 1.1946, 0.8101, -0.3126, 0.8997, 0.2565, 0.9953]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0026 left_pitch=-0.1976 left_roll=0.0002 left_gripper=0.9992 right_x=0.2732 right_y=0.2002 right_z=0.2059 right_yaw=0.1873 right_pitch=0.1545 right_roll=-0.2874 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -1.1829, 6.8855, 1.7705, -0.0611, -0.0562, -0.0122, 0.1299, -4.6154, 7.5009, 1.8779, 0.3639, 0.1441, 0.0562]",
      "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, -0.5774, -0.0189, -0.0383, 0.9992, 1.1465, 1.536, 0.4423, 0.2195, 0.9573, 0.3611, 0.9954]\nstate[eef_state]: left_x=0.2657 left_y=0.0019 left_z=0.1369 left_yaw=0.0024 left_pitch=-0.2132 left_roll=0.0008 left_gripper=0.9992 right_x=0.2465 right_y=0.2035 right_z=0.0541 right_yaw=0.2159 right_pitch=0.0933 right_roll=-0.3582 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.2376, 7.1726, 1.7021, -0.0513, -0.0024, -0.0122, 0.4991, -5.3265, 4.8068, 1.4676, 0.5788, 0.0855, -0.0073]",
      "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, 0.8188, 0.6067, -0.5854, -0.0189, -0.0387, 0.9992, 1.2125, 1.6894, 0.6022, 0.1619, 0.9848, 0.4286, 0.9954]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1355 left_yaw=0.0027 left_pitch=-0.2212 left_roll=0.0007 left_gripper=0.9992 right_x=0.2464 right_y=0.2486 right_z=0.0513 right_yaw=0.2345 right_pitch=0.0942 right_roll=-0.3532 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.2376, 6.9812, 1.5849, -0.0757, -0.0464, -0.0122, 0.4171, -5.8598, 5.4359, 1.0965, 0.5006, 0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ef6a68a0e5e7d930c3bc2e853f2067477fd71907f4db8694b3401e7ba24f49a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c079b8c78123c272efcc4934cefeb1b8f18b7d38da99b02d826aac382317af3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46d596d6620ca534de03dfeffd1ea1686bc0a534d6d323367acb6453a4d22677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQYKjgEIEhgCKkAecROLbJOc8SRnqwuP5xoOjXKRPVza+vRl35PHbzU0bjS6yBRt7N7PiiBNHSKdg4WzL9Ba2bxnu6Un537tBU6/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa6DzNUGEgzwy5F5JDjPsQ6y/FIaDDwjRVXz5FrT21WygSIwrj+q4iLt7m5xg/YwlolgqcG42Gn9rhWKhyXc02moQclbFt5ePityp1/uvFdDHRyPKusEAakIGx9cK+a9xBfYWrkgkpagU0Heboo6+BOmU0sas+h3w2cs7kRfdTgbUTljTxzPD8cpa5IVsmh3UFz6l0Dof4FoB9q9TV3RmiJavOoWN4xdkLxWIV7bgNZ4qSPZPqzXZ64d2LKbENZoYKH+JXcV3weeb1yTD1eiat6mb4BuZrN8SMYIYYdB8DePip9Hw7hp2NPZIFuiG+1tT4McITDx00SdUaKlgCR5CPs8LWqxCczLWHY7Nw89OCmaDx1Gh1ILcWdTMXbdO7v1T/HLdfUxj88j+gOO6XOZN8ubHAx7TFkhk11h2yq1P/o5FB9GYtirg/bVxtaFPfano9oES08GnnC3RvTvsV1+63ggOB3TTbAJ2oIzvE3dlB4KQIuQjIfF+kpoS75eB0iQOndBvO3PGhPH8qkcVF9EWUbqExkXwwxEyUuSkVSaoCbWkOJj/km1Tb3/QYN4cO0SNAU+sllqqEvE+PFwwCtjMkW3djmy2zZQvZv+U78xk7PihEVRot3mpnLvU0fOcCcWKfPON86QlYRnpmx8eE8LL9XzxR6AyQ/2zWS+FM2RxtNuPs4ttdHl/tbr9JrEYoWTW6cfwdPYSeJpn8p9xT+dfUzOiMXn/GjqnIQYJVBWA4t1TsEu1BxwRVY05tVRLw2+2acL9TrzF6EZJDopETNwvWPQ/P8On+TIkehJA1t3/XZsF2NrPySD95ANryUhpHCuRSJg6L20hVqk73KQP8Tg17gNqmQTQfYlgGA/64I4uQ6UjpuPRs1kTiIPNj8V8WXZ29omCWGBk458+TcYCcrs2svu4NHSLlDY7cxH/AlUVi5johgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RGDF1jgzVbxqYyAstPVe5Q",
      "input": {
        "note": "Bear is still left of the jaw column in the wrist view; nudging another 4 cm left and lowering to 3 cm to grasp its body.",
        "targets": {
          "right_y": 0.29,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RGDF1jgzVbxqYyAstPVe5Q",
      "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, -0.5858, -0.0189, -0.0387, 0.9992, 1.2163, 1.7012, 0.6193, 0.1287, 0.992, 0.4534, 0.9954]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1353 left_yaw=0.0027 left_pitch=-0.222 left_roll=0.0007 left_gripper=0.9992 right_x=0.246 right_y=0.249 right_z=0.0499 right_yaw=0.2235 right_pitch=0.0884 right_roll=-0.3579 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.2513, 6.8444, 1.4969, -0.0464, -0.0562, -0.0122, 0.1709, -5.9145, 5.5179, 1.0769, 0.4469, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19858c0154df4c0079d8b2ba349e2b6f056d1d0696c7a1246baecb24fc953473",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7216265d0b67c581c01e246ec8a4aad2db8a1cbd02487e77e9221893421d0c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dcdba970447812479f32083a91b2def3c11b6f47e95859126ec2f6f9da643708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 7.287 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5774, -0.0189, -0.0383, 0.9992, 1.1465, 1.536, 0.4423, 0.2195, 0.9573, 0.3611, 0.9954]\nstate[eef_state]: left_x=0.2657 left_y=0.0019 left_z=0.1369 left_yaw=0.0024 left_pitch=-0.2132 left_roll=0.0008 left_gripper=0.9992 right_x=0.2465 right_y=0.2035 right_z=0.0541 right_yaw=0.2159 right_pitch=0.0933 right_roll=-0.3582 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.2376, 7.1726, 1.7021, -0.0513, -0.0024, -0.0122, 0.4991, -5.3265, 4.8068, 1.4676, 0.5788, 0.0855, -0.0073]",
      "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, 0.8188, 0.6067, -0.5854, -0.0189, -0.0387, 0.9992, 1.2125, 1.6894, 0.6022, 0.1619, 0.9848, 0.4286, 0.9954]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1355 left_yaw=0.0027 left_pitch=-0.2212 left_roll=0.0007 left_gripper=0.9992 right_x=0.2464 right_y=0.2486 right_z=0.0513 right_yaw=0.2345 right_pitch=0.0942 right_roll=-0.3532 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.2376, 6.9812, 1.5849, -0.0757, -0.0464, -0.0122, 0.4171, -5.8598, 5.4359, 1.0965, 0.5006, 0.1099, -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 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, 0.8192, 0.6067, -0.5858, -0.0189, -0.0387, 0.9992, 1.2163, 1.7012, 0.6193, 0.1287, 0.992, 0.4534, 0.9954]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1353 left_yaw=0.0027 left_pitch=-0.222 left_roll=0.0007 left_gripper=0.9992 right_x=0.246 right_y=0.249 right_z=0.0499 right_yaw=0.2235 right_pitch=0.0884 right_roll=-0.3579 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.2513, 6.8444, 1.4969, -0.0464, -0.0562, -0.0122, 0.1709, -5.9145, 5.5179, 1.0769, 0.4469, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19858c0154df4c0079d8b2ba349e2b6f056d1d0696c7a1246baecb24fc953473",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7216265d0b67c581c01e246ec8a4aad2db8a1cbd02487e77e9221893421d0c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcdba970447812479f32083a91b2def3c11b6f47e95859126ec2f6f9da643708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwUKjgEIEhgCKkDaEex9Vexg2sWK0XXcWxCP5oY2oiZY4+QaH/z5mrDE2ojptSP9qwhomi3N4O7Y84/CO/i4WwY3MBxD7VgR3+5IMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbaDzNUGEgxKC+iBVOYoZANz/2AaDFbcIlT/yxEoojbbKiIw1NDT4RAcWPOINdF26MCaNS55HqPHqpXcQ6gGaBDzV+V7BjbuOUORU2jbqBtyriD3KuEDprsg4tLea9yL86zIVR28vlA2uy+ZhssFFqpFsK5mqHZ2W1Fet1OmvXtIz5Ut7jFN4UG0I8juwlPufd2HgEmwrK/iOZKcqwnwCZagRu6VMELhXhzYW4Aw7P08LeVTIj2WvPfslPsNSp3cQX/mNx1XYcRsrsUhRyvrTy+9Hb4vnKHf7XmplJ1Rm78lP7mU2JSkj4qNh0VNIQqw/BnzJbiPuXWoDQBY8f4Q5oSx3CAVQbFpy/gv6JoeZyGrzFJkZZnvk/rHrLcUWVRc9xvUUnl7KwZVY5ACePBxevmHXN+K6VP+m2I59TaI84Y+2rU1ERcfTpPf/5V6ZE/2GQdj59MfzsV1Jvx+Ze6X+uz+os3HAwqqfjKAMx65XUN1lvYi1KW+0Uf6aSYSuCgCkrX7C83Ydjhz03lsEiIB+11AyssD1mOupOZGPwV3IFzIwvcQWaFDsEITATL2GdqJy2iUimuiHKkHvIDBgwEriBf4n5vhZs6ir75MLuMvOfbtldmcE2LuYc7t65hXtZGiWugO59xbmqSkG7EfsJq5uPZCWV8Sacw51QvaZVfe4h/rGsb8WABbVwEOehKOyPbzdKa7qdygNNhFMFkeSQuL1sc0NKaLrYlncjRP3cgq9NubS/a4+iAsDxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015FxRgWfnj47gnJ3zGcbogr",
      "input": {
        "note": "The arm refused to shift further left at low height (readback unchanged). Raising to 16 cm first, where the IK has more freedom, then I will re-approach the bear from above.",
        "targets": {
          "right_x": 0.24,
          "right_y": 0.3,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015FxRgWfnj47gnJ3zGcbogr",
      "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, -0.5884, -0.0189, -0.0387, 0.9992, 1.2518, 1.6897, 0.717, -0.0166, 1.0031, 0.4984, 0.9954]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1349 left_yaw=0.0027 left_pitch=-0.2246 left_roll=0.0008 left_gripper=0.9992 right_x=0.2414 right_y=0.2673 right_z=0.0676 right_yaw=0.2322 right_pitch=0.0853 right_roll=-0.3541 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -0.9368, 6.8444, 1.5556, -0.0415, -0.0562, -0.0122, 0.9915, -10.8239, 8.4171, 1.7411, 0.652, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc7ed637361d93638c8ed2b1a1b840077b565e92f7c89717b09223347fa756c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df67ca117af80bec1f2b529f1bd4e38e02c5a11daaa7659f9c4965e5b2eb8a6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed87067c510f2954b8c2720b8d62d3a68995e3f30f164a7b07f4d38d54b8345c",
        "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 · 12.25 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5854, -0.0189, -0.0387, 0.9992, 1.2125, 1.6894, 0.6022, 0.1619, 0.9848, 0.4286, 0.9954]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1355 left_yaw=0.0027 left_pitch=-0.2212 left_roll=0.0007 left_gripper=0.9992 right_x=0.2464 right_y=0.2486 right_z=0.0513 right_yaw=0.2345 right_pitch=0.0942 right_roll=-0.3532 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.2376, 6.9812, 1.5849, -0.0757, -0.0464, -0.0122, 0.4171, -5.8598, 5.4359, 1.0965, 0.5006, 0.1099, -0.0171]\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, 0.8192, 0.6067, -0.5858, -0.0189, -0.0387, 0.9992, 1.2163, 1.7012, 0.6193, 0.1287, 0.992, 0.4534, 0.9954]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1353 left_yaw=0.0027 left_pitch=-0.222 left_roll=0.0007 left_gripper=0.9992 right_x=0.246 right_y=0.249 right_z=0.0499 right_yaw=0.2235 right_pitch=0.0884 right_roll=-0.3579 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.2513, 6.8444, 1.4969, -0.0464, -0.0562, -0.0122, 0.1709, -5.9145, 5.5179, 1.0769, 0.4469, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5884, -0.0189, -0.0387, 0.9992, 1.2518, 1.6897, 0.717, -0.0166, 1.0031, 0.4984, 0.9954]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1349 left_yaw=0.0027 left_pitch=-0.2246 left_roll=0.0008 left_gripper=0.9992 right_x=0.2414 right_y=0.2673 right_z=0.0676 right_yaw=0.2322 right_pitch=0.0853 right_roll=-0.3541 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -0.9368, 6.8444, 1.5556, -0.0415, -0.0562, -0.0122, 0.9915, -10.8239, 8.4171, 1.7411, 0.652, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc7ed637361d93638c8ed2b1a1b840077b565e92f7c89717b09223347fa756c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df67ca117af80bec1f2b529f1bd4e38e02c5a11daaa7659f9c4965e5b2eb8a6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed87067c510f2954b8c2720b8d62d3a68995e3f30f164a7b07f4d38d54b8345c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9gQKjgEIEhgCKkCh1T1Nb/H+wFZe+S4kXJM8i+YfkDQK3AvsH5QykMg4qXRpIRixTonWAjO6AA0L8SSQ9wcncAJV0e7swFQlqeeaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb6DzNUGEgz6HEtV+LVsLiesNKYaDOlQJ8Q7nUXkTUj5/yIw22mSulcLE3qEERpFd+AGQf8aSijSkLrja2oZATaSBKUfKfrczUUUoo4Re39ETB3qKpQDbmNXbgFJtYUTH2YH1SX6FCpOZZoPYg/o/pX0IUf+nmxNR+ulRT0VdARBHjX91QnIBYN9JVAw0yid0PItiiNuFtzlWT9RyuqBryq8TYScec9WIeoS5dRhu1MTJNxJ2/BIaFIBJo3ne0PP7Tns7HrjWn/uo8jxBaCfjc23BoojACKoBuAmRLrSI1XG8Dt9h075w1H59j12FIo/BKlFk7L4EbhjoHBUYCxiypn/bjdm8W1wo7Ye96Sf27BzWTW718k5rs/KHUyrNFRSNB0Jdoy6uQpGPhEymTYHertq3W7cPDoCFNgVZFswGXEeIoyoQ5zDygZ8uu7+mqZibtaIB5/sX/2G7vjdXumH6XYFqZwbQhtjHYJzptonJMKIiYnwFDZfaFdIRoaCIb4EqG9XU7ORpiUsFNZ+27djhVBXr1W2lwzy4PKLBdzrC0yO8ISDpZso7bX8FokrL1eFdVVryB/2KfQKrzz2vthFfq9/z/LuwWvzGNu3ciWEjgmWinT5AIz68QCxi3iVnJjzSEynhEEQfu1cmzQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017w6KMZmDK1QdZYoQjZMcUn",
      "input": {
        "note": "Motion is sluggish, likely the gripper is leaning on the bear. Lifting clear to 20 cm and shifting left before re-approaching from straight above.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.3,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017w6KMZmDK1QdZYoQjZMcUn",
      "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, -0.5922, -0.0189, -0.0387, 0.9992, 1.1759, 1.6157, 1.1484, -0.4484, 0.9455, 0.3874, 0.9954]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1343 left_yaw=0.0027 left_pitch=-0.2281 left_roll=0.0008 left_gripper=0.9992 right_x=0.2764 right_y=0.3001 right_z=0.1815 right_yaw=0.2412 right_pitch=0.0662 right_roll=-0.3632 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.1966, 7.0085, 1.6288, -0.0611, -0.0757, -0.0122, -0.5949, -8.5128, 8.4581, 1.3211, 0.4078, 0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96a731a6899459a9971665d35342858bc9042529385c729f9c716e230cda6c67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69f49337617df287f5008095087d257725293ebdf68d484ca64b2efd26e7b0a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a80162f3d71d45ea0012686eb845d568b4b329638884710ee20bd770e4f2ae91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 5.846 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5858, -0.0189, -0.0387, 0.9992, 1.2163, 1.7012, 0.6193, 0.1287, 0.992, 0.4534, 0.9954]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1353 left_yaw=0.0027 left_pitch=-0.222 left_roll=0.0007 left_gripper=0.9992 right_x=0.246 right_y=0.249 right_z=0.0499 right_yaw=0.2235 right_pitch=0.0884 right_roll=-0.3579 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.2513, 6.8444, 1.4969, -0.0464, -0.0562, -0.0122, 0.1709, -5.9145, 5.5179, 1.0769, 0.4469, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5884, -0.0189, -0.0387, 0.9992, 1.2518, 1.6897, 0.717, -0.0166, 1.0031, 0.4984, 0.9954]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1349 left_yaw=0.0027 left_pitch=-0.2246 left_roll=0.0008 left_gripper=0.9992 right_x=0.2414 right_y=0.2673 right_z=0.0676 right_yaw=0.2322 right_pitch=0.0853 right_roll=-0.3541 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -0.9368, 6.8444, 1.5556, -0.0415, -0.0562, -0.0122, 0.9915, -10.8239, 8.4171, 1.7411, 0.652, 0.2027, -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 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, 0.8188, 0.6067, -0.5922, -0.0189, -0.0387, 0.9992, 1.1759, 1.6157, 1.1484, -0.4484, 0.9455, 0.3874, 0.9954]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1343 left_yaw=0.0027 left_pitch=-0.2281 left_roll=0.0008 left_gripper=0.9992 right_x=0.2764 right_y=0.3001 right_z=0.1815 right_yaw=0.2412 right_pitch=0.0662 right_roll=-0.3632 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.1966, 7.0085, 1.6288, -0.0611, -0.0757, -0.0122, -0.5949, -8.5128, 8.4581, 1.3211, 0.4078, 0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96a731a6899459a9971665d35342858bc9042529385c729f9c716e230cda6c67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69f49337617df287f5008095087d257725293ebdf68d484ca64b2efd26e7b0a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a80162f3d71d45ea0012686eb845d568b4b329638884710ee20bd770e4f2ae91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgwsKjgEIEhgCKkAmjN/eKS6y9ob3nGBpVBfqM4usUS/Jm6UaGFEkKabof3f+W0Q1ysp3F7lz9sgC1uKzKrcXGYcP6ScobqsTXnoWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcuDzNUGEgwBaYp4QtvnAqv2sHsaDIGd52VrH9Ajm753TiIwl5esx+HZdGjANY7ZyglQCghzcUYS3eZBI5I7BVVs0zm2duT+PiJsG0XDCyAoiB9sKqEJAU+nfR4OOxEpwHYHnZN3np2dpzTw0ofsuL1nemFtAEybNLlXjT8lB+1TxtO4yb4qS5AWtPqxrSTz3cj2DDq4tmjbA5HGXxJCkPZoVKydgVgIGswNIGLFUuME+J3PFs99EaQ8rcex/BsIp5WbVb8J9EEMHvJKhuncG/h7fTMcLAeDMqGY9z8Yc5o+BnlSfajL05TZlnH0H2+RCNOGRpaQh33fszO62yadYpDxArvsga/LpefjUUDXcgapDicdSgFWUdAJXYjPN/ElbUjBH3J6zzR4ZyS/i49DPPCgystiGBGbR8z4byOWdFt2W+4jBqch9pvNtSLXv6H7JynmonpDx2nJBLe72lVLg9GuHaizw47W5QBFv8V6h8yb45RxJY+2giwATywzhEWzGoNFcbPbshh9WazmelV1V80nArOQr3hznPOAqtPdlGw+REjdpIZEMHeOHB2a/WGwZPHY/iSxSbU0tJJI72x4/In4KIjcJf0g6I0ojIBfqncfVnjPXdUcCtZkFDVo5GeBlfZsyCbWGSTkiLoPhdbuMiHHr/Y1lIrZ27srAKkhB+zjN43uhyVfo5C7xLk204o0H8Eejzg2x/MnNr80av6g8c5bPXcuFHrgNz9yrWgm14QwoTttD3LTvOWp4ioae9n78DeQ8Q8xfmL/qIHydwQX84LhNq7I9lcutuix1u6uzqdsQ4QSdL34aI+H1q5AxT6slsA4pCqQVe119DC3cMd0HGT3YR0Ztr4CwUIkbgeCdrQ51m2/VO9ruSCRAte+VqNXD502En6dyhBf42+cfoqJr2SEg8VRzy1gHmMyq6SQNSSOS4Bd4WsfVfqAEZVI+Rw5rs1NE1U1T72lHoLJL1dbahokbHU0YmwMP3kn1Aim6oy+EO5x1wAoIywkA+M8i8FRowD1pmHvhNXl/hH2/7WbBik7CK9BtxL592N3Rew4SbdNLGam7cba/u9Nv2HxCATY6aDHj3bs1OdQ6RJGuHi4tDh9/cMURS/aPexoE9FW/Za1Z7KxSezPdQv8dCQSMmrA2IpRInTglwZlnW8suPJN6Gs1e+wesI1MNoqT+eOyC6QauUI7wev3T+WpSztt2Kfsn6cyTt0HHZpBF6KU1ejkaGDbQyrkmr061U2HI4smCt7WVBQoJQaPEA+e9A3jipx/qSF2bmfphVmgfsyucbyoVgEfmd26+iVMwoCwlg2OG7lDR/30vHSoJO4RvsIscgRTNDmX0AkXZGRUtD+iQJGqMchz+GC222SUDU0rLYTPtuc+IUBLiPaLE5DJrc3ZzhEW38eVFdKnwFvtFPB7k5WuX82gUy0+5vvcDvnGeMRx7+ZAZXTuvMU802O4KDwYjVXcsVQ5hCBrQzlXyUbUBaQQFYUceKyhpXt0KbXRvbnmD1TviTSvi4N0pQZPm3eu4aqP8evpNjG2V/bGMy8MyLLyoL6xf2/3mMmi7/rBPAz987AHvpK0e2aUyTrfHYv3sbaB4w/XGNxBe+BoMj/bjssKg3m+9N72JOXyJVtTVDZk2rlYtMAauDPBlXIx8+uiKcILxAyL8UQlxxj9Z789Y8U9eK62uh5tbt5MGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ar1qv2J5dDTmeD9H7yjmFH",
      "input": {
        "note": "Re-estimating the brown bear at right-arm coords x≈0.23, y≈0.33; moving to hover 10 cm above it.",
        "targets": {
          "right_x": 0.23,
          "right_y": 0.33,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Ar1qv2J5dDTmeD9H7yjmFH",
      "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, -0.5926, -0.0189, -0.0383, 0.9992, 1.3247, 1.7969, 1.0729, -0.4107, 0.9974, 0.5766, 0.9954]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0025 left_pitch=-0.2284 left_roll=0.0011 left_gripper=0.9992 right_x=0.2312 right_y=0.326 right_z=0.1017 right_yaw=0.274 right_pitch=0.0227 right_roll=-0.4095 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -1.2513, 6.8308, 1.5751, -0.0562, -0.0122, -0.0122, 0.5265, -7.8427, 5.6137, 1.1258, 0.6716, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adab559dda3a2587ae267f9e9681708875ba951d810ce1ccb1de25ffc893c091",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7639faf6cb22c46d84ef38056364d35f36d1313439b0b51aba97461f36360384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a275f2bf5d805e1e8fe078fce5542514273b713352a1bd46857e58bf52fa613",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 4.069 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5884, -0.0189, -0.0387, 0.9992, 1.2518, 1.6897, 0.717, -0.0166, 1.0031, 0.4984, 0.9954]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1349 left_yaw=0.0027 left_pitch=-0.2246 left_roll=0.0008 left_gripper=0.9992 right_x=0.2414 right_y=0.2673 right_z=0.0676 right_yaw=0.2322 right_pitch=0.0853 right_roll=-0.3541 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -0.9368, 6.8444, 1.5556, -0.0415, -0.0562, -0.0122, 0.9915, -10.8239, 8.4171, 1.7411, 0.652, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5922, -0.0189, -0.0387, 0.9992, 1.1759, 1.6157, 1.1484, -0.4484, 0.9455, 0.3874, 0.9954]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1343 left_yaw=0.0027 left_pitch=-0.2281 left_roll=0.0008 left_gripper=0.9992 right_x=0.2764 right_y=0.3001 right_z=0.1815 right_yaw=0.2412 right_pitch=0.0662 right_roll=-0.3632 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.1966, 7.0085, 1.6288, -0.0611, -0.0757, -0.0122, -0.5949, -8.5128, 8.4581, 1.3211, 0.4078, 0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8188, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 1.3247, 1.7969, 1.0729, -0.4107, 0.9974, 0.5766, 0.9954]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0025 left_pitch=-0.2284 left_roll=0.0011 left_gripper=0.9992 right_x=0.2312 right_y=0.326 right_z=0.1017 right_yaw=0.274 right_pitch=0.0227 right_roll=-0.4095 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -1.2513, 6.8308, 1.5751, -0.0562, -0.0122, -0.0122, 0.5265, -7.8427, 5.6137, 1.1258, 0.6716, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adab559dda3a2587ae267f9e9681708875ba951d810ce1ccb1de25ffc893c091",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7639faf6cb22c46d84ef38056364d35f36d1313439b0b51aba97461f36360384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a275f2bf5d805e1e8fe078fce5542514273b713352a1bd46857e58bf52fa613",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvAQKjgEIEhgCKkAzdUy+AO/35UKWoaodIREfSt2FK56Gu7WYLLUJDFGlOFEUKIqyPaijDqdDsgqDm4lObA+sm6t9LNqHCWbWVguEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdKDzNUGEgx10o+jnRJdV4rjbMcaDCajVKt/Xi4RdhtSlyIwW+m/LPSxdLMLZwKsJfIt5BphTBQDxW5/iPNuJc3Z1tR4Hhsb/0CUzH+eG4LaGEraKtoCwh2xePm0/d3I7IDgcI0Q7U7QGoXlGboUZAOz0L7eMtekyRWlg3KNMeqdm9dPLTp046uiiP3gmIAudo23gcNZ7OnIPZyC5f0yKXp/LMTBTTfb+KPQl+HRqEb8X9wKoMh2RhGcQ7WUyDINoobvj+hJ2cAmoA+zHFbHW8P4/mrdw202g5s9+E7zw2918oQ/+E88BeCcoHTz4/8dQMqUkVLOVl6jCmBKsKRiVSNcIahIMpK+/Xn5vW96omNiShEEvQJiEGeWLsH4FPNapud0UFKD4AMTz5inMEm6HFe72Qf9/aTxrl6dno8aqwfon9OklIlZeJP6CNOs6HuY5Nx35L1+PyW0oUhD1F70XZSMDfoSZ2BU2+kRRSFENr1YIKFfaI/OOCBftsn0UW9SH/5Gqnz47yL0k836INDQbKFP614D1wXksCcb/chjs7CmdxnxdZ3i2tJBwB7JipyAYxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YPfu9oVCRVdpaWQ3B6mRSs",
      "input": {
        "note": "The brown bear now fills the bottom of the wrist view right under the jaws. Descending onto it to grasp.",
        "targets": {
          "right_y": 0.34,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YPfu9oVCRVdpaWQ3B6mRSs",
      "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, -0.5926, -0.0189, -0.0387, 0.9992, 1.3334, 1.9709, 1.0386, -0.1318, 1.0542, 0.6075, 0.9954]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0027 left_pitch=-0.2284 left_roll=0.0009 left_gripper=0.9992 right_x=0.2383 right_y=0.347 right_z=0.0567 right_yaw=0.2384 right_pitch=0.1072 right_roll=-0.3449 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.2239, 6.8308, 1.4969, -0.0708, -0.0562, -0.0122, 0.1026, -5.2718, 3.2615, 0.1685, -0.1734, -0.2271, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8912b60999fe0ba72fb4aca18581007b3510a851377e61e40be118fa8ad7f8b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a4158b8409098056bfe2a09e208212fbafacdb8677a75076308620fc1a5c7d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f0a657ff8218c7eb9c26313e6a75eff67666f34cb62fff0d562fbc2c39349bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 6.027 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5922, -0.0189, -0.0387, 0.9992, 1.1759, 1.6157, 1.1484, -0.4484, 0.9455, 0.3874, 0.9954]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1343 left_yaw=0.0027 left_pitch=-0.2281 left_roll=0.0008 left_gripper=0.9992 right_x=0.2764 right_y=0.3001 right_z=0.1815 right_yaw=0.2412 right_pitch=0.0662 right_roll=-0.3632 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.1966, 7.0085, 1.6288, -0.0611, -0.0757, -0.0122, -0.5949, -8.5128, 8.4581, 1.3211, 0.4078, 0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8188, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 1.3247, 1.7969, 1.0729, -0.4107, 0.9974, 0.5766, 0.9954]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0025 left_pitch=-0.2284 left_roll=0.0011 left_gripper=0.9992 right_x=0.2312 right_y=0.326 right_z=0.1017 right_yaw=0.274 right_pitch=0.0227 right_roll=-0.4095 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -1.2513, 6.8308, 1.5751, -0.0562, -0.0122, -0.0122, 0.5265, -7.8427, 5.6137, 1.1258, 0.6716, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 1.3334, 1.9709, 1.0386, -0.1318, 1.0542, 0.6075, 0.9954]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0027 left_pitch=-0.2284 left_roll=0.0009 left_gripper=0.9992 right_x=0.2383 right_y=0.347 right_z=0.0567 right_yaw=0.2384 right_pitch=0.1072 right_roll=-0.3449 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.2239, 6.8308, 1.4969, -0.0708, -0.0562, -0.0122, 0.1026, -5.2718, 3.2615, 0.1685, -0.1734, -0.2271, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8912b60999fe0ba72fb4aca18581007b3510a851377e61e40be118fa8ad7f8b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a4158b8409098056bfe2a09e208212fbafacdb8677a75076308620fc1a5c7d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f0a657ff8218c7eb9c26313e6a75eff67666f34cb62fff0d562fbc2c39349bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS7gIKjgEIEhgCKkDR1j7qU+EgrteHnLp3GubUNawzkKakVAI+sU5tPpk2frVZs7AaLq9D77Zz2bsCqvM2noAYTTqM5ozE1Boixdt2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdeDzNUGEgysJ4iOmILCsRq1rpIaDN8MvuCGd0c4GZWdNCIwXR6L9w32btFYvbi9BLJdapyOhuihreEP9HCF3/1qaOtGLoFQqJyAjkWSj3XuqzpqKowBvwFKu62Vz3KZXa0zlCVwc8+KxvOzeQVUuVAfNrJcmmQAi8MPlMeVK621FC/h1nI2GZzhOE4clNYJ8EWvEPJaHCpuu/svig3Q4ZMKuWy2tWhvp0G1GusqFO0SdS1ARY6jhK9nw6qGAvdrEkfYZOLPFeJ7ai644okvAO/Wmw8Y2EoEKnH62QACo8nD3fkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QrLArETFrfUCfXowksGyZR",
      "input": {
        "note": "The descent stopped on the bear's fur with the bear between the jaws; closing the gripper to grab it.",
        "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_01QrLArETFrfUCfXowksGyZR",
      "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, -0.5926, -0.0193, -0.0387, 0.9992, 1.3338, 1.9728, 1.0401, -0.1261, 1.05, 0.6029, 0.0092]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0031 left_pitch=-0.2284 left_roll=0.0011 left_gripper=0.9992 right_x=0.2381 right_y=0.3486 right_z=0.0563 right_yaw=0.2426 right_pitch=0.1055 right_roll=-0.3425 right_gripper=0.0092\nstate[joint_eff]: [-0.212, -1.2376, 7.0496, 1.4969, -0.0806, -0.0708, -0.0122, -0.1162, -9.5111, 5.094, 0.9646, 0.4274, 0.0269, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9b4108e34517385f791b8945a54db6c410de4fb7d91d5e1299a99fdebef0cdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:345739cbfd1c4d870fb09e4aa421e12aa4d78d2fdf286e0350a339a30aadc58b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:171c13586102f21684e7bd1e6abd49a2c02a8d9e8c5f31d9ec690b9350379cf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 11.06 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 1.3247, 1.7969, 1.0729, -0.4107, 0.9974, 0.5766, 0.9954]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0025 left_pitch=-0.2284 left_roll=0.0011 left_gripper=0.9992 right_x=0.2312 right_y=0.326 right_z=0.1017 right_yaw=0.274 right_pitch=0.0227 right_roll=-0.4095 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -1.2513, 6.8308, 1.5751, -0.0562, -0.0122, -0.0122, 0.5265, -7.8427, 5.6137, 1.1258, 0.6716, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 1.3334, 1.9709, 1.0386, -0.1318, 1.0542, 0.6075, 0.9954]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0027 left_pitch=-0.2284 left_roll=0.0009 left_gripper=0.9992 right_x=0.2383 right_y=0.347 right_z=0.0567 right_yaw=0.2384 right_pitch=0.1072 right_roll=-0.3449 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.2239, 6.8308, 1.4969, -0.0708, -0.0562, -0.0122, 0.1026, -5.2718, 3.2615, 0.1685, -0.1734, -0.2271, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 1.3338, 1.9728, 1.0401, -0.1261, 1.05, 0.6029, 0.0092]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0031 left_pitch=-0.2284 left_roll=0.0011 left_gripper=0.9992 right_x=0.2381 right_y=0.3486 right_z=0.0563 right_yaw=0.2426 right_pitch=0.1055 right_roll=-0.3425 right_gripper=0.0092\nstate[joint_eff]: [-0.212, -1.2376, 7.0496, 1.4969, -0.0806, -0.0708, -0.0122, -0.1162, -9.5111, 5.094, 0.9646, 0.4274, 0.0269, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9b4108e34517385f791b8945a54db6c410de4fb7d91d5e1299a99fdebef0cdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:345739cbfd1c4d870fb09e4aa421e12aa4d78d2fdf286e0350a339a30aadc58b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:171c13586102f21684e7bd1e6abd49a2c02a8d9e8c5f31d9ec690b9350379cf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStgQKjgEIEhgCKkAXLc1cAhEogL/9lTrTUPGIpjHwr/WPhhD0gfxpvsQ6LyiXQW+D1m4TTGqGEeHwydZLgdNFJaSR3wR+WgSnkzS7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd6DzNUGEgyG59R6Ox2YLN/L4F0aDGCO4mg8IzFrpn4AoiIwqdXdhL18iWZps4a1HdwXx2RrcFcNlpKuK0HZKb/1+7+/ni4xFhyU0Qpe7DXw1ZqHKtQCpWkWHP7A2hFVLDTUBbgdZME2UDPgSpvf9YZQfbTqUA+nsT6NfK+GRNPEvnuqb/29Qxv7HzaABrjQMIg4wKCt05y5Rz+h6RtA5R+R1Ayzm54rbh2LLw5epauavKXEcm0CDWVfwsr0oyUhv529s0rrvr6oWiRVJsmahsOqhIZULZ36S+ySz7xgszzgi2C4qNwtpT7A5BbGfv90lYpu9M1Zcu6qLlW2uadCQvwf9vc8k1XYwtEtIfDAdGBSnu8m3QIyIZ1J9tx6HvfKXfOPmzQNvUTN5ilp7V0VdgIav9VO8r4aSEFt7LMEN9qVTQ16Cydjus7GY6K2biBhyfnrJtqU4dz/TTjZAdfVKXVgg4YrO7mUqIWiHExCd+vGnhqiGvUrkg37NEKK6Xqr0ImifrFSMv7w+WufiQeLE4C0d/h3e/6UpK5waAdB1WQSaywfC1dpL5r7ORgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ke5DzYnVRYBh95FjeAXYAV",
      "input": {
        "note": "Gripper closed fully (fur compresses to nothing); lifting to see whether the bear comes up with the jaws.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Ke5DzYnVRYBh95FjeAXYAV",
      "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, -0.6075, -0.0189, -0.0387, 0.9992, 1.3338, 1.8034, 1.2675, -0.5549, 1.0351, 0.6025, 0.0112]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1316 left_yaw=0.0028 left_pitch=-0.2437 left_roll=0.0012 left_gripper=0.9992 right_x=0.2372 right_y=0.3502 right_z=0.1534 right_yaw=0.2519 right_pitch=0.079 right_roll=-0.3652 right_gripper=0.0112\nstate[joint_eff]: [-0.0205, -1.1556, 6.8171, 1.6093, -0.0757, -0.0611, -0.0122, -0.2256, -11.4667, 8.6632, 1.2039, 0.5299, -0.0171, 0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82d09ba2196ee91b8d5a41f546ed9a99648922b63b23379679be3a97f0bd2ee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1441f3a6d509fea535ce0dc3c6e7e70c7bcf382d9a71e2c74af8a972959be1f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:808ec82742e1576a97b539467ae1a42371230ddbb403354edfbab6a3399b737a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 5.901 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 1.3334, 1.9709, 1.0386, -0.1318, 1.0542, 0.6075, 0.9954]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0027 left_pitch=-0.2284 left_roll=0.0009 left_gripper=0.9992 right_x=0.2383 right_y=0.347 right_z=0.0567 right_yaw=0.2384 right_pitch=0.1072 right_roll=-0.3449 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.2239, 6.8308, 1.4969, -0.0708, -0.0562, -0.0122, 0.1026, -5.2718, 3.2615, 0.1685, -0.1734, -0.2271, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 1.3338, 1.9728, 1.0401, -0.1261, 1.05, 0.6029, 0.0092]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0031 left_pitch=-0.2284 left_roll=0.0011 left_gripper=0.9992 right_x=0.2381 right_y=0.3486 right_z=0.0563 right_yaw=0.2426 right_pitch=0.1055 right_roll=-0.3425 right_gripper=0.0092\nstate[joint_eff]: [-0.212, -1.2376, 7.0496, 1.4969, -0.0806, -0.0708, -0.0122, -0.1162, -9.5111, 5.094, 0.9646, 0.4274, 0.0269, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 1.3338, 1.8034, 1.2675, -0.5549, 1.0351, 0.6025, 0.0112]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1316 left_yaw=0.0028 left_pitch=-0.2437 left_roll=0.0012 left_gripper=0.9992 right_x=0.2372 right_y=0.3502 right_z=0.1534 right_yaw=0.2519 right_pitch=0.079 right_roll=-0.3652 right_gripper=0.0112\nstate[joint_eff]: [-0.0205, -1.1556, 6.8171, 1.6093, -0.0757, -0.0611, -0.0122, -0.2256, -11.4667, 8.6632, 1.2039, 0.5299, -0.0171, 0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82d09ba2196ee91b8d5a41f546ed9a99648922b63b23379679be3a97f0bd2ee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1441f3a6d509fea535ce0dc3c6e7e70c7bcf382d9a71e2c74af8a972959be1f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:808ec82742e1576a97b539467ae1a42371230ddbb403354edfbab6a3399b737a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnwsKjgEIEhgCKkA7rhCgUWMwQTtC2bzJkRh0vuC43SvDJznnT/S3KCi1luLbVvhs8o82VhBharqi90etKGkh9Yw8VncN/FVrnyYNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeqDzNUGEgzkjlWVriMoAlckag4aDGiYAC/BVa5UjNgDVyIw/evca9RiwlGCROr83Y6T0tRP565EHmp/jzrXgRiyK9vo2bFSp+qpgTXGdRePc0sbKr0Jp4RReAwhoaQjOGkYAjm7xRgQhkCFO6ZNya+GW/a/JygTKEsXgy5LUDDTfXRLc7Mm384VLugGDQvNeRsD3L2V8NUFhEZmYLh4rND1bgLQnrTeXBAeJNlQ98ugmU9ffeKHUSz+0CUsZwnmZh3oySugS9ynC3445BF3ql5FvteXigmA8YdveeDeJ7HMAIZk3PNVzq0sK4LHu45kqnR32698X4bJP6jLfak0S+P0jCEpJB8SKKG61m1L8KQbf5xC1e/Fk4hjV2NoxLuIrloaAidbft21eWoYiTCky+cTB5o2nTZmpYKzPYeEaHhWK5iMacfYsD8aOAc0JXT+6bewn2tviZEW980g38o2cBGZiQQPqTG4U9WhhXui3Ig9L6fhhj2JB4tB5p/RhDB4Coa5WjASDbpaxBXU8xg1X2q7nCj0rv4hirHlGTG/1YzZFbX3mHVOZmUEEXoHf1cu3PM4+H6XrIkpYnq9C2eCYFzAX77ZQavhA1GVZsGB1th8cScekcIMXTajib0c8FVrL0KrVumGZF4hp6PqDXLfgzUOYneh7XS8W1Ao1kWCI1yCeJTBXcfrvUxwRM3xG7N67urb638Jb3JwiyPemHn6xpFaI24PuM+mNNE98rpn9U/jYfcf55FMEY8wjP2o4xgTSqI7TwR/cGqgh6r1fdTnSGvv8uJl3zpYeON9gke7S/7M2TOpkF32+GwVNZE/IKKQph8qwc9HXE9bPNc3G3e5vldi81U2AcMJFGpdrw6FiLIURVhRxUdPzPM45+S16YAE59ZEdXxrNzScCcZZ3BUVq44ojNEOIEBrL5wOYOULA8W94cbhtJqzPkRYJ11TUANk2ZYW2mr6T8k0JWadbGQoY7mKLu5J531si3+BLcOVnz2vB93/FMmobmHkH2U93zpaS5Fqnivfv39REVyMQSxqyRo65enEmwomhVi0UDzJ3Jph2CN0vXjLQIwoFrokMC3PtBio8XWeoQ8Cs4pjcaw/maO0PRAr+FhT5aJC1DvHpnbb+VFoat93N8pgBpuF1b1JpbjxP1U9I4CR9jpfAp0bd9l10umrs8YOhbwuWC/FFvYc/cVQZLNF4lSpUYl0thEL6penv0nUtT2wi5PP9IiUnw6DeGIvwxmUCgLFr3lIDenHzGyzCzYkONgE3HvvU4OR//iq9QSR2Hy+Wno+UsoZUDOEagv7n842DSblcrXWzPNfUisNIEkCf4/t1dFkjGXuwtcU9jDRNs9ogKDaOSQyx/CROxoU1IPfS0VS7zBlutws6G6/9LsENRSre7zERZPX5tokQc8flLHmHalGe0zD/Xuyr8onnZt22dk6ReoeurkVlkVoIaB10z8ep8wrKTe439tYnfaLJ2DlTGPLXKmwaX4SaoUidydjYWpewHlV0ce8emqsZqXkGh0fYi51v8Zozq0AwTondpOEDKJf2vymDcullHfi64lZ61fGrdTYtRm10FnFIRGXRbzoeiD6y/0YdubsCmZZIdjDHbNpnZWE4Miwyuz/ofeJwOXNGLJn4Z6oF2M4NW4kByWEDr4zvY8Zj1SYR5mOXDH0JlIjncbd32E2xtxu56PZewcOoC6pbFjv07nJe8aBVXQBqvccvrS4QD+ZdBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Y95L6LjMDDAu2bscssF3T",
      "input": {
        "note": "The bear stayed on the table — the jaws only pinched fur. Opening wide and driving the jaws all the way down to table level so they straddle the bear's torso before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_018Y95L6LjMDDAu2bscssF3T",
      "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, -0.6117, -0.0193, -0.0383, 0.9992, 1.3338, 2.0907, 1.0401, 0.0425, 1.1065, 0.6224, 0.9945]\nstate[eef_state]: left_x=0.2596 left_y=0.0021 left_z=0.1306 left_yaw=0.003 left_pitch=-0.2494 left_roll=0.0019 left_gripper=0.9992 right_x=0.245 right_y=0.357 right_z=0.0323 right_yaw=0.1999 right_pitch=0.1748 right_roll=-0.3006 right_gripper=0.9945\nstate[joint_eff]: [0.0889, -1.3333, 6.9128, 1.5263, -0.0708, 0.0024, -0.0122, -0.0342, -5.2308, 2.8239, 0.188, -0.4762, -0.3736, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e2ac95bf7015c4433a12083ce244d4ca5be5cf20ea35fd287ee3e97aa5882d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cf2ecad9ea92649a987145e87dc62cece821ab295dcc40d11e680f545955365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c96644031223e048bff3e30d381a4373e4e400388702fea65a548428255d99b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.15 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 1.3338, 1.9728, 1.0401, -0.1261, 1.05, 0.6029, 0.0092]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1343 left_yaw=0.0031 left_pitch=-0.2284 left_roll=0.0011 left_gripper=0.9992 right_x=0.2381 right_y=0.3486 right_z=0.0563 right_yaw=0.2426 right_pitch=0.1055 right_roll=-0.3425 right_gripper=0.0092\nstate[joint_eff]: [-0.212, -1.2376, 7.0496, 1.4969, -0.0806, -0.0708, -0.0122, -0.1162, -9.5111, 5.094, 0.9646, 0.4274, 0.0269, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 1.3338, 1.8034, 1.2675, -0.5549, 1.0351, 0.6025, 0.0112]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1316 left_yaw=0.0028 left_pitch=-0.2437 left_roll=0.0012 left_gripper=0.9992 right_x=0.2372 right_y=0.3502 right_z=0.1534 right_yaw=0.2519 right_pitch=0.079 right_roll=-0.3652 right_gripper=0.0112\nstate[joint_eff]: [-0.0205, -1.1556, 6.8171, 1.6093, -0.0757, -0.0611, -0.0122, -0.2256, -11.4667, 8.6632, 1.2039, 0.5299, -0.0171, 0.188]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6117, -0.0193, -0.0383, 0.9992, 1.3338, 2.0907, 1.0401, 0.0425, 1.1065, 0.6224, 0.9945]\nstate[eef_state]: left_x=0.2596 left_y=0.0021 left_z=0.1306 left_yaw=0.003 left_pitch=-0.2494 left_roll=0.0019 left_gripper=0.9992 right_x=0.245 right_y=0.357 right_z=0.0323 right_yaw=0.1999 right_pitch=0.1748 right_roll=-0.3006 right_gripper=0.9945\nstate[joint_eff]: [0.0889, -1.3333, 6.9128, 1.5263, -0.0708, 0.0024, -0.0122, -0.0342, -5.2308, 2.8239, 0.188, -0.4762, -0.3736, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e2ac95bf7015c4433a12083ce244d4ca5be5cf20ea35fd287ee3e97aa5882d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cf2ecad9ea92649a987145e87dc62cece821ab295dcc40d11e680f545955365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c96644031223e048bff3e30d381a4373e4e400388702fea65a548428255d99b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAMKjgEIEhgCKkCLcZ5Ap+0DbWXJlFapuEuUV5qyUxh3oI/0Qe8HKKSDlkz/kKfuk5818OYT+NX9u/e4phZlbpx99GuaFTLFOS/pMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfCDzNUGEgyHQsRcpbZSFc28QKAaDH3yGsZS62pvrEQL/iIwgwaJDgcSW4gBs2CVSPuymZWQbe3UKaB0T7uDXEfyIHIWX7VFQuejAL8Z5WNxNEoiKsYBGpA0fVRREKPL1LdgXFcJFRbBPDv3Gc4J8rReVavCHP35L8xTdeUgWvuUzz0oywozfQgx55jMopRf3XiiBvr9RKmjRW7PookOIBqhjq9ShL6qaxwCQV9fux1kA5uWAgCw9vQ6QMUyDHSg3OLOlpGDRp8kw4+frfLAlY4qdjKOmRCd87sRKRQOHi2JZcO8Box4e286sFenAIQSxehHUTUxr/1ozSoxDfw0EP1H11GGiWpK1+2w8eg19RR4TCkocARXjY/6CnxrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TMEL76whXVgMvvYUzsFJ1L",
      "input": {
        "note": "The jaws are now down into the brown bear's body (descent stopped at 3 cm). Closing to squeeze a good handful of the torso.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TMEL76whXVgMvvYUzsFJ1L",
      "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, -0.6147, -0.0189, -0.0387, 0.9992, 1.3342, 2.0945, 1.0393, 0.0608, 1.1107, 0.6209, 0.0558]\nstate[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1301 left_yaw=0.0029 left_pitch=-0.2525 left_roll=0.0014 left_gripper=0.9992 right_x=0.2455 right_y=0.3584 right_z=0.0327 right_yaw=0.1968 right_pitch=0.1836 right_roll=-0.2908 right_gripper=0.0558\nstate[joint_eff]: [-0.0068, -1.2103, 6.8034, 1.5263, -0.0366, -0.0415, -0.0122, -0.0889, -10.4, 4.8479, 0.8523, 0.3346, 0.0122, 0.3394]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbd927e57dab4e23cc487c8ff35d4c9b564aec40cfafc77d9562fbeeec8ed2ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2904756786d1492de5fca658471fcc01cda56ed0a9180d28f1ab07c5bee693c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ea4bff78682e0811834946b793f3e1c4dd76c35a647c4c5009cdeae1d74d6fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 6.502 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 1.3338, 1.8034, 1.2675, -0.5549, 1.0351, 0.6025, 0.0112]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1316 left_yaw=0.0028 left_pitch=-0.2437 left_roll=0.0012 left_gripper=0.9992 right_x=0.2372 right_y=0.3502 right_z=0.1534 right_yaw=0.2519 right_pitch=0.079 right_roll=-0.3652 right_gripper=0.0112\nstate[joint_eff]: [-0.0205, -1.1556, 6.8171, 1.6093, -0.0757, -0.0611, -0.0122, -0.2256, -11.4667, 8.6632, 1.2039, 0.5299, -0.0171, 0.188]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6117, -0.0193, -0.0383, 0.9992, 1.3338, 2.0907, 1.0401, 0.0425, 1.1065, 0.6224, 0.9945]\nstate[eef_state]: left_x=0.2596 left_y=0.0021 left_z=0.1306 left_yaw=0.003 left_pitch=-0.2494 left_roll=0.0019 left_gripper=0.9992 right_x=0.245 right_y=0.357 right_z=0.0323 right_yaw=0.1999 right_pitch=0.1748 right_roll=-0.3006 right_gripper=0.9945\nstate[joint_eff]: [0.0889, -1.3333, 6.9128, 1.5263, -0.0708, 0.0024, -0.0122, -0.0342, -5.2308, 2.8239, 0.188, -0.4762, -0.3736, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6147, -0.0189, -0.0387, 0.9992, 1.3342, 2.0945, 1.0393, 0.0608, 1.1107, 0.6209, 0.0558]\nstate[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1301 left_yaw=0.0029 left_pitch=-0.2525 left_roll=0.0014 left_gripper=0.9992 right_x=0.2455 right_y=0.3584 right_z=0.0327 right_yaw=0.1968 right_pitch=0.1836 right_roll=-0.2908 right_gripper=0.0558\nstate[joint_eff]: [-0.0068, -1.2103, 6.8034, 1.5263, -0.0366, -0.0415, -0.0122, -0.0889, -10.4, 4.8479, 0.8523, 0.3346, 0.0122, 0.3394]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbd927e57dab4e23cc487c8ff35d4c9b564aec40cfafc77d9562fbeeec8ed2ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2904756786d1492de5fca658471fcc01cda56ed0a9180d28f1ab07c5bee693c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ea4bff78682e0811834946b793f3e1c4dd76c35a647c4c5009cdeae1d74d6fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgMKjgEIEhgCKkDdFwzZpWaww92noj5vggMUvG4hcVp67oOlY9KNcVWwa9tMUbiPCgQ3wM/zMObyYMefL3oR12qsCkfH+tgM8g7PMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfeDzNUGEgwQUTKUXVkvqRW03DYaDD8KqZ6BJxNjL+yXaCIwhBIRxwIhe/JYyRtdmq26ncY4RCAIGEwDWSx8yVe2BDdJv07wrdn6EIiP5DvKscNYKswBRTjbqDcU4jPMA1mFE5HWov/V153CLhSS+WbzG4VPh2Rr1iBHofW9Tm4uvhc6YMHoCZSOrVYlicRrDxd1sg+dcXBZvZAw7TKlt7x58/ZfMSNsrFqGSLrDkz+lJaLA+jLpNY6kt2FIhVZSIDCP/xwJadc3n+WrvLB3XRrxaJIp7GKT/IYMe8YjgcCLq+4f75TiJcb3lkrUO09xwo+N3Ia9bpdaRdh60zxq0oVVe6Im2BuHwFItcyDHquC0Y4jWSd0IEEOfGaEV+nskrasGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YQbhLUunNZbLsfrCTa1G1h",
      "input": {
        "note": "Gripper settled at 0.056 — it has a pinch of the bear's body. Lifting to check whether the bear comes with it.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01YQbhLUunNZbLsfrCTa1G1h",
      "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, -0.6151, -0.0189, -0.0383, 0.9992, 1.3338, 1.8252, 1.3285, -0.5228, 1.0992, 0.617, 0.0562]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.13 left_yaw=0.0027 left_pitch=-0.2529 left_roll=0.0017 left_gripper=0.9992 right_x=0.2455 right_y=0.3616 right_z=0.1756 right_yaw=0.2079 right_pitch=0.1635 right_roll=-0.3133 right_gripper=0.0562\nstate[joint_eff]: [-0.1299, -1.2103, 6.8171, 1.5116, -0.0415, -0.0464, -0.0122, -0.3214, -11.7402, 8.1299, 1.0281, 0.5446, 0.0269, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:982be7dd1aa3a0469971f0ab9473dfa90f9e012da44c0d978d73c4146bace8d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c906b0d54e0caa813bac20f01d80584084c32e3ae67990df70f2bc6ed07d90b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a86d54f7c50d44eef7962fbedd27c876a6c91b11a24f51cfa5902a6c4025c89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 15.05 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6117, -0.0193, -0.0383, 0.9992, 1.3338, 2.0907, 1.0401, 0.0425, 1.1065, 0.6224, 0.9945]\nstate[eef_state]: left_x=0.2596 left_y=0.0021 left_z=0.1306 left_yaw=0.003 left_pitch=-0.2494 left_roll=0.0019 left_gripper=0.9992 right_x=0.245 right_y=0.357 right_z=0.0323 right_yaw=0.1999 right_pitch=0.1748 right_roll=-0.3006 right_gripper=0.9945\nstate[joint_eff]: [0.0889, -1.3333, 6.9128, 1.5263, -0.0708, 0.0024, -0.0122, -0.0342, -5.2308, 2.8239, 0.188, -0.4762, -0.3736, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6147, -0.0189, -0.0387, 0.9992, 1.3342, 2.0945, 1.0393, 0.0608, 1.1107, 0.6209, 0.0558]\nstate[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1301 left_yaw=0.0029 left_pitch=-0.2525 left_roll=0.0014 left_gripper=0.9992 right_x=0.2455 right_y=0.3584 right_z=0.0327 right_yaw=0.1968 right_pitch=0.1836 right_roll=-0.2908 right_gripper=0.0558\nstate[joint_eff]: [-0.0068, -1.2103, 6.8034, 1.5263, -0.0366, -0.0415, -0.0122, -0.0889, -10.4, 4.8479, 0.8523, 0.3346, 0.0122, 0.3394]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6151, -0.0189, -0.0383, 0.9992, 1.3338, 1.8252, 1.3285, -0.5228, 1.0992, 0.617, 0.0562]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.13 left_yaw=0.0027 left_pitch=-0.2529 left_roll=0.0017 left_gripper=0.9992 right_x=0.2455 right_y=0.3616 right_z=0.1756 right_yaw=0.2079 right_pitch=0.1635 right_roll=-0.3133 right_gripper=0.0562\nstate[joint_eff]: [-0.1299, -1.2103, 6.8171, 1.5116, -0.0415, -0.0464, -0.0122, -0.3214, -11.7402, 8.1299, 1.0281, 0.5446, 0.0269, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:982be7dd1aa3a0469971f0ab9473dfa90f9e012da44c0d978d73c4146bace8d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c906b0d54e0caa813bac20f01d80584084c32e3ae67990df70f2bc6ed07d90b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a86d54f7c50d44eef7962fbedd27c876a6c91b11a24f51cfa5902a6c4025c89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsgUKjgEIEhgCKkAYU1iGeDMIGRwdn0GAS42u2dCpHeEEea4iDP5PS9Li1w0zo+dq1Dilc0/PJFqABMC+pLov4fMylSx6I/ITNp7BMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf6DzNUGEgyUUaDpqQU4fV7/Y/IaDMNe2NIUMTBgiA3gOiIwSdOff2d67gMxw5vYbS9dK65TCmcAwwgFThUNUDdvhCmTpuaoFQEiayYgWljjQCq3KtADp7f0h/uf/k1BZMQ+S53y8ThsHXIyGSSYngPojJ0GpkOMqhYgHrSIsq+ZceGfpnwaGsFm46Uk6eZltlkRg7RkwYvd5etDUWoJeHTwa/c3dsqToHteC/5fVedlxqbl3XS3Ydz9hlgKe/Uuy67MZHIkvxWPO9OmT1UI/MMXxhQGe3gnPMiXjlQHxc6vXrsi+1fsngaPKhHcCZEFD0ydBKvAvztmvQLBT75E48B3EBm6gku6/kusgJ7Ark1GGV/rI+9vvBws5oTiajl3vnkP1/7YaNagHbyeJrxCZUw2H4xNk+zrWGnmrrCAxnJZEUqYAlV6EQkBtl5uBYVwExdKJsUVOpXMXZ53psSY2hF2sRBegX+S2CmuvC174CQoTe9I7TNdz+1f7XoqlMWcoTPRcG8v8Y92kSRleFIdl3NIjRww2Zj5e1l4sVhjQ3ya5aQnEDkPJ44WZj+buNwbKo0MtjAGgG5wOLeo8hO7J3NpvkoI90p2EKCOhUhtZGj62M/k2xmcArHklSivtvkB/2sSxjWp3+BKft7X0IcNi6rtxlt//WOkGl0CgkdbVXNMfxsFlRMHwzq9aPnKBpQQ/S0qBJtEt8x8I5ZEicbzgVClwwboK3EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LdksHQkKS46S39wAtSvrrq",
      "input": {
        "note": "Brown fur appears lifted just under the jaws. Carrying toward the open safe at the drop point that worked for the lemon.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.3,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01LdksHQkKS46S39wAtSvrrq",
      "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, -0.6308, -0.0189, -0.0387, 0.9992, 0.8402, 1.821, 1.3945, -0.1818, 0.7467, 0.0517, 0.0563]\nstate[eef_state]: left_x=0.2561 left_y=0.0021 left_z=0.1274 left_yaw=0.003 left_pitch=-0.2685 left_roll=0.0017 left_gripper=0.9992 right_x=0.4185 right_y=0.2927 right_z=0.2071 right_yaw=0.1992 right_pitch=0.1216 right_roll=-0.3432 right_gripper=0.0563\nstate[joint_eff]: [-0.0342, -1.1966, 6.9538, 1.6142, -0.0708, -0.0708, -0.0122, -0.2803, -8.2667, 9.3607, 1.9463, 0.3004, 0.1001, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f83c063d32c1e41468386913da2fd9632bc6d93110dcb12268c68939e968729d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3579a9e31a90c83696fe3d27d2a37efa20845148123b71447454ee152172ca61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ded66c63cf175cf75f23eb3b33af534155df383d8c4e4c7ae03533c7c7bfdb9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 9.971 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6147, -0.0189, -0.0387, 0.9992, 1.3342, 2.0945, 1.0393, 0.0608, 1.1107, 0.6209, 0.0558]\nstate[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1301 left_yaw=0.0029 left_pitch=-0.2525 left_roll=0.0014 left_gripper=0.9992 right_x=0.2455 right_y=0.3584 right_z=0.0327 right_yaw=0.1968 right_pitch=0.1836 right_roll=-0.2908 right_gripper=0.0558\nstate[joint_eff]: [-0.0068, -1.2103, 6.8034, 1.5263, -0.0366, -0.0415, -0.0122, -0.0889, -10.4, 4.8479, 0.8523, 0.3346, 0.0122, 0.3394]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6151, -0.0189, -0.0383, 0.9992, 1.3338, 1.8252, 1.3285, -0.5228, 1.0992, 0.617, 0.0562]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.13 left_yaw=0.0027 left_pitch=-0.2529 left_roll=0.0017 left_gripper=0.9992 right_x=0.2455 right_y=0.3616 right_z=0.1756 right_yaw=0.2079 right_pitch=0.1635 right_roll=-0.3133 right_gripper=0.0562\nstate[joint_eff]: [-0.1299, -1.2103, 6.8171, 1.5116, -0.0415, -0.0464, -0.0122, -0.3214, -11.7402, 8.1299, 1.0281, 0.5446, 0.0269, 0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6308, -0.0189, -0.0387, 0.9992, 0.8402, 1.821, 1.3945, -0.1818, 0.7467, 0.0517, 0.0563]\nstate[eef_state]: left_x=0.2561 left_y=0.0021 left_z=0.1274 left_yaw=0.003 left_pitch=-0.2685 left_roll=0.0017 left_gripper=0.9992 right_x=0.4185 right_y=0.2927 right_z=0.2071 right_yaw=0.1992 right_pitch=0.1216 right_roll=-0.3432 right_gripper=0.0563\nstate[joint_eff]: [-0.0342, -1.1966, 6.9538, 1.6142, -0.0708, -0.0708, -0.0122, -0.2803, -8.2667, 9.3607, 1.9463, 0.3004, 0.1001, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f83c063d32c1e41468386913da2fd9632bc6d93110dcb12268c68939e968729d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3579a9e31a90c83696fe3d27d2a37efa20845148123b71447454ee152172ca61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ded66c63cf175cf75f23eb3b33af534155df383d8c4e4c7ae03533c7c7bfdb9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vq1SfpPZCtyDpnNVVn98RL",
      "input": {
        "note": "The bear slipped out of the fur pinch and is still on the table. Returning above it with jaws wide to try a deeper grasp around its torso.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.245,
          "right_y": 0.355,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Vq1SfpPZCtyDpnNVVn98RL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 1.3106, 1.8629, 1.2198, -0.4156, 1.0401, 0.5674, 0.996]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1264 left_yaw=0.003 left_pitch=-0.275 left_roll=0.0019 left_gripper=0.9992 right_x=0.2483 right_y=0.3542 right_z=0.127 right_yaw=0.2423 right_pitch=0.0911 right_roll=-0.3697 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.1966, 6.8308, 1.4921, -0.0366, -0.0562, -0.0122, 0.2667, -8.4171, 8.7043, 1.116, 0.6911, 0.2418, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca101f0442da85d886781d1c91db1453648571a09476b80d76488ca0cc3020bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94cdbb21f266e757831613da6d3a39ed11fcbb93c222c5b8aa53fa8aa6c18f35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9713265402085fa49b2474f6b8ad454b849a12fb9d3daff8e483779f948d4aae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 15.77 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6151, -0.0189, -0.0383, 0.9992, 1.3338, 1.8252, 1.3285, -0.5228, 1.0992, 0.617, 0.0562]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.13 left_yaw=0.0027 left_pitch=-0.2529 left_roll=0.0017 left_gripper=0.9992 right_x=0.2455 right_y=0.3616 right_z=0.1756 right_yaw=0.2079 right_pitch=0.1635 right_roll=-0.3133 right_gripper=0.0562\nstate[joint_eff]: [-0.1299, -1.2103, 6.8171, 1.5116, -0.0415, -0.0464, -0.0122, -0.3214, -11.7402, 8.1299, 1.0281, 0.5446, 0.0269, 0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6308, -0.0189, -0.0387, 0.9992, 0.8402, 1.821, 1.3945, -0.1818, 0.7467, 0.0517, 0.0563]\nstate[eef_state]: left_x=0.2561 left_y=0.0021 left_z=0.1274 left_yaw=0.003 left_pitch=-0.2685 left_roll=0.0017 left_gripper=0.9992 right_x=0.4185 right_y=0.2927 right_z=0.2071 right_yaw=0.1992 right_pitch=0.1216 right_roll=-0.3432 right_gripper=0.0563\nstate[joint_eff]: [-0.0342, -1.1966, 6.9538, 1.6142, -0.0708, -0.0708, -0.0122, -0.2803, -8.2667, 9.3607, 1.9463, 0.3004, 0.1001, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 1.3106, 1.8629, 1.2198, -0.4156, 1.0401, 0.5674, 0.996]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1264 left_yaw=0.003 left_pitch=-0.275 left_roll=0.0019 left_gripper=0.9992 right_x=0.2483 right_y=0.3542 right_z=0.127 right_yaw=0.2423 right_pitch=0.0911 right_roll=-0.3697 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.1966, 6.8308, 1.4921, -0.0366, -0.0562, -0.0122, 0.2667, -8.4171, 8.7043, 1.116, 0.6911, 0.2418, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca101f0442da85d886781d1c91db1453648571a09476b80d76488ca0cc3020bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94cdbb21f266e757831613da6d3a39ed11fcbb93c222c5b8aa53fa8aa6c18f35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9713265402085fa49b2474f6b8ad454b849a12fb9d3daff8e483779f948d4aae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAcKjgEIEhgCKkAzwrQU8WFAJzk4yrCflw7Ve5YEFj2tSNZTBNt3l6S8uaBFdM4OiktuDkFQmX2YkCN5tposiKxTR6qGnD6oqaDPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZqEzNUGEgy4cQ6POgBMsTbz35caDGGcsB8h+a1FW9M3mCIwvxcoQkM0PSBndz5oSV/uCSVBcgJ0H0LovcBiyA52MQWQDH2arrz9Q9TMQPQH0DcVKtYFbS/8v7xhC4tmmZLH/LuSOrkkCnTqz2dk+i0S7R7YApIu5+TF8fXj4SjAFNFZ7t52fCpt56U0pTU2/C1BJXShzHu5MRPGu6HUo8w1UYlumbtwbx1lnrf4rGbgH3/YV5GsxQMOOSij5zgMTIq38HKfa1txEDDpn5MlmGELzVMWYENiGmcYtxES4PCpBRAxeoRGUVr+bXN7cLMhx+5QEHts/KX9fB1S5iVLkYWSQGw7QsQ6ldq0FSGMUHm9TBv/mGN/reqwp2RSd6ycMrShn1XM6MI1zhmDe4n+OeD7cGSfROgg24ETavA+b/lT6o489YegibEp7TDeTC6sJZ10UkjPYAFpf7Hu6h7BK9QK/VgWNcbtezcPOoS0kuthGSNgeLNt1MZeVk5jOPtddoDFihjvF5lFLg0RtYOAR+cOYf/SNYrC9vtC8YhE3kSIZeYGTobxsRi1KCS6dPcBjaj4sHX1g+B580Jno0Pk/JTDI8cdkEmUjJ+EcTcBWqIRhCf83wnTSR1gF6WQzQrAwbfI2dOeHSEAP8Jf5H7LkMUOIfX1EkQAfvXBDUotCNFRlQHKrdMGvkoiYFqXvrCHizarZjhBgXOjBdoVCpuo5OeCu5XJUJun8aKKPjUP6oFP0jhG0+pj2hWiusZCijrOkFLGmPO3hKI+gMuG8ft0baXEekZAelgzQmCoj84kottd8GQ6z4HB72UAZfbv7rSPT6O6NzG1xoNDze8pRURQXmOCiu5Kq62A0p3Y6u25bSxWr5HqNpzBGaq9HV6JIQP6Wala8sfKIqH9rTALD3Wms/3EJFRb6rdUkF8s3IrTN2ahKs8q7ocBTMIjrb6PU1EM3xDKp6SftkImjSFWHPKrPxKVFlK4rH0j9dnQZrdb2wEF4JgSi0CkI0RCCc2pw60D173PqzGBaNpFPwPq5dG4t2V/fji58eLkjpb5YEScJ+MDJOONo2//NQRp4o2kGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gk96v9mRx8nVcVQtaGbWd2",
      "input": {
        "note": "Clear view now: lemon is in the case, light bear left of it, brown bear right under the jaws. Driving the open jaws down to table level around the brown bear's torso.",
        "targets": {
          "right_y": 0.37,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Gk96v9mRx8nVcVQtaGbWd2",
      "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, -0.6373, -0.0189, -0.0387, 0.9992, 1.3174, 2.1334, 1.1347, -0.0288, 1.0912, 0.59, 0.9972]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1264 left_yaw=0.003 left_pitch=-0.275 left_roll=0.0019 left_gripper=0.9992 right_x=0.2541 right_y=0.3704 right_z=0.0322 right_yaw=0.2108 right_pitch=0.1491 right_roll=-0.3423 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.0051, 6.9675, 1.4237, -0.0366, -0.0757, -0.0122, 0.3624, -6.2154, 4.7111, 0.5006, -0.188, -0.1294, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9721a1aac76dce1847d6225792e248f576e8750c80c24898b34ce7aa042f03d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2947198ef03fb99517d7397493361749ed7dabd5034a59477c95ddab175b9463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a36ae83b4f1d754046eee08772f09db7bf24f14b2cf83027827bea6673f932f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 3.07 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 1.3174, 2.1334, 1.1347, -0.0288, 1.0912, 0.59, 0.9972]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1264 left_yaw=0.003 left_pitch=-0.275 left_roll=0.0019 left_gripper=0.9992 right_x=0.2541 right_y=0.3704 right_z=0.0322 right_yaw=0.2108 right_pitch=0.1491 right_roll=-0.3423 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.0051, 6.9675, 1.4237, -0.0366, -0.0757, -0.0122, 0.3624, -6.2154, 4.7111, 0.5006, -0.188, -0.1294, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9721a1aac76dce1847d6225792e248f576e8750c80c24898b34ce7aa042f03d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2947198ef03fb99517d7397493361749ed7dabd5034a59477c95ddab175b9463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a36ae83b4f1d754046eee08772f09db7bf24f14b2cf83027827bea6673f932f",
        "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_015eqEfNivP7uZBFTpfLu3fn",
      "input": {
        "note": "The jaws are stalling on top of the fluffy bear. Shifting 4 cm to the arm's left so the open jaws can drop down beside the bear's body at table level, then I'll close to scoop the torso.",
        "targets": {
          "right_y": 0.41,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "content": "target for right_y is outside [-0.08, 0.4]",
      "tool_use_id": "toolu_015eqEfNivP7uZBFTpfLu3fn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
call 33 attempt 0 · /messages · status 200 · 6.826 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 96 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6308, -0.0189, -0.0387, 0.9992, 0.8402, 1.821, 1.3945, -0.1818, 0.7467, 0.0517, 0.0563]\nstate[eef_state]: left_x=0.2561 left_y=0.0021 left_z=0.1274 left_yaw=0.003 left_pitch=-0.2685 left_roll=0.0017 left_gripper=0.9992 right_x=0.4185 right_y=0.2927 right_z=0.2071 right_yaw=0.1992 right_pitch=0.1216 right_roll=-0.3432 right_gripper=0.0563\nstate[joint_eff]: [-0.0342, -1.1966, 6.9538, 1.6142, -0.0708, -0.0708, -0.0122, -0.2803, -8.2667, 9.3607, 1.9463, 0.3004, 0.1001, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 1.3106, 1.8629, 1.2198, -0.4156, 1.0401, 0.5674, 0.996]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1264 left_yaw=0.003 left_pitch=-0.275 left_roll=0.0019 left_gripper=0.9992 right_x=0.2483 right_y=0.3542 right_z=0.127 right_yaw=0.2423 right_pitch=0.0911 right_roll=-0.3697 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.1966, 6.8308, 1.4921, -0.0366, -0.0562, -0.0122, 0.2667, -8.4171, 8.7043, 1.116, 0.6911, 0.2418, 0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "content": "target for right_y is outside [-0.08, 0.4]",
      "tool_use_id": "toolu_015eqEfNivP7uZBFTpfLu3fn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ry4UfqyhYEyPcUszK1NYv4",
      "input": {
        "note": "Shifting 3 cm to the arm's left so the open jaws can drop beside the bear's body at table level, then close to scoop the torso.",
        "targets": {
          "right_y": 0.4,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Ry4UfqyhYEyPcUszK1NYv4",
      "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, -0.6376, -0.0189, -0.0383, 0.9992, 1.3296, 2.2303, 1.2606, -0.0021, 1.1332, 0.6147, 0.9971]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0028 left_pitch=-0.2754 left_roll=0.0022 left_gripper=0.9992 right_x=0.2597 right_y=0.4011 right_z=0.0329 right_yaw=0.1806 right_pitch=0.209 right_roll=-0.2836 right_gripper=0.9971\nstate[joint_eff]: [-0.1162, -1.1966, 6.7897, 1.4579, -0.0708, -0.0269, -0.0122, 0.6632, -8.4034, 4.7658, 0.6129, -0.0269, -0.0806, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58cc611869f766ef8a1a025de14e324291293d943be7dd2da561cf95390e9985",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5021db45b5c2d41b46db0fa6621c21e64259a74069182f32378978c89e81531a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:552feb40fbea6471be74f3eb775e5114f0bc25fdaf00deda12e21cd12126bb1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 5.884 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 99 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 1.3106, 1.8629, 1.2198, -0.4156, 1.0401, 0.5674, 0.996]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1264 left_yaw=0.003 left_pitch=-0.275 left_roll=0.0019 left_gripper=0.9992 right_x=0.2483 right_y=0.3542 right_z=0.127 right_yaw=0.2423 right_pitch=0.0911 right_roll=-0.3697 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.1966, 6.8308, 1.4921, -0.0366, -0.0562, -0.0122, 0.2667, -8.4171, 8.7043, 1.116, 0.6911, 0.2418, 0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 1.3174, 2.1334, 1.1347, -0.0288, 1.0912, 0.59, 0.9972]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1264 left_yaw=0.003 left_pitch=-0.275 left_roll=0.0019 left_gripper=0.9992 right_x=0.2541 right_y=0.3704 right_z=0.0322 right_yaw=0.2108 right_pitch=0.1491 right_roll=-0.3423 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.0051, 6.9675, 1.4237, -0.0366, -0.0757, -0.0122, 0.3624, -6.2154, 4.7111, 0.5006, -0.188, -0.1294, 0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 99 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, -0.6376, -0.0189, -0.0383, 0.9992, 1.3296, 2.2303, 1.2606, -0.0021, 1.1332, 0.6147, 0.9971]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0028 left_pitch=-0.2754 left_roll=0.0022 left_gripper=0.9992 right_x=0.2597 right_y=0.4011 right_z=0.0329 right_yaw=0.1806 right_pitch=0.209 right_roll=-0.2836 right_gripper=0.9971\nstate[joint_eff]: [-0.1162, -1.1966, 6.7897, 1.4579, -0.0708, -0.0269, -0.0122, 0.6632, -8.4034, 4.7658, 0.6129, -0.0269, -0.0806, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58cc611869f766ef8a1a025de14e324291293d943be7dd2da561cf95390e9985",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5021db45b5c2d41b46db0fa6621c21e64259a74069182f32378978c89e81531a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:552feb40fbea6471be74f3eb775e5114f0bc25fdaf00deda12e21cd12126bb1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+gUKjgEIEhgCKkCTdKvOnFQPQBEhcVLj7OJjVCuBNI4bfqojuO6y0J1kiUK/iWsFyk3JMEWF0b412akNI2MA3rnZzGZyE8iOdf9gMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbSEzNUGEgwk28iV23tnOfdzCy8aDFA1958V6gUZbz1WqSIwH2S0tx2jvrxPj6krnOSbSQBXz4nBFT1Aras6VArmurMboAFdsSNmoXattFG3/hpvKpgEcPL2TBqS+11D0yJAOLXCrreJQAJIZJS/bgqbnLsxPhlQxqXEVG3rIQZfdLT9qipfCD3wTu+H+Oq3aufhhbt7dhY8h34Mmt8a4uMIeP7moG5iHaB1j6yS7z/GHCQobwj8FQZ8PeJkjgQ0X2RmiQiW8GrOfBGbxVrRZoqVTGEw4QjmmvDbYuN6WloMymglGM8WcQVhzM7mL8FNSqKGReq7QRjKySD8RJSIu6wBvsm4QJnnUcjlxYHrhijACgHHG2r5EwzpsqMmfkvYcvkZud/vv8vKrbIhKnvBSVhQItI5sR9yXmsRPs2D57YLIG51WQwj8DiYskwtariNK9GT2A/W1S73pW9rzdXBInzJosMwCH7YG9zftqiWlFd0+Sre79uEBJ1RNITTtk4bFf8zuOmQ2OO2gXcZqTwwZSyWbLDWQxanH8bdRQPPQSz8hzi0F1f6Qyf4MkSaOZAx+eopna9X246fsxF5x7cxCFgyx7qtxmx06OKvtMAdJsGCSggE2tefGr4TkByGYE7mEMnhvpyHg9eDoXC/3dYgkLK5Id+1Sps+CtyWCLSZENngYQXLt/p4w4Mushdd5isIgZhcUwO0NbtjKh79y9tYv/rtm1BInA3EHXzF+sw+UKct+H11Bd0Mp9r1O8qUj1NhdqcYhYvblhBQgrtPH6l1ddG7qIHzyBml1T+rqTK+E/VTFIS/M7AvmbVxxFRlwEwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019HcNvtisvb6w5v3WMnZZfF",
      "input": {
        "note": "Jaws are buried in the bear's fur at table level; closing fully to get a firm handful of the torso.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019HcNvtisvb6w5v3WMnZZfF",
      "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, -0.6376, -0.0193, -0.0387, 0.9992, 1.335, 2.2501, 1.2808, -0.0124, 1.1332, 0.6182, 0.0375]\nstate[eef_state]: left_x=0.2548 left_y=0.0022 left_z=0.1263 left_yaw=0.0033 left_pitch=-0.2753 left_roll=0.0022 left_gripper=0.9992 right_x=0.2583 right_y=0.4054 right_z=0.029 right_yaw=0.1859 right_pitch=0.2055 right_roll=-0.2896 right_gripper=0.0375\nstate[joint_eff]: [-0.1026, -1.1966, 7.0085, 1.453, -0.0513, -0.0415, -0.0073, -0.2803, -8.7316, 4.9026, 0.7546, 0.0855, 0.1685, 1.1355]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ec3c609546eb5a8b841485d7a1c24630272a356c1b9977fb96a6d56b53f07f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aebe89990c10ca84320e60c1e41224c276aaedc1a95987614ceb8f323ce71b2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5dc4685f5c2fd13caa95c65a085805c625c3b41301a628f95d01d7ba627ff9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 6.149 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 99 changed as sent

message 102 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 1.3174, 2.1334, 1.1347, -0.0288, 1.0912, 0.59, 0.9972]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1264 left_yaw=0.003 left_pitch=-0.275 left_roll=0.0019 left_gripper=0.9992 right_x=0.2541 right_y=0.3704 right_z=0.0322 right_yaw=0.2108 right_pitch=0.1491 right_roll=-0.3423 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.0051, 6.9675, 1.4237, -0.0366, -0.0757, -0.0122, 0.3624, -6.2154, 4.7111, 0.5006, -0.188, -0.1294, 0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 99 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, -0.6376, -0.0189, -0.0383, 0.9992, 1.3296, 2.2303, 1.2606, -0.0021, 1.1332, 0.6147, 0.9971]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0028 left_pitch=-0.2754 left_roll=0.0022 left_gripper=0.9992 right_x=0.2597 right_y=0.4011 right_z=0.0329 right_yaw=0.1806 right_pitch=0.209 right_roll=-0.2836 right_gripper=0.9971\nstate[joint_eff]: [-0.1162, -1.1966, 6.7897, 1.4579, -0.0708, -0.0269, -0.0122, 0.6632, -8.4034, 4.7658, 0.6129, -0.0269, -0.0806, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 102 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, -0.6376, -0.0193, -0.0387, 0.9992, 1.335, 2.2501, 1.2808, -0.0124, 1.1332, 0.6182, 0.0375]\nstate[eef_state]: left_x=0.2548 left_y=0.0022 left_z=0.1263 left_yaw=0.0033 left_pitch=-0.2753 left_roll=0.0022 left_gripper=0.9992 right_x=0.2583 right_y=0.4054 right_z=0.029 right_yaw=0.1859 right_pitch=0.2055 right_roll=-0.2896 right_gripper=0.0375\nstate[joint_eff]: [-0.1026, -1.1966, 7.0085, 1.453, -0.0513, -0.0415, -0.0073, -0.2803, -8.7316, 4.9026, 0.7546, 0.0855, 0.1685, 1.1355]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ec3c609546eb5a8b841485d7a1c24630272a356c1b9977fb96a6d56b53f07f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aebe89990c10ca84320e60c1e41224c276aaedc1a95987614ceb8f323ce71b2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5dc4685f5c2fd13caa95c65a085805c625c3b41301a628f95d01d7ba627ff9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1AQKjgEIEhgCKkBhi2fZAIGB9+VfNdvM2jTIzhD6/WDw3MxsXdsU9uxfuiztjKPDPuUacssJHPA9J8z8QmR3bpklfXcEEw5R7KLtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbuEzNUGEgyQiziBLjRRvflUXwIaDOCIEvkzW5GaIjJWhyIwKPE9iCuayTNtAcpizXfFwsiGPpU5vgh0Y+3Xe+49f/i5BFGT3yjhQ9UUkKcx5hdAKvICM8PyXalTMRb7hoNBYmniesZipp0cAXxt7CtgR8OyXgSI9y9GY4AZhMZ4dv5C7sc4VXI57MpWKvXJBl7w+WV9B/UhifVTsTmzR+L3ZxViOLDkDv0ncbSV4AFFu+RRL/j0tn82/nnnpMlpGevHq5JZ+CKPYcmeSrZHtOAD/F5Vhmq/Rpq/qzZTz97oXuRKZXZnYYhm7/vsd8WOPCyPvt9tfAE4SPgAejudUpopbgUMh3STN2NIOlbyk4oewW2tGdjVnTuwS5Svr8AgXVEVhS1jFbn71bColo88p7VtN6Oobexs8PhXlY4w7t6a/Y9ALe1Y3Rkz9u8a6pMG7y7BN7L8/kDrsmVNA9el2eLeXMH172uv/0PECpw90VKUt9fjqa2fle9ETwUcuaoor40b6NpasWe4GcRlOhjZLY11OoplprFQ3z46y6JvcAgtvQOsDF0x+HB8EAGYEfEKe+Q6VPX1fCip8192vZ+DuVBc7eYY09ci/hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R7MZuBhqie3YA4RPxSXjP1",
      "input": {
        "note": "Gripper has a grip of the bear's side fur; lifting and carrying toward the open case in one motion to see if the bear comes along.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.34,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01R7MZuBhqie3YA4RPxSXjP1",
      "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, -0.6376, -0.0189, -0.0387, 0.9992, 1.0077, 1.9106, 1.3266, -0.1005, 0.8982, 0.1917, 0.0377]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.003 left_pitch=-0.2754 left_roll=0.0019 left_gripper=0.9992 right_x=0.3728 right_y=0.3384 right_z=0.1621 right_yaw=0.1877 right_pitch=0.1514 right_roll=-0.3365 right_gripper=0.0377\nstate[joint_eff]: [-0.0479, -1.1966, 6.7897, 1.4188, -0.0464, -0.0171, -0.0122, -0.212, -12.9983, 9.2376, 1.5165, 0.2955, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bfe7162abe30366075473c9ac5b9ea36a415483ca4eb12343f2ba89599e28e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:660a3529976a0eeb09e5e570d9f4547cc80a7b81ab27a865855bf58ac3682e6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a5a5d6ca1c074ceba1be9b976998392c0239d5fe40d6051ebb6ed27b0d48600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /messages · status 200 · 5.69 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 102 changed as sent

message 105 changed as sent

message 99 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, -0.6376, -0.0189, -0.0383, 0.9992, 1.3296, 2.2303, 1.2606, -0.0021, 1.1332, 0.6147, 0.9971]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0028 left_pitch=-0.2754 left_roll=0.0022 left_gripper=0.9992 right_x=0.2597 right_y=0.4011 right_z=0.0329 right_yaw=0.1806 right_pitch=0.209 right_roll=-0.2836 right_gripper=0.9971\nstate[joint_eff]: [-0.1162, -1.1966, 6.7897, 1.4579, -0.0708, -0.0269, -0.0122, 0.6632, -8.4034, 4.7658, 0.6129, -0.0269, -0.0806, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 102 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, -0.6376, -0.0193, -0.0387, 0.9992, 1.335, 2.2501, 1.2808, -0.0124, 1.1332, 0.6182, 0.0375]\nstate[eef_state]: left_x=0.2548 left_y=0.0022 left_z=0.1263 left_yaw=0.0033 left_pitch=-0.2753 left_roll=0.0022 left_gripper=0.9992 right_x=0.2583 right_y=0.4054 right_z=0.029 right_yaw=0.1859 right_pitch=0.2055 right_roll=-0.2896 right_gripper=0.0375\nstate[joint_eff]: [-0.1026, -1.1966, 7.0085, 1.453, -0.0513, -0.0415, -0.0073, -0.2803, -8.7316, 4.9026, 0.7546, 0.0855, 0.1685, 1.1355]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 105 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, -0.6376, -0.0189, -0.0387, 0.9992, 1.0077, 1.9106, 1.3266, -0.1005, 0.8982, 0.1917, 0.0377]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.003 left_pitch=-0.2754 left_roll=0.0019 left_gripper=0.9992 right_x=0.3728 right_y=0.3384 right_z=0.1621 right_yaw=0.1877 right_pitch=0.1514 right_roll=-0.3365 right_gripper=0.0377\nstate[joint_eff]: [-0.0479, -1.1966, 6.7897, 1.4188, -0.0464, -0.0171, -0.0122, -0.212, -12.9983, 9.2376, 1.5165, 0.2955, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bfe7162abe30366075473c9ac5b9ea36a415483ca4eb12343f2ba89599e28e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:660a3529976a0eeb09e5e570d9f4547cc80a7b81ab27a865855bf58ac3682e6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5a5d6ca1c074ceba1be9b976998392c0239d5fe40d6051ebb6ed27b0d48600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgUKjgEIEhgCKkCWwnhhRNHGw+gmovTVDTZ1wzwtngHtv5/BqWZUWs927x0T1fvYDxvUpAPRaylYC3UMYKYRM193bs4uMpDmUxCZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcOEzNUGEgxIxQ6Far4snS8DMUAaDPB9pEGuHHvhmWdACCIwdi1Y6bJLffzY3qSl8KjKcfE+r0o9bASkf/k4t9fjlbgtLFmJbU3BVPsH4TLF8ayrKuADvJDiw0SgMkvQFtqmYay4ujvpX3jAanUpgvXOcBXVHJONzf0q+jaVLXR9dD1HfUzxQ9I7AB+IM9TjOoH6OqHn5Gk5DJ6flG4OYTaaJSch5xdU8mn1Lp1HcP/t++mvIkW3hrmYsjF9bWTHw6I6PYNpGCmRdjNc0GXjCz0Rfr/p/sue7kzHC5qhfwPZd0Ve+pqbrA8Hvx8rUAg/yusvy72k8qIhGlWXc9JNBit4Np3tid1i2celJhNnbQVzW1GZzzlizANu/+abgBRP8BFdL3cv5MYY1xrCCuMBVdjIO7L4uqqDTyq0YOGw081401JYPE4sQ359cL37LGshEl5qWJwJpC7v5xep8QbmqdvX8d00ewllJHXlzgUpZJ2B+GvLE3hAg3Bt64fkH03A+37AudEI7u5sAUviOoYnUqMgP0H1RF5mxle9TCFQib+Ql8SwoojV8N7PcdcdF81u+8YEm9cvpmLaYSXogJEwCeejErYNXvEajQ6u2MEKmJ0DaF8q+kg78OqSuAg13kSVYBZofkRmCKu9aGKZpcltNDGpZv3MTQ96688eQVpJ/nbjkKn0l3B723t6+kZxkx7FezrB3NNl1T6PGmUkhFLzLek3nmF1xlPSkGN88Zt3nuNp9LVrgAwvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0151x27qHZRPsSXuogVo946g",
      "input": {
        "note": "The bear is coming along at the case's front edge. Advancing over the red interior before releasing.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.31,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0151x27qHZRPsSXuogVo946g",
      "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, -0.6376, -0.0189, -0.0383, 0.9992, 0.844, 1.9606, 1.3369, -0.0555, 0.7712, 0.062, 0.0377]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0028 left_pitch=-0.2754 left_roll=0.0022 left_gripper=0.9992 right_x=0.4265 right_y=0.2998 right_z=0.1384 right_yaw=0.1835 right_pitch=0.076 right_roll=-0.389 right_gripper=0.0377\nstate[joint_eff]: [-0.0205, -1.1419, 6.7897, 1.4579, -0.0464, -0.0366, -0.0122, -0.1983, -9.9487, 9.5795, 2.1563, 0.3541, 0.0708, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd08625c39ef899c8caf105484dcc36453ebf773da957595a31109eb23439a1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7087213b23c93ee3e423b5331d41a87b26c76a2f43ba174afd65b9dfb33ad94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f10340ef2bd83f6af277c83790f7e0c541101e8b7b9fd8945ceebb1ba33ae7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /messages · status 200 · 18.9 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 102 changed as sent

message 105 changed as sent

message 108 changed as sent

message 102 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, -0.6376, -0.0193, -0.0387, 0.9992, 1.335, 2.2501, 1.2808, -0.0124, 1.1332, 0.6182, 0.0375]\nstate[eef_state]: left_x=0.2548 left_y=0.0022 left_z=0.1263 left_yaw=0.0033 left_pitch=-0.2753 left_roll=0.0022 left_gripper=0.9992 right_x=0.2583 right_y=0.4054 right_z=0.029 right_yaw=0.1859 right_pitch=0.2055 right_roll=-0.2896 right_gripper=0.0375\nstate[joint_eff]: [-0.1026, -1.1966, 7.0085, 1.453, -0.0513, -0.0415, -0.0073, -0.2803, -8.7316, 4.9026, 0.7546, 0.0855, 0.1685, 1.1355]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 105 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, -0.6376, -0.0189, -0.0387, 0.9992, 1.0077, 1.9106, 1.3266, -0.1005, 0.8982, 0.1917, 0.0377]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.003 left_pitch=-0.2754 left_roll=0.0019 left_gripper=0.9992 right_x=0.3728 right_y=0.3384 right_z=0.1621 right_yaw=0.1877 right_pitch=0.1514 right_roll=-0.3365 right_gripper=0.0377\nstate[joint_eff]: [-0.0479, -1.1966, 6.7897, 1.4188, -0.0464, -0.0171, -0.0122, -0.212, -12.9983, 9.2376, 1.5165, 0.2955, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 108 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, -0.6376, -0.0189, -0.0383, 0.9992, 0.844, 1.9606, 1.3369, -0.0555, 0.7712, 0.062, 0.0377]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0028 left_pitch=-0.2754 left_roll=0.0022 left_gripper=0.9992 right_x=0.4265 right_y=0.2998 right_z=0.1384 right_yaw=0.1835 right_pitch=0.076 right_roll=-0.389 right_gripper=0.0377\nstate[joint_eff]: [-0.0205, -1.1419, 6.7897, 1.4579, -0.0464, -0.0366, -0.0122, -0.1983, -9.9487, 9.5795, 2.1563, 0.3541, 0.0708, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd08625c39ef899c8caf105484dcc36453ebf773da957595a31109eb23439a1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7087213b23c93ee3e423b5331d41a87b26c76a2f43ba174afd65b9dfb33ad94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f10340ef2bd83f6af277c83790f7e0c541101e8b7b9fd8945ceebb1ba33ae7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowQKjgEIEhgCKkDHgCgC5ET6jFgw2rp4HUWwq95Kb3187y1znYXIhiTU3QA2d513cLSEkJ5S+Tr01VhEzH/93Kv0Ntmo7R9mCW11Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcmEzNUGEgzrdnf4pF4YBc/sxFUaDBO+QcUMla45fhpQCyIwgf6nmqZAPEOP4O+ytJtEllkaYYteqY8CgdSUQwomCEmBBPtdmxPnlkcPH1nKU7tFKsECajXHOM6h6qXiVcvo8tsW35i/ObjUpWX9CeR08Wl4JSC1ZCYwq52x5u+E1dMOtMRb3np3tPVIPJf5RLhsBG+6MstAN/SpZiScwkJE5ILFpjghhcm0U1KoraOEkkDyJGNROd9Tbv4dYcABTK9okIwctawnnvpGoiekeAUtSPO2vdlmcrNB9wY5o1JpNuGxzceaJ0zOk/WyMOGbg9Ggl7pfSYfS+GURqXnxSmPWRSCGSaTGgNA7NK6wS29M7n4q2s2vji9ut/huBguVkpAxZPOi5yjAlNCrT7FfLTbx0oJNr8tHWSOtIszBKHild2PopY+wmWFuVBqPB8DtBR7Z6Jo1snjnBZ1hiZnN1HKNJp3YLU6ofyZmRh3ACAtZHl5OrcSYGsJo4nfZyePOPV3BwdkLiquGO6FRz3Jsf+JTOfrdX3voGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016LGsjQk7Uxt3YLAecSUFyf",
      "input": {
        "note": "Bear is over the red interior; lowering slightly and opening the jaws to drop it into the safe.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016LGsjQk7Uxt3YLAecSUFyf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.6594, -0.0189, -0.0387, 0.9992, 0.8429, 1.964, 1.319, -0.0349, 0.7658, 0.0452, 0.9946]\nstate[eef_state]: left_x=0.2508 left_y=0.0022 left_z=0.1219 left_yaw=0.0032 left_pitch=-0.3009 left_roll=0.0025 left_gripper=0.9992 right_x=0.4258 right_y=0.2991 right_z=0.1325 right_yaw=0.195 right_pitch=0.0699 right_roll=-0.4014 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.1966, 6.9949, 1.6093, -0.0708, -0.0611, -0.0122, 0.1846, -10.7282, 6.2974, 1.6386, 0.3199, 0.0464, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4192dfe9d1b0b55f8f4dd11b91ed542be771e7eebc3fb59748c53dbfdf01bc95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e123b966bd186eb7d3cea1b8091210ef07616579b4368e202a422c7e29bbe33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:403bfdda1bf0b347c41858f82d674f2f67b320ff3951e2a428b2be2c338a0579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 5.796 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 105 changed as sent

message 108 changed as sent

message 111 changed as sent

message 105 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, -0.6376, -0.0189, -0.0387, 0.9992, 1.0077, 1.9106, 1.3266, -0.1005, 0.8982, 0.1917, 0.0377]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.003 left_pitch=-0.2754 left_roll=0.0019 left_gripper=0.9992 right_x=0.3728 right_y=0.3384 right_z=0.1621 right_yaw=0.1877 right_pitch=0.1514 right_roll=-0.3365 right_gripper=0.0377\nstate[joint_eff]: [-0.0479, -1.1966, 6.7897, 1.4188, -0.0464, -0.0171, -0.0122, -0.212, -12.9983, 9.2376, 1.5165, 0.2955, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 108 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, -0.6376, -0.0189, -0.0383, 0.9992, 0.844, 1.9606, 1.3369, -0.0555, 0.7712, 0.062, 0.0377]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0028 left_pitch=-0.2754 left_roll=0.0022 left_gripper=0.9992 right_x=0.4265 right_y=0.2998 right_z=0.1384 right_yaw=0.1835 right_pitch=0.076 right_roll=-0.389 right_gripper=0.0377\nstate[joint_eff]: [-0.0205, -1.1419, 6.7897, 1.4579, -0.0464, -0.0366, -0.0122, -0.1983, -9.9487, 9.5795, 2.1563, 0.3541, 0.0708, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.6594, -0.0189, -0.0387, 0.9992, 0.8429, 1.964, 1.319, -0.0349, 0.7658, 0.0452, 0.9946]\nstate[eef_state]: left_x=0.2508 left_y=0.0022 left_z=0.1219 left_yaw=0.0032 left_pitch=-0.3009 left_roll=0.0025 left_gripper=0.9992 right_x=0.4258 right_y=0.2991 right_z=0.1325 right_yaw=0.195 right_pitch=0.0699 right_roll=-0.4014 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.1966, 6.9949, 1.6093, -0.0708, -0.0611, -0.0122, 0.1846, -10.7282, 6.2974, 1.6386, 0.3199, 0.0464, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4192dfe9d1b0b55f8f4dd11b91ed542be771e7eebc3fb59748c53dbfdf01bc95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e123b966bd186eb7d3cea1b8091210ef07616579b4368e202a422c7e29bbe33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:403bfdda1bf0b347c41858f82d674f2f67b320ff3951e2a428b2be2c338a0579",
        "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_015Sq4FoBmadpvcGag1cSQ3c",
      "input": {
        "note": "Lemon and brown bear are both inside the case. Closing the jaws and moving up and out to the top edge of the open lid so I can push it shut.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.52,
          "right_y": 0.3,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015Sq4FoBmadpvcGag1cSQ3c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.675, -0.0189, -0.0387, 0.9992, 0.7082, 2.149, 1.9701, -0.4644, 0.6514, -0.0685, 0.0093]\nstate[eef_state]: left_x=0.2478 left_y=0.0022 left_z=0.1183 left_yaw=0.0033 left_pitch=-0.3215 left_roll=0.003 left_gripper=0.9992 right_x=0.5114 right_y=0.3017 right_z=0.2224 right_yaw=0.2046 right_pitch=0.0373 right_roll=-0.42 right_gripper=0.0093\nstate[joint_eff]: [-0.2667, -1.5248, 6.8444, 1.5702, -0.0073, -0.022, -0.0122, -0.6632, -12.3692, 8.8957, 1.5604, 0.2076, 0.0024, 0.652]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93e6f1ebd35b4e6db1dbe6ed856b246c5b9cbabe8c513555f74d6f45e0094927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74de14fa19fb8ee1411698e5039f95cb8870cb7b465edb88158fa6e1ac3d6cab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ee1bfc8500cfdb3caec087faa081375f560556dc1a16de939d8abb76d52a675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 8.104 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 108 changed as sent

message 111 changed as sent

message 114 changed as sent

message 108 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, -0.6376, -0.0189, -0.0383, 0.9992, 0.844, 1.9606, 1.3369, -0.0555, 0.7712, 0.062, 0.0377]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1263 left_yaw=0.0028 left_pitch=-0.2754 left_roll=0.0022 left_gripper=0.9992 right_x=0.4265 right_y=0.2998 right_z=0.1384 right_yaw=0.1835 right_pitch=0.076 right_roll=-0.389 right_gripper=0.0377\nstate[joint_eff]: [-0.0205, -1.1419, 6.7897, 1.4579, -0.0464, -0.0366, -0.0122, -0.1983, -9.9487, 9.5795, 2.1563, 0.3541, 0.0708, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.6594, -0.0189, -0.0387, 0.9992, 0.8429, 1.964, 1.319, -0.0349, 0.7658, 0.0452, 0.9946]\nstate[eef_state]: left_x=0.2508 left_y=0.0022 left_z=0.1219 left_yaw=0.0032 left_pitch=-0.3009 left_roll=0.0025 left_gripper=0.9992 right_x=0.4258 right_y=0.2991 right_z=0.1325 right_yaw=0.195 right_pitch=0.0699 right_roll=-0.4014 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.1966, 6.9949, 1.6093, -0.0708, -0.0611, -0.0122, 0.1846, -10.7282, 6.2974, 1.6386, 0.3199, 0.0464, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.675, -0.0189, -0.0387, 0.9992, 0.7082, 2.149, 1.9701, -0.4644, 0.6514, -0.0685, 0.0093]\nstate[eef_state]: left_x=0.2478 left_y=0.0022 left_z=0.1183 left_yaw=0.0033 left_pitch=-0.3215 left_roll=0.003 left_gripper=0.9992 right_x=0.5114 right_y=0.3017 right_z=0.2224 right_yaw=0.2046 right_pitch=0.0373 right_roll=-0.42 right_gripper=0.0093\nstate[joint_eff]: [-0.2667, -1.5248, 6.8444, 1.5702, -0.0073, -0.022, -0.0122, -0.6632, -12.3692, 8.8957, 1.5604, 0.2076, 0.0024, 0.652]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93e6f1ebd35b4e6db1dbe6ed856b246c5b9cbabe8c513555f74d6f45e0094927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74de14fa19fb8ee1411698e5039f95cb8870cb7b465edb88158fa6e1ac3d6cab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ee1bfc8500cfdb3caec087faa081375f560556dc1a16de939d8abb76d52a675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISuQUKjgEIEhgCKkCfweFwGBw4N2D+RsBPqvm5OIrok74RQHfEIVjQD2h4WhX644A0sXXCNMeK38iHH60+Rg5VBTnQ6N8XptL6dp3dMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeOEzNUGEgzE+eEEDF0pQcgccb8aDKrZLxjOJiOWo4pGOCIwcQIqKD9OsgcLoPCN/I7LXohpYwmWMgKCmBQJ+RfUH6ubNMbkoeVjR5Q0iyIujOutKtcDqEZGvSnSnRy8VUk3yQ0i1/ZyyvC25t6SSepgDSGH1dupyD3eECURDRX7rmrl8xRKtqYu8dYcn0Xjgb/pRIzmJk4GTU9TnU/BIE8DSunRxitqhK6K49Q/oTmgjBJoLQkKEL5sX+7SP+82Pb/FiwPlhs53yiSwjLgV+ZWFRRUmnOrlVeh11evjgrGBQFakpiJJYAad2ynQaHNCHYYvvOccJHUFha12xKMWFhNVnChfoAVN2tfn5fMZj+MeWyPFbcukz5NFX9d3ZDFzy737/1NMVWGeK/wDoGnRQddoVLrZvrrZ7qmnauxXjSO3XiNnULvNpLpf5wWJXfi0cy00fbGaMXJ+UmvoW0XSB9FxGHw/EB8mJIjnnY1fbsmm2S8Uf33uk0k+3wuQ99l8ztmL5ig0hL81cduZHcXOmOoOGus9ryYXMHm8o7oqBjlxCfI0Civt96fp7yPYpVQ/oKvv2Jz/biakRcVs/a2XMdY997QybTXT5tNscNvsCVS/ijtAJppB+7JM5yMF8edmkbt+06cQxisLIM6YPSj997/616C7Suw+aIVAOB9ryxLKT8lFUu2E1GXL2HivVPL7vksf00SvBCuVeH3KRHUZH+do1ELoWnhfoaDQov30GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017rdqcQk2ivofodAxc2M1XY",
      "input": {
        "note": "The closed gripper is at the top edge of the open lid. Sweeping toward the base and downward to fold the lid shut over the case.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017rdqcQk2ivofodAxc2M1XY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6899, -0.0189, -0.0387, 0.9992, 0.841, 1.9965, 1.3567, -0.1719, 0.7341, 0.02, 0.0125]\nstate[eef_state]: left_x=0.245 left_y=0.0023 left_z=0.1155 left_yaw=0.0034 left_pitch=-0.339 left_roll=0.0034 left_gripper=0.9992 right_x=0.4189 right_y=0.2961 right_z=0.1085 right_yaw=0.2296 right_pitch=-0.0551 right_roll=-0.4825 right_gripper=0.0125\nstate[joint_eff]: [-0.1983, -0.9641, 6.7077, 1.5702, -0.0513, -0.022, -0.0122, 0.5538, -12.6838, 7.1043, 1.8828, 0.4029, 0.1978, 0.315]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d369a49b9acd4b76013109a362f06324b87aa7afde3f3d1822f4df1c8c5ec3f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3878605cf9d833b15ce5471f7548dea18468e04e3465da116ef79d55269a9315",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a0d436e4164ac2c1249b50f1d279bdaca3237dd26e65d6a01c9ea08a114d8c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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