adhoc

completed
2026-09-22T22:03:18.013586+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
318.5 s
total steps
271
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

overheat

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see an open red-lined safe in the middle of the table, a yellow ball to its right, a small white plush at left and a brown teddy bear in front. Moving the right arm to hover above the yellow ball first.
move_to
right_x0.3200right_y0.1700right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7929, 0.6048, -0.3889, -0.0193, -0.0338, 0.999, -0.0208, 0.7944, 0.6083, -0.3992, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.999 right_x=0.2927 right_y=0.0009 right_z=0.1778 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.5675, -1.3744, 10.1538, 2.0, -0.0757, 0.1392, -0.1245, -0.3487, -1.4154, 9.6615, 2.0342, -0.0562, 0.1001, -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": 0.32, "right_y": 0.17, "right_z": 0.15, "right_gripper": 1}, "note": "I see an open red-lined safe in the middle of the table, a yellow ball to its right, a small white plush at left and a brown teddy bear in front. Moving the right arm to hover above the yellow ball first."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe wrist view shows the yellow ball high in frame near the jaw column, meaning it is still several cm further out. Advancing the right arm radially to close that gap.
move_to
right_x0.3800right_y0.1600right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7982, 0.6075, -0.4053, -0.0193, -0.038, 0.9988, 0.7509, 1.2812, 0.7307, -0.26, 0.5655, 0.424, 0.9996] state[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9988 right_x=0.3077 right_y=0.1626 right_z=0.1293 right_yaw=0.0467 right_pitch=-0.075 right_roll=-0.0603 right_gripper=0.9996 state[joint_eff]: [-0.2393, -1.6615, 6.9538, 1.8632, -0.0806, 0.0317, -0.022, 0.1299, -4.9162, 9.2103, 1.7118, 0.4567, 0.1832, -0.0513] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.16, "right_z": 0.14}, "note": "The wrist view shows the yellow ball high in frame near the jaw column, meaning it is still several cm further out. Advancing the right arm radially to close that gap."})
tool
executing move_to over 6 steps (0.6s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe lemon is nearly aligned with the jaw column but still ahead of the fingertips; advancing another 6 cm and lowering toward grasp height.
move_to
right_x0.4200right_y0.1450right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4133, -0.0193, -0.0383, 0.9988, 0.5846, 1.4693, 0.881, -0.2344, 0.453, 0.3012, 0.9996] state[eef_state]: left_x=0.291 left_y=0.0015 left_z=0.1723 left_yaw=0.0027 left_pitch=-0.0313 left_roll=-0.0028 left_gripper=0.9988 right_x=0.3627 right_y=0.1516 right_z=0.121 right_yaw=0.0319 right_pitch=-0.1382 right_roll=-0.096 right_gripper=0.9996 state[joint_eff]: [-0.0752, -1.4974, 7.0769, 1.79, -0.0757, -0.0366, -0.0122, -0.253, -5.9009, 8.7316, 1.7802, 0.1343, -0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.145, "right_z": 0.07}, "note": "The lemon is nearly aligned with the jaw column but still ahead of the fingertips; advancing another 6 cm and lowering toward grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteLemon is centred on the jaw column but still beyond the fingertips; advancing to grasp depth just above the table.
move_to
right_x0.4500right_y0.1400right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4278, -0.0189, -0.0387, 0.9988, 0.4755, 1.7115, 0.8932, -0.0643, 0.3836, 0.2241, 0.9996] state[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.0026 left_pitch=-0.0473 left_roll=-0.003 left_gripper=0.9988 right_x=0.3993 right_y=0.1353 right_z=0.0551 right_yaw=0.0145 right_pitch=-0.2207 right_roll=-0.1357 right_gripper=0.9996 state[joint_eff]: [-0.1573, -1.347, 6.9812, 1.8388, -0.0317, -0.0415, -0.0122, -0.294, -7.747, 8.5675, 1.7607, 0.1978, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.14, "right_z": 0.03}, "note": "Lemon is centred on the jaw column but still beyond the fingertips; advancing to grasp depth just above the table."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe arm stalled ~4 cm short of the last target, so I am commanding further out with the tool pitched forward to extend reach toward the lemon.
move_to
right_x0.5000right_y0.1400right_z0.0400right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4294, -0.0193, -0.0383, 0.9988, 0.4698, 1.7363, 0.8936, -0.0196, 0.3687, 0.2089, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1686 left_yaw=0.0027 left_pitch=-0.0488 left_roll=-0.0025 left_gripper=0.9988 right_x=0.4054 right_y=0.1385 right_z=0.0512 right_yaw=0.031 right_pitch=-0.2085 right_roll=-0.1271 right_gripper=0.9996 state[joint_eff]: [-0.0752, -1.265, 7.3231, 1.6874, -0.0708, -0.0415, -0.0122, -0.3761, -8.4581, 8.294, 1.873, 0.1685, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.14, "right_z": 0.04, "right_pitch": 0.2}, "note": "The arm stalled ~4 cm short of the last target, so I am commanding further out with the tool pitched forward to extend reach toward the lemon."})
tool
executing move_to over 14 steps (1.4s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe lemon now sits right at the jaws in the wrist view; descending to grasp height.
move_to
right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4503, -0.0193, -0.0387, 0.9988, 0.416, 2.0697, 0.9054, 0.7048, 0.3801, 0.0517, 0.9996] state[eef_state]: left_x=0.2859 left_y=0.0016 left_z=0.1638 left_yaw=0.0029 left_pitch=-0.0725 left_roll=-0.0023 left_gripper=0.9988 right_x=0.49 right_y=0.1487 right_z=0.0389 right_yaw=0.0598 right_pitch=0.1568 right_roll=-0.1073 right_gripper=0.9996 state[joint_eff]: [-0.1983, -1.4838, 7.0496, 1.8926, -0.0806, -0.0073, -0.0122, -1.1692, -7.9111, 6.0923, 1.8974, 0.359, -0.1929, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.015}, "note": "The lemon now sits right at the jaws in the wrist view; descending to grasp height."})
tool
executing move_to over 2 steps (0.2s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteFingertips are at table level with the lemon between the jaws; closing the gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4545, -0.0189, -0.0383, 0.9988, 0.4141, 2.112, 0.9096, 0.7738, 0.3767, 0.0376, 0.9996] state[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1629 left_yaw=0.0024 left_pitch=-0.0767 left_roll=-0.0021 left_gripper=0.9988 right_x=0.4949 right_y=0.1504 right_z=0.0341 right_yaw=0.0668 right_pitch=0.1845 right_roll=-0.1082 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.1145, 6.9675, 1.7216, -0.0611, -0.0366, -0.0122, 0.3487, -8.0068, 3.9179, 1.8584, 0.0952, 0.0952, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Fingertips are at table level with the lemon between the jaws; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper settled at 0.71 (≈6.7 cm) — the mango is grasped. Lifting it clear of the table before carrying to the safe.
move_to
right_z0.2200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.458, -0.0189, -0.0383, 0.9988, 0.4175, 2.1426, 0.902, 0.7872, 0.3576, 0.057, 0.7089] state[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1622 left_yaw=0.0024 left_pitch=-0.0805 left_roll=-0.002 left_gripper=0.9988 right_x=0.4907 right_y=0.154 right_z=0.0187 right_yaw=0.0768 right_pitch=0.1594 right_roll=-0.0908 right_gripper=0.7089 state[joint_eff]: [-0.1299, -1.2786, 7.159, 1.6679, -0.0415, -0.022, -0.0122, -0.4444, -9.6479, 4.3145, 1.8242, 0.2906, -0.105, 1.0281] 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": 0.22, "right_pitch": 0}, "note": "Gripper settled at 0.71 (\u22486.7 cm) \u2014 the mango is grasped. Lifting it clear of the table before carrying to the safe."})
tool
executing move_to over 13 steps (1.3s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteMango is held and lifted; the red safe interior is to the left of the gripper in the wrist view. Moving over the safe opening at a safe height.
move_to
right_x0.4600right_y0.2900right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.4732, -0.0189, -0.0387, 0.9988, 0.4099, 1.7756, 1.4021, -0.2646, 0.3191, 0.0765, 0.7079] state[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1592 left_yaw=0.0027 left_pitch=-0.0957 left_roll=-0.002 left_gripper=0.9988 right_x=0.4928 right_y=0.1576 right_z=0.1955 right_yaw=0.0943 right_pitch=-0.0208 right_roll=-0.1144 right_gripper=0.7079 state[joint_eff]: [-0.1846, -1.2376, 6.9538, 1.7998, -0.0366, -0.0415, -0.0122, -0.6906, -11.5624, 8.4581, 1.7705, 0.1294, 0.1636, -0.1148] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.29, "right_z": 0.25}, "note": "Mango is held and lifted; the red safe interior is to the left of the gripper in the wrist view. Moving over the safe opening at a safe height."})
tool
executing move_to over 12 steps (1.2s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe wrist view is now filled by the red interior of the open safe, so the mango is over the opening. Lowering it into the box before releasing.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4801, -0.0189, -0.0387, 0.9988, 0.725, 1.9663, 1.8637, -0.6575, 0.5331, 0.2638, 0.7078] state[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1575 left_yaw=0.0027 left_pitch=-0.1041 left_roll=-0.0018 left_gripper=0.9988 right_x=0.4559 right_y=0.2887 right_z=0.2372 right_yaw=0.1351 right_pitch=-0.0571 right_roll=-0.1393 right_gripper=0.7078 state[joint_eff]: [-0.1709, -1.388, 7.2274, 1.7753, -0.0464, -0.0464, -0.0122, 0.1026, -10.2906, 9.0462, 1.6337, 0.4274, 0.188, -0.0317] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "The wrist view is now filled by the red interior of the open safe, so the mango is over the opening. Lowering it into the box before releasing."})
tool
executing move_to over 9 steps (0.9s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe mango looks like it is hanging over the right wall of the safe, so I am shifting a few cm toward the box centre before releasing.
move_to
right_y0.3200right_x0.4400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4961, -0.0189, -0.0387, 0.9988, 0.7265, 2.0064, 1.4242, -0.2119, 0.527, 0.2626, 0.7078] state[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1544 left_yaw=0.0027 left_pitch=-0.1201 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4493 right_y=0.2852 right_z=0.108 right_yaw=0.1405 right_pitch=-0.0879 right_roll=-0.1556 right_gripper=0.7078 state[joint_eff]: [-0.0205, -1.1145, 6.9675, 1.7705, -0.0464, -0.0659, -0.0122, -0.3624, -9.5248, 6.4479, 1.6337, 0.2418, -0.0171, -0.0171] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.32, "right_x": 0.44}, "note": "The mango looks like it is hanging over the right wall of the safe, so I am shifting a few cm toward the box centre before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteJaws are centred over the red interior of the safe; opening to drop the mango inside.
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, 0.8097, 0.6067, -0.5091, -0.0189, -0.0387, 0.9988, 0.7795, 2.0529, 1.491, -0.2646, 0.5514, 0.2901, 0.7078] state[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1515 left_yaw=0.0028 left_pitch=-0.135 left_roll=-0.0011 left_gripper=0.9988 right_x=0.4403 right_y=0.3101 right_z=0.1041 right_yaw=0.1585 right_pitch=-0.1021 right_roll=-0.1672 right_gripper=0.7078 state[joint_eff]: [-0.1162, -1.265, 7.1043, 1.7753, -0.0757, -0.0708, -0.0122, 0.335, -9.7983, 8.5128, 1.5165, 0.3834, 0.149, -0.0171] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Jaws are centred over the red interior of the safe; opening to drop the mango inside."})
tool
executing move_to over 3 steps (0.3s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteMango released; retracting the right arm so the overhead camera can show whether it landed inside the safe.
move_to
right_x0.3000right_y0.0500right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5179, -0.0193, -0.0387, 0.9988, 0.8013, 2.0613, 1.5166, -0.2981, 0.5648, 0.3153, 0.9949] state[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1499 left_yaw=0.0031 left_pitch=-0.1438 left_roll=-0.0007 left_gripper=0.9988 right_x=0.4348 right_y=0.3181 right_z=0.1057 right_yaw=0.1557 right_pitch=-0.1072 right_roll=-0.1654 right_gripper=0.9949 state[joint_eff]: [-0.1709, -1.1966, 6.8991, 1.6581, -0.0366, -0.0611, -0.0073, -0.0479, -10.4821, 7.8838, 1.536, 0.3346, 0.0708, -0.2271] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.25}, "note": "Mango released; retracting the right arm so the overhead camera can show whether it landed inside the safe."})
tool
executing move_to over 23 steps (2.3s)
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 mango missed the safe and rolled back to the table on the right of the box. Returning the gripper to it for a second pick, this time I will lower it into the box until contact before releasing.
move_to
right_x0.4600right_y0.1500right_z0.0800right_pitch0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5362, -0.0193, -0.0387, 0.9988, 0.2623, 1.0035, 1.0096, -0.7387, 0.2035, -0.0582, 0.9954] state[eef_state]: left_x=0.2726 left_y=0.0018 left_z=0.1454 left_yaw=0.0032 left_pitch=-0.1667 left_roll=-0.0002 left_gripper=0.9988 right_x=0.3015 right_y=0.0477 right_z=0.2337 right_yaw=0.1142 right_pitch=-0.14 right_roll=-0.1712 right_gripper=0.9954 state[joint_eff]: [-0.0205, -1.1145, 6.8991, 1.7314, -0.0757, -0.0366, -0.0122, -0.1436, -2.7692, 9.306, 1.8584, 0.0171, -0.1148, 0.0317] 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_x": 0.46, "right_y": 0.15, "right_z": 0.08, "right_pitch": 0.2, "right_gripper": 1}, "note": "The mango missed the safe and rolled back to the table on the right of the box. Returning the gripper to it for a second pick, this time I will lower it into the box until contact before releasing."})
tool
executing move_to over 13 steps (1.3s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteMango fills the wrist view just beyond the jaws; advancing and dropping to table level to bracket it.
move_to
right_x0.4900right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.5568, -0.0193, -0.0387, 0.9988, 0.45, 1.8545, 0.7494, 0.522, 0.3798, -0.0265, 0.999] state[eef_state]: left_x=0.2693 left_y=0.0019 left_z=0.1407 left_yaw=0.0033 left_pitch=-0.1911 left_roll=0.0004 left_gripper=0.9988 right_x=0.4349 right_y=0.1413 right_z=0.0447 right_yaw=0.1408 right_pitch=0.033 right_roll=-0.2169 right_gripper=0.999 state[joint_eff]: [-0.0205, -1.5248, 6.8718, 1.7265, -0.0562, -0.0317, -0.0122, 0.0889, -9.5658, 7.5145, 2.254, 0.1978, -0.0415, -0.1148] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_z": 0.02}, "note": "Mango fills the wrist view just beyond the jaws; advancing and dropping to table level to bracket it."})
tool
executing move_to over 5 steps (0.5s)
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 noteMango is between the open jaws at table level; closing to grasp it again.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5644, -0.0193, -0.0387, 0.9988, 0.3897, 2.0529, 0.9134, 0.54, 0.3328, -0.0578, 0.999] state[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1387 left_yaw=0.0033 left_pitch=-0.2014 left_roll=0.0006 left_gripper=0.9988 right_x=0.4786 right_y=0.138 right_z=0.0149 right_yaw=0.1359 right_pitch=0.0063 right_roll=-0.2228 right_gripper=0.999 state[joint_eff]: [-0.1709, -1.4427, 7.0496, 1.5849, -0.0611, -0.0024, -0.0122, -0.5128, -9.347, 6.106, 1.8095, 0.1099, -0.0757, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Mango is between the open jaws at table level; closing to grasp it again."})
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 noteMango grasped (gripper 0.42 ≈ 4 cm). Lifting and moving over the safe, slightly further left than last time so the drop is inside the walls.
move_to
right_z0.2200right_x0.4400right_y0.3400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5781, -0.0189, -0.0387, 0.9988, 0.3855, 2.0636, 0.9314, 0.5327, 0.3202, -0.0715, 0.424] state[eef_state]: left_x=0.2656 left_y=0.0019 left_z=0.1363 left_yaw=0.0031 left_pitch=-0.2151 left_roll=0.0006 left_gripper=0.9988 right_x=0.4826 right_y=0.1397 right_z=0.0143 right_yaw=0.1495 right_pitch=0.0029 right_roll=-0.2273 right_gripper=0.424 state[joint_eff]: [-0.0752, -1.1009, 6.9538, 1.6288, -0.0317, -0.022, -0.0122, -0.2667, -9.2786, 6.5162, 1.8779, 0.1245, 0.022, 1.0281] 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_z": 0.22, "right_x": 0.44, "right_y": 0.34}, "note": "Mango grasped (gripper 0.42 \u2248 4 cm). Lifting and moving over the safe, slightly further left than last time so the drop is inside the walls."})
tool
executing move_to over 17 steps (1.7s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe wrist view shows the safe's front face beyond the mango, meaning the gripper is still on the near side of the box; moving further forward and up to get over the opening.
move_to
right_x0.5100right_z0.2600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5854, -0.0193, -0.0387, 0.9988, 0.8471, 2.0426, 1.8393, -0.5449, 0.6521, 0.2234, 0.4262] state[eef_state]: left_x=0.2643 left_y=0.002 left_z=0.135 left_yaw=0.0034 left_pitch=-0.2223 left_roll=0.0011 left_gripper=0.9988 right_x=0.4395 right_y=0.3408 right_z=0.2134 right_yaw=0.1905 right_pitch=-0.004 right_roll=-0.2317 right_gripper=0.4262 state[joint_eff]: [-0.2667, -1.2376, 6.8444, 1.5849, -0.0659, -0.0464, -0.0122, 0.2803, -10.8513, 8.5402, 1.5018, 0.442, 0.2076, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.51, "right_z": 0.26}, "note": "The wrist view shows the safe's front face beyond the mango, meaning the gripper is still on the near side of the box; moving further forward and up to get over the opening."})
tool
executing move_to over 6 steps (0.6s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteNow the wrist looks past the safe onto the table, so the jaws should be roughly over the opening; descending to check whether the walls appear around the mango.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5915, -0.0189, -0.0387, 0.9988, 0.7433, 2.3299, 2.466, -0.8375, 0.5797, 0.1467, 0.4262] state[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1331 left_yaw=0.0031 left_pitch=-0.2323 left_roll=0.001 left_gripper=0.9988 right_x=0.5069 right_y=0.3394 right_z=0.2558 right_yaw=0.1825 right_pitch=-0.0026 right_roll=-0.2293 right_gripper=0.4262 state[joint_eff]: [-0.1709, -1.4701, 7.0222, 1.5653, -0.0269, -0.0366, -0.0122, -0.4171, -12.7521, 7.5282, 1.2137, 0.2662, -0.0122, 1.0232] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15}, "note": "Now the wrist looks past the safe onto the table, so the jaws should be roughly over the opening; descending to check whether the walls appear around the mango."})
tool
executing move_to over 7 steps (0.7s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteAt x=0.50 the wrist sees the silver exterior beyond the box, so the opening lies a few cm nearer; backing to x=0.46 and lowering the mango into the interior.
move_to
right_x0.4600right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8253, 0.6067, -0.5934, -0.0189, -0.0387, 0.9988, 0.7403, 2.2719, 1.9106, -0.458, 0.5644, 0.1349, 0.4262] state[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1325 left_yaw=0.0032 left_pitch=-0.2349 left_roll=0.0011 left_gripper=0.9988 right_x=0.4973 right_y=0.3312 right_z=0.1232 right_yaw=0.1939 right_pitch=-0.1101 right_roll=-0.2918 right_gripper=0.4262 state[joint_eff]: [-0.0615, -1.2376, 6.8444, 1.5116, -0.0513, -0.0269, -0.0122, 0.1436, -15.159, 7.6376, 1.8535, 0.3346, 0.0855, 1.0281] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_z": 0.09}, "note": "At x=0.50 the wrist sees the silver exterior beyond the box, so the opening lies a few cm nearer; backing to x=0.46 and lowering the mango into the interior."})
tool
executing move_to over 3 steps (0.3s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteStill seeing only the silver exterior; retracting the right arm (still holding the mango) to get an unobstructed overhead view of the safe so I can locate its opening properly.
move_to
right_x0.3200right_y0.0500right_z0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.5961, -0.0189, -0.0387, 0.9988, 0.7753, 2.2227, 1.6833, -0.3466, 0.5842, 0.1558, 0.4283] state[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.132 left_yaw=0.0032 left_pitch=-0.238 left_roll=0.0012 left_gripper=0.9988 right_x=0.4647 right_y=0.3241 right_z=0.0792 right_yaw=0.1983 right_pitch=-0.1551 right_roll=-0.3244 right_gripper=0.4283 state[joint_eff]: [-0.0068, -0.7316, 6.8308, 1.5556, -0.0464, -0.0464, -0.0122, 0.8, -14.9949, 7.8017, 1.7656, 0.3687, 0.1832, 1.0134] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.05, "right_z": 0.3}, "note": "Still seeing only the silver exterior; retracting the right arm (still holding the mango) to get an unobstructed overhead view of the safe so I can locate its opening properly."})
tool
executing move_to over 23 steps (2.3s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteOverhead view now shows the safe is a box whose door faces the arms — objects must be pushed in horizontally, not dropped from above. Bringing the mango low and in front of the opening.
move_to
right_x0.4000right_y0.3300right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.6106, -0.0193, -0.0387, 0.9988, 0.2836, 1.1725, 1.3113, -0.9119, 0.2665, -0.2089, 0.4284] state[eef_state]: left_x=0.26 left_y=0.0021 left_z=0.1287 left_yaw=0.0036 left_pitch=-0.2563 left_roll=0.0019 left_gripper=0.9988 right_x=0.3232 right_y=0.0495 right_z=0.2809 right_yaw=0.1632 right_pitch=-0.1948 right_roll=-0.3321 right_gripper=0.4284 state[joint_eff]: [-0.0752, -1.306, 6.8581, 1.6777, -0.0806, -0.0464, -0.0122, -0.2256, -4.1368, 9.0188, 1.7411, -0.022, -0.0073, 0.5983] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.33, "right_z": 0.07}, "note": "Overhead view now shows the safe is a box whose door faces the arms \u2014 objects must be pushed in horizontally, not dropped from above. Bringing the mango low and in front of the opening."})
tool
executing move_to over 24 steps (2.4s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteOverhead shows the gripper just right-of-centre and in front of the safe's tray; shifting left and forward to be over the middle of the opening.
move_to
right_x0.4400right_y0.3700right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8318, 0.6067, -0.6163, -0.0189, -0.0387, 0.9988, 0.8879, 2.1082, 1.5024, -0.4576, 0.6292, 0.2859, 0.4314] state[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1272 left_yaw=0.0033 left_pitch=-0.2643 left_roll=0.0018 left_gripper=0.9988 right_x=0.3897 right_y=0.32 right_z=0.0627 right_yaw=0.1882 right_pitch=-0.2514 right_roll=-0.3684 right_gripper=0.4314 state[joint_eff]: [-0.2393, -1.4154, 6.8034, 1.4921, -0.0415, -0.0073, -0.0122, 0.1573, -11.0838, 8.0615, 1.2772, 0.4957, 0.2564, 0.735] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.37, "right_z": 0.09}, "note": "Overhead shows the gripper just right-of-centre and in front of the safe's tray; shifting left and forward to be over the middle of the opening."})
tool
executing move_to over 5 steps (0.5s)
step 232
top_cam
camera top_cam step 232
left_cam
camera left_cam step 232
right_cam
camera right_cam step 232
assistant
agent noteTesting depth: lowering the mango straight down here — if the tray of the safe is below, the descent will stop early on its floor; if not, it will reach table level.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8356, 0.6067, -0.6315, -0.0189, -0.0387, 0.9988, 0.8776, 2.3375, 1.9888, -0.6849, 0.6121, 0.2653, 0.4308] state[eef_state]: left_x=0.2562 left_y=0.0021 left_z=0.1238 left_yaw=0.0034 left_pitch=-0.2834 left_roll=0.0022 left_gripper=0.9988 right_x=0.4355 right_y=0.3711 right_z=0.0905 right_yaw=0.2051 right_pitch=-0.2418 right_roll=-0.3516 right_gripper=0.4308 state[joint_eff]: [-0.1846, -1.5385, 6.8034, 1.58, -0.0464, -0.0757, -0.0122, -0.7043, -12.547, 7.6513, 0.7302, 0.3639, 0.022, 0.5788] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "Testing depth: lowering the mango straight down here \u2014 if the tray of the safe is below, the descent will stop early on its floor; if not, it will reach table level."})
tool
executing move_to over 4 steps (0.4s)
step 236
top_cam
camera top_cam step 236
assistant
agent noteThe wrist sees the silver front wall of the case; the red-lined tray must be just beyond it. Lifting the mango over that wall and moving forward above the tray.
move_to
right_z0.2000right_x0.5100right_y0.3600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.836, 0.6067, -0.635, -0.0189, -0.0387, 0.9988, 0.8776, 2.3737, 1.8526, -0.5686, 0.6083, 0.2649, 0.4336] state[eef_state]: left_x=0.2555 left_y=0.0021 left_z=0.1231 left_yaw=0.0035 left_pitch=-0.2872 left_roll=0.0023 left_gripper=0.9988 right_x=0.4275 right_y=0.3622 right_z=0.0349 right_yaw=0.1983 right_pitch=-0.2877 right_roll=-0.3855 right_gripper=0.4336 state[joint_eff]: [-0.212, -1.1419, 6.7761, 1.4725, -0.0611, -0.0269, -0.0122, -0.212, -12.465, 6.8171, 1.5018, 0.3541, -0.0269, 0.569] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.51, "right_y": 0.36}, "note": "The wrist sees the silver front wall of the case; the red-lined tray must be just beyond it. Lifting the mango over that wall and moving forward above the tray."})
tool
executing move_to over 11 steps (1.1s)
step 247
assistant
agent noteThe last command did not move the arm — it seems stuck at this low, far-left pose. Lifting straight up and pulling slightly back toward the arm to free it.
move_to
right_z0.1800right_y0.3300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8406, 0.6067, -0.6453, -0.0189, -0.0387, 0.9988, 0.8776, 2.3939, 1.8397, -0.5144, 0.6052, 0.2623, 0.4334] state[eef_state]: left_x=0.2536 left_y=0.0021 left_z=0.1204 left_yaw=0.0036 left_pitch=-0.3021 left_roll=0.0026 left_gripper=0.9988 right_x=0.4305 right_y=0.3666 right_z=0.0249 right_yaw=0.2056 right_pitch=-0.2736 right_roll=-0.3715 right_gripper=0.4334 state[joint_eff]: [-0.0615, -1.6479, 6.8991, 1.5263, -0.0513, -0.0415, -0.0073, -0.1846, -13.6957, 6.694, 1.4042, 0.3004, -0.022, 0.7643] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_y": 0.33}, "note": "The last command did not move the arm \u2014 it seems stuck at this low, far-left pose. Lifting straight up and pulling slightly back toward the arm to free it."})
tool
executing move_to over 11 steps (1.1s)
step 258
assistant
agent noteFree again at 14 cm height with the case front and open white lid ahead. Moving forward over the tray wall to get above the safe's interior.
move_to
right_x0.5000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8425, 0.6067, -0.6598, -0.0189, -0.0387, 0.9988, 0.8337, 2.2456, 2.0823, -0.9401, 0.5785, 0.2089, 0.4354] state[eef_state]: left_x=0.2509 left_y=0.0022 left_z=0.1177 left_yaw=0.0037 left_pitch=-0.3185 left_roll=0.003 left_gripper=0.9988 right_x=0.4282 right_y=0.3333 right_z=0.1431 right_yaw=0.202 right_pitch=-0.3266 right_roll=-0.4099 right_gripper=0.4354 state[joint_eff]: [-0.1436, -1.4427, 6.7487, 1.5702, -0.0806, -0.022, -0.0122, -0.7453, -16.3761, 8.5402, 1.243, 0.3004, -0.0171, 0.4664] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_z": 0.18}, "note": "Free again at 14 cm height with the case front and open white lid ahead. Moving forward over the tray wall to get above the safe's interior."})
tool
executing move_to over 6 steps (0.6s)
step 264
assistant
agent noteStill short of the opening — the interior appears to lie further back. Reaching out to x=0.56 above the case to look down into it.
move_to
right_x0.5600right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8471, 0.6067, -0.6758, -0.0189, -0.0387, 0.9988, 0.7357, 2.7029, 2.9341, -1.3293, 0.5274, 0.1123, 0.4376] state[eef_state]: left_x=0.2478 left_y=0.0022 left_z=0.1142 left_yaw=0.0039 left_pitch=-0.339 left_roll=0.0035 left_gripper=0.9988 right_x=0.491 right_y=0.3294 right_z=0.1405 right_yaw=0.1938 right_pitch=-0.369 right_roll=-0.4293 right_gripper=0.4376 state[joint_eff]: [-0.1846, -1.6479, 7.0359, 1.5214, -0.0659, -0.0659, -0.0122, -0.3214, -16.5402, 8.6222, 1.0574, 0.359, 0.1245, 0.5104] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.56, "right_z": 0.17}, "note": "Still short of the opening \u2014 the interior appears to lie further back. Reaching out to x=0.56 above the case to look down into it."})
tool
executing move_to over 6 steps (0.6s)
step 270
assistant
agent noteOverhead shows the safe sits well to the left of the gripper, not further forward. Sliding the right arm to its left-most bound (y=0.40) at 18 cm height to get over the opening.
move_to
right_x0.4700right_y0.4000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8482, 0.6067, -0.6899, -0.0189, -0.0387, 0.9988, 0.6525, 2.7346, 2.891, -1.3357, 0.482, 0.0254, 0.439] state[eef_state]: left_x=0.245 left_y=0.0023 left_z=0.1119 left_yaw=0.004 left_pitch=-0.3543 left_roll=0.0039 left_gripper=0.9988 right_x=0.5096 right_y=0.2909 right_z=0.1046 right_yaw=0.1753 right_pitch=-0.4812 right_roll=-0.4863 right_gripper=0.439 state[joint_eff]: [-0.1299, -1.2239, 6.7897, 1.4774, -0.0366, -0.0366, -0.0122, -0.1983, -19.2752, 7.3504, 1.5897, 0.3883, 0.0122, 0.5641] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.4, "right_z": 0.18}, "note": "Overhead shows the safe sits well to the left of the gripper, not further forward. Sliding the right arm to its left-most bound (y=0.40) at 18 cm height to get over the opening."})
tool
executing move_to over 10 steps (1.0s)
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 · 18.03 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6048, -0.3889, -0.0193, -0.0338, 0.999, -0.0208, 0.7944, 0.6083, -0.3992, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.999 right_x=0.2927 right_y=0.0009 right_z=0.1778 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.3744, 10.1538, 2.0, -0.0757, 0.1392, -0.1245, -0.3487, -1.4154, 9.6615, 2.0342, -0.0562, 0.1001, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee7db556457a4cb1c9a596c9609ef9a4f6458f9235d4c4aff4e6d4d18de17db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d41e82604c2572cf2feb0d8dc32d2ea04c0e928ee9ea0bce1c2e86e7357260",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:733c8d16e8c5f4d8b4c8b492164439d5d0eda57e6027696bbb9c28bb65c23554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 6.688 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6048, -0.3889, -0.0193, -0.0338, 0.999, -0.0208, 0.7944, 0.6083, -0.3992, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.999 right_x=0.2927 right_y=0.0009 right_z=0.1778 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.3744, 10.1538, 2.0, -0.0757, 0.1392, -0.1245, -0.3487, -1.4154, 9.6615, 2.0342, -0.0562, 0.1001, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee7db556457a4cb1c9a596c9609ef9a4f6458f9235d4c4aff4e6d4d18de17db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d41e82604c2572cf2feb0d8dc32d2ea04c0e928ee9ea0bce1c2e86e7357260",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:733c8d16e8c5f4d8b4c8b492164439d5d0eda57e6027696bbb9c28bb65c23554",
        "media_type": "image/png",
        "type": "base64"
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  ],
  "role": "user"
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{
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q18djWFDzftvvsEuUc9Ava",
      "input": {
        "note": "I see an open red-lined safe in the middle of the table, a yellow ball to its right, a small white plush at left and a brown teddy bear in front. Moving the right arm to hover above the yellow ball first.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.32,
          "right_y": 0.17,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01Q18djWFDzftvvsEuUc9Ava",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6075, -0.4053, -0.0193, -0.038, 0.9988, 0.7509, 1.2812, 0.7307, -0.26, 0.5655, 0.424, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9988 right_x=0.3077 right_y=0.1626 right_z=0.1293 right_yaw=0.0467 right_pitch=-0.075 right_roll=-0.0603 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.6615, 6.9538, 1.8632, -0.0806, 0.0317, -0.022, 0.1299, -4.9162, 9.2103, 1.7118, 0.4567, 0.1832, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd38ba6b399495b36b41d0f8eebf4fa214711e5809008e4f0665862912ae6b79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9b3bb2d8a0d94585d6ad466bb277ef51a01b347efd554c342ac2c5a78e300fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:631db8ac867cc3abed3d2a9ba524d43b2ba3c21564ab7fdcc8bcc35d4a483a7d",
        "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 · 6.733 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6048, -0.3889, -0.0193, -0.0338, 0.999, -0.0208, 0.7944, 0.6083, -0.3992, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.999 right_x=0.2927 right_y=0.0009 right_z=0.1778 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.3744, 10.1538, 2.0, -0.0757, 0.1392, -0.1245, -0.3487, -1.4154, 9.6615, 2.0342, -0.0562, 0.1001, -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, 0.7982, 0.6075, -0.4053, -0.0193, -0.038, 0.9988, 0.7509, 1.2812, 0.7307, -0.26, 0.5655, 0.424, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9988 right_x=0.3077 right_y=0.1626 right_z=0.1293 right_yaw=0.0467 right_pitch=-0.075 right_roll=-0.0603 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.6615, 6.9538, 1.8632, -0.0806, 0.0317, -0.022, 0.1299, -4.9162, 9.2103, 1.7118, 0.4567, 0.1832, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd38ba6b399495b36b41d0f8eebf4fa214711e5809008e4f0665862912ae6b79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9b3bb2d8a0d94585d6ad466bb277ef51a01b347efd554c342ac2c5a78e300fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:631db8ac867cc3abed3d2a9ba524d43b2ba3c21564ab7fdcc8bcc35d4a483a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShAUKjgEIEhgCKkD+I2lL9BzoV8naOh4dxn4wOIW1iR7oyOug+/pOPz1nSt9EQRfGyXeE0AtZcrGfCOAAX3tToH1UQMHEKCGMEwVTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcb2y9UGEgxZjEoMEzYwUEnjKRMaDP4tzhedqjjSeBm6fyIwqqE2hXj13m1ZJiyrTy6BnoOmMRZP5MVVizahcNd7SxqgMGXpQSYADEUf/F6qcQI5KqIDTft1NeAerF6nf7gHX3xz3Leh9exP4lDngLwOxHycMn5awwDcnZxYYt8dzIKhQr6fsTeai4FiGxh+gwsPLTCrSCgRjGa2gxhMqMi5VBQuf7g/2SyLr2A3ESZfphGVmVdHfwCmOLS6hjvuTF2JRAq+Rzd4/8EYHOtwOEcdKUHJpDMmZtw9ffS6CDdUvc3nf6i/UxlM4/ljafsFYMGjDr8AH7hIep44h23OMuN/ZqxmXXn5a/tLafIzWwUlzuSvgZegJa1292dw9i6yfm5stGoKDZu47bElTZ789aStX8HNs8Fk9hH2+RcFwEnt2PMioc03tmKuHtIj3ah6hTIRFijm5GAS10CsnFMGyYX6OZXp1zyJMg+tzzP9uwkAx+PRwrHxIwZcSgsqntKlAntZz2AWZQH0fxl4+vEMBqfb29inEsIGX15ifSeeq/viAcCMCTqyx0zuiWEaznikxVAjdJEtXIrWiaFRdR/zCd0V2MSDtoFJddHq2lZ/Ot8Qi3a1tuhKX4V9VEF7Q85LnEoRzxug5FJUGfLoHYr+UsIOIwZFAshoMhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011We3CvLi2Eg5UJ8CuSgAgp",
      "input": {
        "note": "The wrist view shows the yellow ball high in frame near the jaw column, meaning it is still several cm further out. Advancing the right arm radially to close that gap.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.16,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011We3CvLi2Eg5UJ8CuSgAgp",
      "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, 0.8017, 0.6067, -0.4133, -0.0193, -0.0383, 0.9988, 0.5846, 1.4693, 0.881, -0.2344, 0.453, 0.3012, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0015 left_z=0.1723 left_yaw=0.0027 left_pitch=-0.0313 left_roll=-0.0028 left_gripper=0.9988 right_x=0.3627 right_y=0.1516 right_z=0.121 right_yaw=0.0319 right_pitch=-0.1382 right_roll=-0.096 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.4974, 7.0769, 1.79, -0.0757, -0.0366, -0.0122, -0.253, -5.9009, 8.7316, 1.7802, 0.1343, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b5ba90c6c0c333b2f665e88a2037fe33c9145fc41748411e7da2cf5eeb00450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38aacff22c344f9e2893c67bcd5ea6a16ade7ba7877d0f0df6af83bdbdc8ad55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:02f4efe6cf60baabb837ea0844bcb23ea84adc5c5b1592b7b5ea43aaf6460f12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /messages · status 200 · 6.045 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6048, -0.3889, -0.0193, -0.0338, 0.999, -0.0208, 0.7944, 0.6083, -0.3992, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.999 right_x=0.2927 right_y=0.0009 right_z=0.1778 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.3744, 10.1538, 2.0, -0.0757, 0.1392, -0.1245, -0.3487, -1.4154, 9.6615, 2.0342, -0.0562, 0.1001, -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, 0.7982, 0.6075, -0.4053, -0.0193, -0.038, 0.9988, 0.7509, 1.2812, 0.7307, -0.26, 0.5655, 0.424, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9988 right_x=0.3077 right_y=0.1626 right_z=0.1293 right_yaw=0.0467 right_pitch=-0.075 right_roll=-0.0603 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.6615, 6.9538, 1.8632, -0.0806, 0.0317, -0.022, 0.1299, -4.9162, 9.2103, 1.7118, 0.4567, 0.1832, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4133, -0.0193, -0.0383, 0.9988, 0.5846, 1.4693, 0.881, -0.2344, 0.453, 0.3012, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0015 left_z=0.1723 left_yaw=0.0027 left_pitch=-0.0313 left_roll=-0.0028 left_gripper=0.9988 right_x=0.3627 right_y=0.1516 right_z=0.121 right_yaw=0.0319 right_pitch=-0.1382 right_roll=-0.096 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.4974, 7.0769, 1.79, -0.0757, -0.0366, -0.0122, -0.253, -5.9009, 8.7316, 1.7802, 0.1343, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b5ba90c6c0c333b2f665e88a2037fe33c9145fc41748411e7da2cf5eeb00450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38aacff22c344f9e2893c67bcd5ea6a16ade7ba7877d0f0df6af83bdbdc8ad55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02f4efe6cf60baabb837ea0844bcb23ea84adc5c5b1592b7b5ea43aaf6460f12",
        "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+wQKjgEIEhgCKkDu0gUM04diJ+g+FthmozTWdTYn1bTNmedpGz8Id6bou52CL5HDp956JYrRZWSNNEbUh/+noIo92qCHiYh0xOzvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc72y9UGEgw6pYNbAAEqxpDHdGoaDPzAmHZXqilEgUfRxyIwwNFwhldOBb4MK/X6kA+lUTDZZ7uY9KA2gad9MQJEVrPHuGR+w1d2aQJMSBxkLH1MKpkDRJqRJ2C2fBehIIBYXLm4BB2bfdql36NhXI+6TS7pDm3VOb3OyO+84+VMbMip//D8qVmw2VNlRypIeu038GQcsnqQtTPeXcK/nfCeruEiHzKmMEXbbfuqwIFlSXTLaCOATDclZMrB0Ne5C9yU/mKIqlRjhIGSj8TIai2X6vGVsLp3Rjuqe8qa4O1gdWMCiHwFin0mTcCX3E81ISCvcaDesxyYhkBQJPZFSvA4p2S78nBhKJcX1gRKgCuLd1dk4LsyNY9/ut6xpJZteNiBBqFDQPitFWTjiCQhZ0rdU45GniavMa871gH8DYd5ayFggsCMRmHZt3iET+51EfEl/TbzuTkVSvbiKbY8D9NmuG2YvUuZMImVAjfqMXOY4tqp2rqjinYBVucV7sm7cGA1VwC7ca7saRlNW4mmwaZPKGavOO07EGY3G21XbUT+HxkaX+mTveVwSgZL0itwxFC0TIqsT9foCdXyiPo0UjxvQuEYA51uH6OoMWdUaCpGIhCcRowyC6w/WYCmivS7o519rJd9TnPN/Y79ab+glxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DNnJLAMqZ6kyD8Mg5fTBCC",
      "input": {
        "note": "The lemon is nearly aligned with the jaw column but still ahead of the fingertips; advancing another 6 cm and lowering toward grasp height.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.145,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DNnJLAMqZ6kyD8Mg5fTBCC",
      "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, -0.4278, -0.0189, -0.0387, 0.9988, 0.4755, 1.7115, 0.8932, -0.0643, 0.3836, 0.2241, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.0026 left_pitch=-0.0473 left_roll=-0.003 left_gripper=0.9988 right_x=0.3993 right_y=0.1353 right_z=0.0551 right_yaw=0.0145 right_pitch=-0.2207 right_roll=-0.1357 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.347, 6.9812, 1.8388, -0.0317, -0.0415, -0.0122, -0.294, -7.747, 8.5675, 1.7607, 0.1978, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a5779bba7a36b0277402b95473c63f2f0da81c24c76d4ca7a531fe63b816983",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a21f9c7bfec335e364d30664a2ff2bbd9afb6d8f5358e15b3dbf33350e6084f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2cb803c1d3f54a79c76191f58e3358a927ff79100767fd8420bf367f1377354e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 11.64 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, 0.7982, 0.6075, -0.4053, -0.0193, -0.038, 0.9988, 0.7509, 1.2812, 0.7307, -0.26, 0.5655, 0.424, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1752 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0028 left_gripper=0.9988 right_x=0.3077 right_y=0.1626 right_z=0.1293 right_yaw=0.0467 right_pitch=-0.075 right_roll=-0.0603 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.6615, 6.9538, 1.8632, -0.0806, 0.0317, -0.022, 0.1299, -4.9162, 9.2103, 1.7118, 0.4567, 0.1832, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4133, -0.0193, -0.0383, 0.9988, 0.5846, 1.4693, 0.881, -0.2344, 0.453, 0.3012, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0015 left_z=0.1723 left_yaw=0.0027 left_pitch=-0.0313 left_roll=-0.0028 left_gripper=0.9988 right_x=0.3627 right_y=0.1516 right_z=0.121 right_yaw=0.0319 right_pitch=-0.1382 right_roll=-0.096 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.4974, 7.0769, 1.79, -0.0757, -0.0366, -0.0122, -0.253, -5.9009, 8.7316, 1.7802, 0.1343, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4278, -0.0189, -0.0387, 0.9988, 0.4755, 1.7115, 0.8932, -0.0643, 0.3836, 0.2241, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.0026 left_pitch=-0.0473 left_roll=-0.003 left_gripper=0.9988 right_x=0.3993 right_y=0.1353 right_z=0.0551 right_yaw=0.0145 right_pitch=-0.2207 right_roll=-0.1357 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.347, 6.9812, 1.8388, -0.0317, -0.0415, -0.0122, -0.294, -7.747, 8.5675, 1.7607, 0.1978, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a5779bba7a36b0277402b95473c63f2f0da81c24c76d4ca7a531fe63b816983",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a21f9c7bfec335e364d30664a2ff2bbd9afb6d8f5358e15b3dbf33350e6084f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb803c1d3f54a79c76191f58e3358a927ff79100767fd8420bf367f1377354e",
        "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/QMKjgEIEhgCKkBlU2aOV1+EVrG1XkC76gM7hnYPGSwlTj3ESNg5Jjfvzi4WiVljsMactGUaYaoXZnUpQpVdHDdLVt4TZxX3Y3KMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdT2y9UGEgxWZOONncJoUXvgB7YaDO+I3kth22lBEgNRFiIwWGMiExEE8fwQwOgzOLxzQDQhurYRUrBhQ60A0DO9rT3FQKpJGNF21YLJezgLlzLsKpsCkVg3TfwB6d+r+/sqhRp+vEiZzB3g+T6TrDqa7aiJ5hI/a2xjvq+JVVHdosS+Qt3GQcr/tEIumsHAcPHtp16wlTIJUBMz+esjDHRvgG9w/fMPo7qjOU5N6Qll559QtCb248US4rB7r2zWdNuEP4EMlMivqkfIYpRY8ozpNb1B8EeV8P5UzM6YzDFY1czPs/0WOmlyOfv163MNkU8PXLGTr9rybkYtXP3WVERFClJ9hrynCrUqCy9nWJk/CTfIqFN0xx4gRNxU8/itYPynsMeU5rlN1dlTMpJZjaQQgIn/6rK4/cmLj8qklGBZiAvcW7s+pMUwgZC5O32JnVbv/c77ELawtVXKZ3fVPb/0w//b7FgxxliWUIBu4/KkEBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TXyaAkCFuK1QBuYvSBrGPV",
      "input": {
        "note": "Lemon is centred on the jaw column but still beyond the fingertips; advancing to grasp depth just above the table.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.14,
          "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_01TXyaAkCFuK1QBuYvSBrGPV",
      "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, -0.4294, -0.0193, -0.0383, 0.9988, 0.4698, 1.7363, 0.8936, -0.0196, 0.3687, 0.2089, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1686 left_yaw=0.0027 left_pitch=-0.0488 left_roll=-0.0025 left_gripper=0.9988 right_x=0.4054 right_y=0.1385 right_z=0.0512 right_yaw=0.031 right_pitch=-0.2085 right_roll=-0.1271 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.265, 7.3231, 1.6874, -0.0708, -0.0415, -0.0122, -0.3761, -8.4581, 8.294, 1.873, 0.1685, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f4aaaea1ecb765c644bc3a1f9ec5329aefcd4196cde9cf9839f508cea633709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34d996452099f5cdd1d31760bb8debfd81e8ed2e08ff6b3716db0bac65f2665f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1678418cc049cf341e4ced8a6bb838b0d20590a69a0a277691f76cdc65ab8bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 5.743 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, 0.8017, 0.6067, -0.4133, -0.0193, -0.0383, 0.9988, 0.5846, 1.4693, 0.881, -0.2344, 0.453, 0.3012, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0015 left_z=0.1723 left_yaw=0.0027 left_pitch=-0.0313 left_roll=-0.0028 left_gripper=0.9988 right_x=0.3627 right_y=0.1516 right_z=0.121 right_yaw=0.0319 right_pitch=-0.1382 right_roll=-0.096 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.4974, 7.0769, 1.79, -0.0757, -0.0366, -0.0122, -0.253, -5.9009, 8.7316, 1.7802, 0.1343, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4278, -0.0189, -0.0387, 0.9988, 0.4755, 1.7115, 0.8932, -0.0643, 0.3836, 0.2241, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.0026 left_pitch=-0.0473 left_roll=-0.003 left_gripper=0.9988 right_x=0.3993 right_y=0.1353 right_z=0.0551 right_yaw=0.0145 right_pitch=-0.2207 right_roll=-0.1357 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.347, 6.9812, 1.8388, -0.0317, -0.0415, -0.0122, -0.294, -7.747, 8.5675, 1.7607, 0.1978, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4294, -0.0193, -0.0383, 0.9988, 0.4698, 1.7363, 0.8936, -0.0196, 0.3687, 0.2089, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1686 left_yaw=0.0027 left_pitch=-0.0488 left_roll=-0.0025 left_gripper=0.9988 right_x=0.4054 right_y=0.1385 right_z=0.0512 right_yaw=0.031 right_pitch=-0.2085 right_roll=-0.1271 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.265, 7.3231, 1.6874, -0.0708, -0.0415, -0.0122, -0.3761, -8.4581, 8.294, 1.873, 0.1685, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f4aaaea1ecb765c644bc3a1f9ec5329aefcd4196cde9cf9839f508cea633709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34d996452099f5cdd1d31760bb8debfd81e8ed2e08ff6b3716db0bac65f2665f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1678418cc049cf341e4ced8a6bb838b0d20590a69a0a277691f76cdc65ab8bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgwsKjgEIEhgCKkCvjs63uQot5IvTgpoNGmZar/wtk7m1ch4C8frF0DmvHbhoAad16T6r5pYWVzB4pwaLZs3/SMI/ZZ7MdO/KUAKBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeD2y9UGEgyff8O5uQDqCXvEr4QaDH9AX8LjhC726chtTCIwjJ63mnawBh2heFRxMjj74gLWPJAzB8GkSvoPC0R8oUYyD7EEvSKWNUhG0UGX52UIKqEJFDWB7YDHEPw6ataWY8tF4Qs1PPpYb6jA9UTEmNZbVom3Ux/bL+TRlrp/QnuCpT1nAzw4gXphWSBMDkw/QcaGKnQyWWwzcpC5zd7bAjsyfcmWNLUiD6KlYqeBLes2S4eIswJfotBNbH4l0Fnmj8qAwZXm6pJZjsLQlj8iazHBF8AVY/YQFDb7ZQCCiL9RmdYgsa0ti+egR9ndcGfHsQB27O2ho5pOfxMcDV3SA4q3Y0BMSs5B/+X8PwcGsB4XXz8SBIBIz+f+Nq3ba1PnIQmLgxLSEnX1ACw+SRdW+mITRCC/+DmqiDNVfscNiS8JMJlfs2BPWodQxtH9Vu3DnMj9ZdAwtiVujAYzOQZawm8BeCgvid/4IoxB0FsFw2a/1Jr5o/femqSjYf53bww/75pNWBZWe97g79WQMeyqCoZGvABWQFHTEAf/cViTIAmhJUYc4ACh9P/9OtNdLc56NQP78CVH2MZP62jIL+IaTCm406opovPEOiL9kHJKfTSlKMxCNroZyY2UPyjgWTUkg1BLuPdls/9rEkH8/g+m8oITwlXvkWocG++bCaUBpkCI+fUxEVeE9W/4qRoxEsRgn3NrwPJmd2GLs2Gdo/sXdB4Rl7eo52uzwcUSn4eUeD/T47W2XuyB79NOHKTU4PmfnrIWqqXuv/foLH+I7Bb9DOs5Bm5+BeTIY5jOg1E6+eb/6fUYXCos1C9V0nKP36/SLahkQVg6MSE4amHdg/qzvmqdi3vsA65iInbzajmiJX3ESibphHfvMiY1YXqTdo/lKfW9Wd4UVTYIDic+qBARKQt5MaGjt1xqeP7fPOPJhx7EF+0YnnJOxdv9r8ANXj+6wJEoGQBkxU/tP62rD9lDqIW/alJGQv/Y7R2S/1Kp3Zq3ZnK7wbIfGp9UNZot7deJScnMOHXb5e6baSPRc/NsFsFwDImHEOrN9Iqv2AR1kRuPXjAd7d+TflQghfH8NyrQp2WMpvcVZhKGK563uWcVMeeHrLcDsQYuO41lhC9THb4yq5hmHecdeIHjtyrOJX6EmcRS2ccR3QLhuYn+BZM4BFaAwp+spjsM3n20f1FJNRVOvNEsk8UrWaMD0l9OxZK2wQZlCqk+AUcM8O4nLgV/PEUpvK5cWooo62N+FSxxqZyxMUdLpgeHQdgZZxndQyIKV1fvkTfc8Dxk1ZHYMaSuShYMz8yvzBSZOVn6pu7tdQrH00P76mo+hFF6fIDsbRA9hyXvc9hvRuunnVlejW4uXO7/GCyLtxQe3Gntveb6goNa5FCUK4PfDb869cudasUhjzLrI5O+8zB2cNXC54WVUsm2yQUJI3tYg3FLg8Y13AAYbXpsQ/AXuGq3+MrTT2UQXyqNRETnenQTvrjWxsszvhumhHOCNihqCsjGU3PD4A+x7CPW+vUjvbE/EGp+0n9QTM3VNnSfWONqj6ya5yEVYAavmpguYrNa7P8iXm/K1v7u97gfQlKvU+XsK3AM8P2f9UcEUyQ+5RhF/N/dSR2m3TMBJJ5dMzP/IEng/4Z35cDbdjkkN23Sklq8mqY1fHhrji3F7LnByyMbbJNfMf1U3Av1AQppGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CHS9c4nqeGYnxJSgAcsTfn",
      "input": {
        "note": "The arm stalled ~4 cm short of the last target, so I am commanding further out with the tool pitched forward to extend reach toward the lemon.",
        "targets": {
          "right_pitch": 0.2,
          "right_x": 0.5,
          "right_y": 0.14,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01CHS9c4nqeGYnxJSgAcsTfn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4503, -0.0193, -0.0387, 0.9988, 0.416, 2.0697, 0.9054, 0.7048, 0.3801, 0.0517, 0.9996]\nstate[eef_state]: left_x=0.2859 left_y=0.0016 left_z=0.1638 left_yaw=0.0029 left_pitch=-0.0725 left_roll=-0.0023 left_gripper=0.9988 right_x=0.49 right_y=0.1487 right_z=0.0389 right_yaw=0.0598 right_pitch=0.1568 right_roll=-0.1073 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4838, 7.0496, 1.8926, -0.0806, -0.0073, -0.0122, -1.1692, -7.9111, 6.0923, 1.8974, 0.359, -0.1929, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d60b5ab7c06a2f0c18d1dbacd1f8979ff7363fa6ce0195df20f680b3a3843b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eb9a1f06932ad2628dae420efe65359d107b3f80963b0e0320e396b15198d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6852b951eeb758dbb23bfa3d3b300fa6f02ec9f2ffb8e6d7db9633162a2dd0e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.314 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, 0.8032, 0.6067, -0.4278, -0.0189, -0.0387, 0.9988, 0.4755, 1.7115, 0.8932, -0.0643, 0.3836, 0.2241, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.0026 left_pitch=-0.0473 left_roll=-0.003 left_gripper=0.9988 right_x=0.3993 right_y=0.1353 right_z=0.0551 right_yaw=0.0145 right_pitch=-0.2207 right_roll=-0.1357 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.347, 6.9812, 1.8388, -0.0317, -0.0415, -0.0122, -0.294, -7.747, 8.5675, 1.7607, 0.1978, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4294, -0.0193, -0.0383, 0.9988, 0.4698, 1.7363, 0.8936, -0.0196, 0.3687, 0.2089, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1686 left_yaw=0.0027 left_pitch=-0.0488 left_roll=-0.0025 left_gripper=0.9988 right_x=0.4054 right_y=0.1385 right_z=0.0512 right_yaw=0.031 right_pitch=-0.2085 right_roll=-0.1271 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.265, 7.3231, 1.6874, -0.0708, -0.0415, -0.0122, -0.3761, -8.4581, 8.294, 1.873, 0.1685, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4503, -0.0193, -0.0387, 0.9988, 0.416, 2.0697, 0.9054, 0.7048, 0.3801, 0.0517, 0.9996]\nstate[eef_state]: left_x=0.2859 left_y=0.0016 left_z=0.1638 left_yaw=0.0029 left_pitch=-0.0725 left_roll=-0.0023 left_gripper=0.9988 right_x=0.49 right_y=0.1487 right_z=0.0389 right_yaw=0.0598 right_pitch=0.1568 right_roll=-0.1073 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4838, 7.0496, 1.8926, -0.0806, -0.0073, -0.0122, -1.1692, -7.9111, 6.0923, 1.8974, 0.359, -0.1929, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d60b5ab7c06a2f0c18d1dbacd1f8979ff7363fa6ce0195df20f680b3a3843b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eb9a1f06932ad2628dae420efe65359d107b3f80963b0e0320e396b15198d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6852b951eeb758dbb23bfa3d3b300fa6f02ec9f2ffb8e6d7db9633162a2dd0e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmwQKjgEIEhgCKkBGf8pJAsnmhLMcF85P8n5OB6ld18ZPrlgYTGHVYokOw1WFEMazBui5dn+AXznBxK2KKd8zu+MpCHpEnUHjMMH0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAej2y9UGEgzyGZucSrIhpGimeHIaDDUgpkQBo+KRtyjmviIw5Femc7vYKuLrOktRbrjMkaC0nv/5CJ3TK1MJD88D/m5Tdi6hDLuHHNnD/8JH7KW1KrkC1DFd7S/RlxNJhy/+AVeI+o/i1fMuGjRTSDnc0yIJ2Nr0uuxJZOlumxGtLV0wPdzCfObbdnpkJAcyBZIZ6B3POXVzLIHn56hvQEgkNp7fxGVbsEkbBrizkj5Sf345+2oBvDVK8DV2jQvfeEe10mQQ8vfn6GAGjZ2tKhzx5dkgMqCCWGkOHAGCvWiDurbCBArZT9EixCctgrXVf/W+PZVG3biP3fi16P/jw31dN+f8zkYB5f7Aoya0AazoDsI38L7ZfA64YRigz6N7c4/zx6Iga2Wc4c0cM6csrJabAnpkFBZ+gft4N0Sg7UwH+lpmakV23ObI2E7YUnDJFWUzg40MrjRbCvE08qmBLULQ9J3QfGxK+GH9gPrhzGT+B2Se0seloKrGUFlx/m/AVLX+38YVHnUuRDZZGvMSIRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EoYzpvdRauiv5X2HbdSNCV",
      "input": {
        "note": "The lemon now sits right at the jaws in the wrist view; descending to grasp height.",
        "targets": {
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01EoYzpvdRauiv5X2HbdSNCV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4545, -0.0189, -0.0383, 0.9988, 0.4141, 2.112, 0.9096, 0.7738, 0.3767, 0.0376, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1629 left_yaw=0.0024 left_pitch=-0.0767 left_roll=-0.0021 left_gripper=0.9988 right_x=0.4949 right_y=0.1504 right_z=0.0341 right_yaw=0.0668 right_pitch=0.1845 right_roll=-0.1082 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.1145, 6.9675, 1.7216, -0.0611, -0.0366, -0.0122, 0.3487, -8.0068, 3.9179, 1.8584, 0.0952, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fae526424976331a69b04d380f9c1c1e88d43c12f0ceb54abee2495cd5fb26ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf185a95dd11ca4d4cc0e1a77cf8005a9a5bc15117b17d33236c2e3821f2dba8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c29b041b50794062e96506a46f7ccd3e0370d3d0cc4220ae68bed8dbb0b16b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 10.13 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4294, -0.0193, -0.0383, 0.9988, 0.4698, 1.7363, 0.8936, -0.0196, 0.3687, 0.2089, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1686 left_yaw=0.0027 left_pitch=-0.0488 left_roll=-0.0025 left_gripper=0.9988 right_x=0.4054 right_y=0.1385 right_z=0.0512 right_yaw=0.031 right_pitch=-0.2085 right_roll=-0.1271 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.265, 7.3231, 1.6874, -0.0708, -0.0415, -0.0122, -0.3761, -8.4581, 8.294, 1.873, 0.1685, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4503, -0.0193, -0.0387, 0.9988, 0.416, 2.0697, 0.9054, 0.7048, 0.3801, 0.0517, 0.9996]\nstate[eef_state]: left_x=0.2859 left_y=0.0016 left_z=0.1638 left_yaw=0.0029 left_pitch=-0.0725 left_roll=-0.0023 left_gripper=0.9988 right_x=0.49 right_y=0.1487 right_z=0.0389 right_yaw=0.0598 right_pitch=0.1568 right_roll=-0.1073 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4838, 7.0496, 1.8926, -0.0806, -0.0073, -0.0122, -1.1692, -7.9111, 6.0923, 1.8974, 0.359, -0.1929, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4545, -0.0189, -0.0383, 0.9988, 0.4141, 2.112, 0.9096, 0.7738, 0.3767, 0.0376, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1629 left_yaw=0.0024 left_pitch=-0.0767 left_roll=-0.0021 left_gripper=0.9988 right_x=0.4949 right_y=0.1504 right_z=0.0341 right_yaw=0.0668 right_pitch=0.1845 right_roll=-0.1082 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.1145, 6.9675, 1.7216, -0.0611, -0.0366, -0.0122, 0.3487, -8.0068, 3.9179, 1.8584, 0.0952, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fae526424976331a69b04d380f9c1c1e88d43c12f0ceb54abee2495cd5fb26ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf185a95dd11ca4d4cc0e1a77cf8005a9a5bc15117b17d33236c2e3821f2dba8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c29b041b50794062e96506a46f7ccd3e0370d3d0cc4220ae68bed8dbb0b16b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISjgMKjgEIEhgCKkBLLEMH/ZDHMsUzt6nbqQU2gUskaADNY5qfnNOcBGLucpoidkRUmA3SupgW4OiZT8jOQABSw/SDnleBucrWvye5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe32y9UGEgy/Rd+6Tb81YWlbhqIaDGExSpKH8J98OxkTgCIwx4WTb6qLm0gLSv56GfLGmhqzJc6ST9A9Wrf40KSsC7oZLfOSBx3RR47jdF78tYG+KqwB44PPlTUAIV2Owsz0RsFfQabMpQaL9aVEW4RMJS3pnWg4k064FFQ7BNrSxNmmwVpg/ytSLVf5Mx/tOj1sXeDBEyvog8gMrYFdboxqlkipjrks8o4unnX5EWqwEnufz42mrCBekodx9dUDCjnJvgEQUAKOPcKoapGAage3K1Scew5XD/W9IvgNV4QfPROCR+MrhLVZDvJVpvns1B+nUige1c2USL+T6nVVKVvxzBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KzPF21b7QiCMBfTmTv5QCs",
      "input": {
        "note": "Fingertips are at table level with the lemon between the jaws; closing the gripper.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KzPF21b7QiCMBfTmTv5QCs",
      "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, 0.8062, 0.6067, -0.458, -0.0189, -0.0383, 0.9988, 0.4175, 2.1426, 0.902, 0.7872, 0.3576, 0.057, 0.7089]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1622 left_yaw=0.0024 left_pitch=-0.0805 left_roll=-0.002 left_gripper=0.9988 right_x=0.4907 right_y=0.154 right_z=0.0187 right_yaw=0.0768 right_pitch=0.1594 right_roll=-0.0908 right_gripper=0.7089\nstate[joint_eff]: [-0.1299, -1.2786, 7.159, 1.6679, -0.0415, -0.022, -0.0122, -0.4444, -9.6479, 4.3145, 1.8242, 0.2906, -0.105, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:add9385fa335cbfcbb852c50530470e42fbe1deb33b96d0fc66535b1c0b8bacd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc0bbe7860332ed6474ce043a3d7326cd4ffb83168c14f1b474dda718b59c0dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3a0e60054f2ee933a81c470ddd1b66d37c8676f3e3bbf823d04bd98c6e80546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 8.643 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, 0.8059, 0.6067, -0.4503, -0.0193, -0.0387, 0.9988, 0.416, 2.0697, 0.9054, 0.7048, 0.3801, 0.0517, 0.9996]\nstate[eef_state]: left_x=0.2859 left_y=0.0016 left_z=0.1638 left_yaw=0.0029 left_pitch=-0.0725 left_roll=-0.0023 left_gripper=0.9988 right_x=0.49 right_y=0.1487 right_z=0.0389 right_yaw=0.0598 right_pitch=0.1568 right_roll=-0.1073 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4838, 7.0496, 1.8926, -0.0806, -0.0073, -0.0122, -1.1692, -7.9111, 6.0923, 1.8974, 0.359, -0.1929, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4545, -0.0189, -0.0383, 0.9988, 0.4141, 2.112, 0.9096, 0.7738, 0.3767, 0.0376, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1629 left_yaw=0.0024 left_pitch=-0.0767 left_roll=-0.0021 left_gripper=0.9988 right_x=0.4949 right_y=0.1504 right_z=0.0341 right_yaw=0.0668 right_pitch=0.1845 right_roll=-0.1082 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.1145, 6.9675, 1.7216, -0.0611, -0.0366, -0.0122, 0.3487, -8.0068, 3.9179, 1.8584, 0.0952, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.458, -0.0189, -0.0383, 0.9988, 0.4175, 2.1426, 0.902, 0.7872, 0.3576, 0.057, 0.7089]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1622 left_yaw=0.0024 left_pitch=-0.0805 left_roll=-0.002 left_gripper=0.9988 right_x=0.4907 right_y=0.154 right_z=0.0187 right_yaw=0.0768 right_pitch=0.1594 right_roll=-0.0908 right_gripper=0.7089\nstate[joint_eff]: [-0.1299, -1.2786, 7.159, 1.6679, -0.0415, -0.022, -0.0122, -0.4444, -9.6479, 4.3145, 1.8242, 0.2906, -0.105, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:add9385fa335cbfcbb852c50530470e42fbe1deb33b96d0fc66535b1c0b8bacd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc0bbe7860332ed6474ce043a3d7326cd4ffb83168c14f1b474dda718b59c0dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3a0e60054f2ee933a81c470ddd1b66d37c8676f3e3bbf823d04bd98c6e80546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISlQgKjgEIEhgCKkCMCdQRXa5l2hhUJTeyqJuFMjlLt4zZF0+++Fl8LONO4T5jTkHOESrub+qvPPDsKwEBHsRS4dStahnafBPFTCc3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAff2y9UGEgxjPGJ9fpQA8kYxGDAaDK/1zyuIjYeKP4P1LiIwpo89oV+Fdml/tkov9t49A2qpg2l1/XBrRjz5rOiMsEF6Mse6l3LHzjs4HqvP5q3LKrMGymsuat36WTqo1DRYDxrVgWm5aSSui7G9f/GznfY6nGUtrB86sOUyvwUTzKusu76emanRESpsNLv8H7KOktzYnGoK9JZ1oeI+i8xuDQ0W6dpt1lWlG0meoRVYU+9Jxjp++jBoQYuhQ3cmNE6MDqAiYtFi124G61eMOwxUXN+kyPFCg9+8lDjWHlsMiSwHOdZhK4SUUn836wTydUzaNXEvo+1x0wpD2eQaWAp1E5G9Vc739TilSpD0/wmWRMJ9nTIwv8Cv6dQwwgOPB7kSIXDEikWxuOP3+nUXpU+L2x/k1euab5dcoxWJxLMcl9MdUEtxtYYvcYi6ntL45JqWHJzyfiS7E/AqGk2XbRZPTHpdRjh/UWNKuSXleM8br4EilRpyvlC7OZyoGisKovcHMnQ/hIWMzXNxBtlRGA20KD9ZxyPmLJ7SLE6kvoevgKSGsSi8DGdCX4KSi7yGlrEKkj5yXPt2FbwsSXC/o4on5zgWU+xD+fQOgTmp5V6VCjt1EPAJmCxQWbleCiOCiZagDK9Dz6ar+O5UWhxrjifv8NjrjbdO3jDHiErf6tASTVCXcfTQJja5v6NMUxlqfIl/BkMjmSMG7EBHeaYPQq99cObF8VZDfPKa2AYxwaL/cQHJE6rXZ9BsK+XbrwJVdaTGG4nq7d9i45vSJPi/MyoxQ9SUH8RVSHK/tggYGAFdVoeugCBWgzhA4ts11jPJplDFsTeIWPzAUtxeappHNZAD+EUxETstlbAnX0UkmFAb2QA2bvQS580OO2K8UdXSw+hGGF2mK7d1TAn40tuuBE1LSiOxA/GeBOLkF2UcfnNWLU+cGmBGXZ/DF5bcUyIm3d2CafJnHbdtIZCmlyGf6SGhj1bmmh8ckNIcfp7FmAcXdb92BR4A7+4Pvp59K6MXUbpnFsEvVS2D8WgktoLm2N4QCHf1WbnKyNlhYOzl/fcvpfYsYyeXrM21xx13zYpqb5/HhbXShBOMRNvK2c3zF36jRPSC4GaSHADIZJgYcKMO9Adb0M6OhSswjsnj31R0Qm1cIDPAhvcDTJ3kftDVijV4fe7Ozm3J6OohrAMo0L29zx/fRAEQoLqnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HWswQkBUmjpBJWC7yLeLvC",
      "input": {
        "note": "Gripper settled at 0.71 (≈6.7 cm) — the mango is grasped. Lifting it clear of the table before carrying to the safe.",
        "targets": {
          "right_pitch": 0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01HWswQkBUmjpBJWC7yLeLvC",
      "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, 0.8062, 0.6067, -0.4732, -0.0189, -0.0387, 0.9988, 0.4099, 1.7756, 1.4021, -0.2646, 0.3191, 0.0765, 0.7079]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1592 left_yaw=0.0027 left_pitch=-0.0957 left_roll=-0.002 left_gripper=0.9988 right_x=0.4928 right_y=0.1576 right_z=0.1955 right_yaw=0.0943 right_pitch=-0.0208 right_roll=-0.1144 right_gripper=0.7079\nstate[joint_eff]: [-0.1846, -1.2376, 6.9538, 1.7998, -0.0366, -0.0415, -0.0122, -0.6906, -11.5624, 8.4581, 1.7705, 0.1294, 0.1636, -0.1148]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e6f1e930a3d00e86d71ea782d13de0f0dc6749d73361a150d046b8d8b978f1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b975117d31f5c929bce39ccd342ac7e17d60b318edecfa674a229aeb8152abb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c56c1d672e0bad4b60e68dd6d9fcbd98bb86de87512aa269b1c91b83785f1827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 6.075 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, 0.8059, 0.6067, -0.4545, -0.0189, -0.0383, 0.9988, 0.4141, 2.112, 0.9096, 0.7738, 0.3767, 0.0376, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1629 left_yaw=0.0024 left_pitch=-0.0767 left_roll=-0.0021 left_gripper=0.9988 right_x=0.4949 right_y=0.1504 right_z=0.0341 right_yaw=0.0668 right_pitch=0.1845 right_roll=-0.1082 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.1145, 6.9675, 1.7216, -0.0611, -0.0366, -0.0122, 0.3487, -8.0068, 3.9179, 1.8584, 0.0952, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.458, -0.0189, -0.0383, 0.9988, 0.4175, 2.1426, 0.902, 0.7872, 0.3576, 0.057, 0.7089]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1622 left_yaw=0.0024 left_pitch=-0.0805 left_roll=-0.002 left_gripper=0.9988 right_x=0.4907 right_y=0.154 right_z=0.0187 right_yaw=0.0768 right_pitch=0.1594 right_roll=-0.0908 right_gripper=0.7089\nstate[joint_eff]: [-0.1299, -1.2786, 7.159, 1.6679, -0.0415, -0.022, -0.0122, -0.4444, -9.6479, 4.3145, 1.8242, 0.2906, -0.105, 1.0281]",
      "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, 0.8062, 0.6067, -0.4732, -0.0189, -0.0387, 0.9988, 0.4099, 1.7756, 1.4021, -0.2646, 0.3191, 0.0765, 0.7079]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1592 left_yaw=0.0027 left_pitch=-0.0957 left_roll=-0.002 left_gripper=0.9988 right_x=0.4928 right_y=0.1576 right_z=0.1955 right_yaw=0.0943 right_pitch=-0.0208 right_roll=-0.1144 right_gripper=0.7079\nstate[joint_eff]: [-0.1846, -1.2376, 6.9538, 1.7998, -0.0366, -0.0415, -0.0122, -0.6906, -11.5624, 8.4581, 1.7705, 0.1294, 0.1636, -0.1148]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e6f1e930a3d00e86d71ea782d13de0f0dc6749d73361a150d046b8d8b978f1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b975117d31f5c929bce39ccd342ac7e17d60b318edecfa674a229aeb8152abb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c56c1d672e0bad4b60e68dd6d9fcbd98bb86de87512aa269b1c91b83785f1827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShQcKjgEIEhgCKkC6e/s6HJyCBlxxcgxRpHC2NeTLbsUrp6Ot5kvHHC+4i0gx1gRJmJJWLKVaLZ54bEMFWH2nlTw9Lmsj+mY6st1nMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYH3y9UGEgxMS/+SeL9iQ1m7IcUaDD05S86qmEReERu17CIwAC/hPlwxaKT7NoSnEYp2Yqp+J5PiAD1Ab3NdxqCKp+4fjBRbTItI9j2HWUXYyXzLKqMFYIHUrJIfwAnuKXCSw03SahCqSLqaOLBKw5Qfg8mx+eVFanPVexJNiT3wTqZp5anMoUpUJuPACOhJyKB68HhbakedBEnzuwivBWkxImtEFPfFIZuQCMfAymBPfEtkVm4Yl+ZUq5d31TMD222Mj79n31pC36+/CxUb1pEW1I4LQu8U5wlx35zB9bslw4fsORr5bkGgUe0x+TZCc9ws8/lyY4jZc93wlhMFJnvDQvRKb0TbbyYe9Gs8NZt5twUqyetkTT1yvfDAFVSSmyUGQdy72860Tqu0+6KQ8DoI0Jk7oeB2xg3LFdL93++5UhPsYZddsEwxaroNJ1KurXHWRlQhFnAanWStqR4iMlMmMfyNo9fJh5g63FjTy38h5HS7Ss3+WS/aW8kgLxeCVu2dbpwEwsa1N5z/mY/XxUj8EwdLgYINxBNlRBCIe1jmr6tIWQhN9FZnZAwFT5sIDq2wVVMiVPSDuhBeIuM5i6nP+Y52fPog41gVJgbBbRajtwS9MCsuCv0MhpxfFLPKrwmdoaFb4OehAAp/BLmv98Gz4hIrr5Vb0Vedp9eae+Wpcc7HsYLdgr7WJZYqd5TdBAXxMoJUUgmQkOyBqA0F2dpV9qWbJgUDt4OYPd55ScGJqAHn0S3l2aZnZffY9gHIu8XFT2Iulhlp0eVZkIemZMyQr0JOfBy+2JXiUxLpwYHeEhG57C3k2b1yEU+4LNEZtq7D64LfYtnP7RhazvwySLQ0QNa3xUzEH3WhqxgY7B5OIaQMfuiNS1do+RuTmJYxWVATH2lDDcf6ab5/wjrxm4FUKlX/LbP7IfS+T0PGgEWJKT67nuRvVVbtqV9EKwldU+NRR1DlK0u8zO3oRK3TfOpixv4praWBoocVf9D+vVMs3OhIzv7BdGGNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F4Mgy9uwzjF5p8tKV5LmKn",
      "input": {
        "note": "Mango is held and lifted; the red safe interior is to the left of the gripper in the wrist view. Moving over the safe opening at a safe height.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.29,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01F4Mgy9uwzjF5p8tKV5LmKn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4801, -0.0189, -0.0387, 0.9988, 0.725, 1.9663, 1.8637, -0.6575, 0.5331, 0.2638, 0.7078]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1575 left_yaw=0.0027 left_pitch=-0.1041 left_roll=-0.0018 left_gripper=0.9988 right_x=0.4559 right_y=0.2887 right_z=0.2372 right_yaw=0.1351 right_pitch=-0.0571 right_roll=-0.1393 right_gripper=0.7078\nstate[joint_eff]: [-0.1709, -1.388, 7.2274, 1.7753, -0.0464, -0.0464, -0.0122, 0.1026, -10.2906, 9.0462, 1.6337, 0.4274, 0.188, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc28b3fca023a20aa301d4ef202cc50bbde98e6d47960602127842192f655652",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d32a30e0d8eddfa03b43d35e3a79b7a3e647903c2c5e0a326399239cf8da77d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf3d7ae4a4de3778752f88824b9dfa1030b233bf940057783441912371e909fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 8.452 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, 0.8062, 0.6067, -0.458, -0.0189, -0.0383, 0.9988, 0.4175, 2.1426, 0.902, 0.7872, 0.3576, 0.057, 0.7089]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1622 left_yaw=0.0024 left_pitch=-0.0805 left_roll=-0.002 left_gripper=0.9988 right_x=0.4907 right_y=0.154 right_z=0.0187 right_yaw=0.0768 right_pitch=0.1594 right_roll=-0.0908 right_gripper=0.7089\nstate[joint_eff]: [-0.1299, -1.2786, 7.159, 1.6679, -0.0415, -0.022, -0.0122, -0.4444, -9.6479, 4.3145, 1.8242, 0.2906, -0.105, 1.0281]",
      "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, 0.8062, 0.6067, -0.4732, -0.0189, -0.0387, 0.9988, 0.4099, 1.7756, 1.4021, -0.2646, 0.3191, 0.0765, 0.7079]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1592 left_yaw=0.0027 left_pitch=-0.0957 left_roll=-0.002 left_gripper=0.9988 right_x=0.4928 right_y=0.1576 right_z=0.1955 right_yaw=0.0943 right_pitch=-0.0208 right_roll=-0.1144 right_gripper=0.7079\nstate[joint_eff]: [-0.1846, -1.2376, 6.9538, 1.7998, -0.0366, -0.0415, -0.0122, -0.6906, -11.5624, 8.4581, 1.7705, 0.1294, 0.1636, -0.1148]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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, 0.8078, 0.6067, -0.4801, -0.0189, -0.0387, 0.9988, 0.725, 1.9663, 1.8637, -0.6575, 0.5331, 0.2638, 0.7078]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1575 left_yaw=0.0027 left_pitch=-0.1041 left_roll=-0.0018 left_gripper=0.9988 right_x=0.4559 right_y=0.2887 right_z=0.2372 right_yaw=0.1351 right_pitch=-0.0571 right_roll=-0.1393 right_gripper=0.7078\nstate[joint_eff]: [-0.1709, -1.388, 7.2274, 1.7753, -0.0464, -0.0464, -0.0122, 0.1026, -10.2906, 9.0462, 1.6337, 0.4274, 0.188, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc28b3fca023a20aa301d4ef202cc50bbde98e6d47960602127842192f655652",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d32a30e0d8eddfa03b43d35e3a79b7a3e647903c2c5e0a326399239cf8da77d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf3d7ae4a4de3778752f88824b9dfa1030b233bf940057783441912371e909fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISigUKjgEIEhgCKkCc/JR5P3g9IrAnN+hjgPXumXcs2plxgUK1gAWmJ6+0zTnrSZWwa8GmmaDFD5Okq/WhZCLbZ5NEeL96UWARUcQzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYj3y9UGEgwxkVh+FIC2Wni8iA8aDDjorGzBlNEu37hMuyIwgyIpmzYQ1KUuhNMJj2+mL4N15BuLeVbmNGvAnG3uz1wV9awLB9uct74dmWIzB8x3KqgDxLunlDTZOeCPUxETejQup49liXGuGRlg/8DZnBoDS8KkIYvHOC9i2LdeqMioUxFSmY/BblI8pDd39an9eyBJFvN06Eg18VJ/EV1jgBJAci8vfYFw2q/EJKNatN+3yqeWs7SI8ZrUYIwyW69jQEDPHYtX4E2FoMZA1earJpQ8TiuYW/cAGaeMZeTpp6gZmy+HjDzJW/uTVzmYTltGZnx4aZUwDTzDDcRQenSLp0z2Uo5VE62/xvRgFJS6nYvKNQCEAEd8wk8nlF1fLc/Hnm86GqtFEvUY3G7WwCor1MfCJ/1qxwFdLykE9HymppsL41RpWWepGn6/8oFhTUt4FKLMMseYo934Lp6S++Evx8J7gTLzELFIcsQKwZaAD0hqfwDjIG0VJ4PvemeSME85G8qiKuwfbLG9bmXvj12/7cGNEpiizZ9uCtk3suiKiqK536k4ocOGWjl7dgoeHZsbjaCpAL3i8u4WSqonRwVBboDAEoeDi6fC0cAUfBlA3dSGD7RlwxgEoJmDH1uAHwirGg7iMcZs/ZR1wGmMfLf/PL5AVPHJeMrVndWEdBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0194xojMYhAksgwTouETFVZ1",
      "input": {
        "note": "The wrist view is now filled by the red interior of the open safe, so the mango is over the opening. Lowering it into the box before releasing.",
        "targets": {
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0194xojMYhAksgwTouETFVZ1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4961, -0.0189, -0.0387, 0.9988, 0.7265, 2.0064, 1.4242, -0.2119, 0.527, 0.2626, 0.7078]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1544 left_yaw=0.0027 left_pitch=-0.1201 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4493 right_y=0.2852 right_z=0.108 right_yaw=0.1405 right_pitch=-0.0879 right_roll=-0.1556 right_gripper=0.7078\nstate[joint_eff]: [-0.0205, -1.1145, 6.9675, 1.7705, -0.0464, -0.0659, -0.0122, -0.3624, -9.5248, 6.4479, 1.6337, 0.2418, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:754467b393a708628e6799bcd5319bb03055fc594aee520a4782af212b9e5942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4430b0c4d29ad92ef39d69c5fb648266a94ea91eca0d47ac681bba1a3c1338a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77c7d7057ba52b1d0d933b7a68dab1d194ee94a0e6fa017922acc24b51502a6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.491 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, 0.8062, 0.6067, -0.4732, -0.0189, -0.0387, 0.9988, 0.4099, 1.7756, 1.4021, -0.2646, 0.3191, 0.0765, 0.7079]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1592 left_yaw=0.0027 left_pitch=-0.0957 left_roll=-0.002 left_gripper=0.9988 right_x=0.4928 right_y=0.1576 right_z=0.1955 right_yaw=0.0943 right_pitch=-0.0208 right_roll=-0.1144 right_gripper=0.7079\nstate[joint_eff]: [-0.1846, -1.2376, 6.9538, 1.7998, -0.0366, -0.0415, -0.0122, -0.6906, -11.5624, 8.4581, 1.7705, 0.1294, 0.1636, -0.1148]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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, 0.8078, 0.6067, -0.4801, -0.0189, -0.0387, 0.9988, 0.725, 1.9663, 1.8637, -0.6575, 0.5331, 0.2638, 0.7078]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1575 left_yaw=0.0027 left_pitch=-0.1041 left_roll=-0.0018 left_gripper=0.9988 right_x=0.4559 right_y=0.2887 right_z=0.2372 right_yaw=0.1351 right_pitch=-0.0571 right_roll=-0.1393 right_gripper=0.7078\nstate[joint_eff]: [-0.1709, -1.388, 7.2274, 1.7753, -0.0464, -0.0464, -0.0122, 0.1026, -10.2906, 9.0462, 1.6337, 0.4274, 0.188, -0.0317]",
      "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, 0.8078, 0.6067, -0.4961, -0.0189, -0.0387, 0.9988, 0.7265, 2.0064, 1.4242, -0.2119, 0.527, 0.2626, 0.7078]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1544 left_yaw=0.0027 left_pitch=-0.1201 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4493 right_y=0.2852 right_z=0.108 right_yaw=0.1405 right_pitch=-0.0879 right_roll=-0.1556 right_gripper=0.7078\nstate[joint_eff]: [-0.0205, -1.1145, 6.9675, 1.7705, -0.0464, -0.0659, -0.0122, -0.3624, -9.5248, 6.4479, 1.6337, 0.2418, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:754467b393a708628e6799bcd5319bb03055fc594aee520a4782af212b9e5942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4430b0c4d29ad92ef39d69c5fb648266a94ea91eca0d47ac681bba1a3c1338a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77c7d7057ba52b1d0d933b7a68dab1d194ee94a0e6fa017922acc24b51502a6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9wcKjgEIEhgCKkAby7aoebMtanyMY18CqW5PNuYLWyqwUqHZDh8cTgQ+g6wWsVtfZaXlkAVbAv2yHB+mCQYYyXQkxlBo/QqXWrVZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZH3y9UGEgzeY6UaRbXx8OOGiHgaDPkwxaAkr59EPz9MACIwXt/ndfEvDBAbHlsmBRr9fepKd296lfBu6xNS7XxFEHUJU5Bc+nlSq6woVXVHzco2KpUGw4DSOj5BEFSIJnCi+UpYk71lg/JryTZK4RVueJMnZ/UqSvGwXaLPvJoVNApsp/ABXmobYYbV/Lz+1BrLArs59MVweeaLy7R/ZxYOQP6V3xsE9IyaLViBkB5STvuyMwfzvClRB1Xb+ZUqAyc6tlT32jbcpI9Jvu+qP4jtt+CZLhkDOgM6qr+rHg92exFjO1/cj0EZUPlkXIwLyvLYkoirHAhN4pA6AuaBXvXLgUqKJAZ93kZA9hDolI9BdUAwAfNK6Vd4BP0EMyLJDs4Mxu/N76hAajbhCEUVzdg7gqnhs0uGF3vLg0i+0LjLYyIQevHEJMEaofFh5MQFATDO515a7v1xeu4IxMyAeKV7GXwB32ZtjbchtQxTrywyq3gwpznz7O9djTAKcJqJu1s8akBdqvp/6r7R9CVevEqyGyWGP1mXPFBd5BXWEelMtYlPpcWkIEE/tQRxvsFpjz71hQWuqpUXuV+TWVkjUo4Ig6O4dgDEkCKu8LWEuS7hLWy7acnfB22ByPqlTPaEE4tfDQbgrqVCrsmNl6tmE2sTOaqTLGa1NDO4gvL6KmeeF2POT71oxhr3G7hFjEuf3Wjsb6706r60/becl2c5vQ6pmRAfnZZ6InIF8xNA+RiZYS7g8NRfOwWTtiln4h5gONuKvS7qMkQ3cHrRdKRqzMjkocBsd3tsTW2mIQZbWsUyvfi62KKBlIHF/JONJZ1bGtRGB6qJotfIS2vqxY+XqHNeJMY4rV5zxHL6+Ue+MIEA6mLI2ANG8+J18VC+j2BTN62L08TxIaDxZrQiJmsoDoRy6938SSfrXnkB685OuwPlr2CFNb9uWgmercq4moSRFSiydQUMcQPCPkH3HMmm8F0vFXcFpAoFMgKX8XoRVz11S6y41nTHwpfqke9Z1DCgT1AxkrUiL5JUsiL2/Ow8HnTPkh6k4q5d8iPcjeyHkUzPKL7ywHqVaXQ6WOmlLD/Ug5596sdqe+r7sbd5mnv8NaUrV+rRRJkIoG7N3PK/IvhdaDqd0cpN/UQHaOyJJM+DgdMFIc32DC2Eo4gBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GPqcHtUAurS4LPUwPRXF2r",
      "input": {
        "note": "The mango looks like it is hanging over the right wall of the safe, so I am shifting a few cm toward the box centre before releasing.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GPqcHtUAurS4LPUwPRXF2r",
      "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, -0.5091, -0.0189, -0.0387, 0.9988, 0.7795, 2.0529, 1.491, -0.2646, 0.5514, 0.2901, 0.7078]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1515 left_yaw=0.0028 left_pitch=-0.135 left_roll=-0.0011 left_gripper=0.9988 right_x=0.4403 right_y=0.3101 right_z=0.1041 right_yaw=0.1585 right_pitch=-0.1021 right_roll=-0.1672 right_gripper=0.7078\nstate[joint_eff]: [-0.1162, -1.265, 7.1043, 1.7753, -0.0757, -0.0708, -0.0122, 0.335, -9.7983, 8.5128, 1.5165, 0.3834, 0.149, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1ec4273be8784b4d62a5701f399759f311c33695b17aa7ab98e4f2dead7fd77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d00ecd6aebd86f4529aa143252b9bc1f5e1fecb5fd5d6f3b9d28486e264e90c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d62c8f8e4dcc0a48911d1677e464b9fb4e2a09740861fd5f8c5ebf85985d2515",
        "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 · 5.1 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, 0.8078, 0.6067, -0.4801, -0.0189, -0.0387, 0.9988, 0.725, 1.9663, 1.8637, -0.6575, 0.5331, 0.2638, 0.7078]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1575 left_yaw=0.0027 left_pitch=-0.1041 left_roll=-0.0018 left_gripper=0.9988 right_x=0.4559 right_y=0.2887 right_z=0.2372 right_yaw=0.1351 right_pitch=-0.0571 right_roll=-0.1393 right_gripper=0.7078\nstate[joint_eff]: [-0.1709, -1.388, 7.2274, 1.7753, -0.0464, -0.0464, -0.0122, 0.1026, -10.2906, 9.0462, 1.6337, 0.4274, 0.188, -0.0317]",
      "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, 0.8078, 0.6067, -0.4961, -0.0189, -0.0387, 0.9988, 0.7265, 2.0064, 1.4242, -0.2119, 0.527, 0.2626, 0.7078]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1544 left_yaw=0.0027 left_pitch=-0.1201 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4493 right_y=0.2852 right_z=0.108 right_yaw=0.1405 right_pitch=-0.0879 right_roll=-0.1556 right_gripper=0.7078\nstate[joint_eff]: [-0.0205, -1.1145, 6.9675, 1.7705, -0.0464, -0.0659, -0.0122, -0.3624, -9.5248, 6.4479, 1.6337, 0.2418, -0.0171, -0.0171]",
      "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, -0.5091, -0.0189, -0.0387, 0.9988, 0.7795, 2.0529, 1.491, -0.2646, 0.5514, 0.2901, 0.7078]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1515 left_yaw=0.0028 left_pitch=-0.135 left_roll=-0.0011 left_gripper=0.9988 right_x=0.4403 right_y=0.3101 right_z=0.1041 right_yaw=0.1585 right_pitch=-0.1021 right_roll=-0.1672 right_gripper=0.7078\nstate[joint_eff]: [-0.1162, -1.265, 7.1043, 1.7753, -0.0757, -0.0708, -0.0122, 0.335, -9.7983, 8.5128, 1.5165, 0.3834, 0.149, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1ec4273be8784b4d62a5701f399759f311c33695b17aa7ab98e4f2dead7fd77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d00ecd6aebd86f4529aa143252b9bc1f5e1fecb5fd5d6f3b9d28486e264e90c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d62c8f8e4dcc0a48911d1677e464b9fb4e2a09740861fd5f8c5ebf85985d2515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQMKjgEIEhgCKkBIib1ntH+zCOMfFb4F9GL9FQt86zLMTaiR4D73BowNn/LtnFGJE+sTxOIeAID6Wng9vUKkvt1Yh8jg+cJX8b36Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZb3y9UGEgx/Ffw0s4I1SOrV+BsaDJDbjMRio99/KXcPWiIweqgKDDdCYYhf6fU3LmMpMHEfyNOd2O8CrRJQc68fDxZ1lxeA0PY+hbyMR0fB4DTnKtsBzHyABajF2Gi18RKapVFB0QgJjpL1WMjNJJkMq7SZqc/9di9G5GJM70sg1bOcDuATkZEp5gHZSYizb0Jt5OERPi+e43Pkgk0kml3YNVJil/mVDsi0Ex+sAYYAPBMWJdLX2GzF3B3ZngyzEcVDUaJ8+TcRkFRJNu3BgDQxisbURED9qRqXhR5sJbX8jgpJnR2Vcm8nO/uaOjkTaCMpJhXKNlk36nU1HKfA00fPVurSuEW6pqBHEIXj3wFlbaJzRP97xLap6NfE27EFhH6gI9/+1P0VxbtHHlAhF6zFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dvi9rAo1PTF4gAhTcDpEDK",
      "input": {
        "note": "Jaws are centred over the red interior of the safe; opening to drop the mango inside.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Dvi9rAo1PTF4gAhTcDpEDK",
      "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, -0.5179, -0.0193, -0.0387, 0.9988, 0.8013, 2.0613, 1.5166, -0.2981, 0.5648, 0.3153, 0.9949]\nstate[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1499 left_yaw=0.0031 left_pitch=-0.1438 left_roll=-0.0007 left_gripper=0.9988 right_x=0.4348 right_y=0.3181 right_z=0.1057 right_yaw=0.1557 right_pitch=-0.1072 right_roll=-0.1654 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, -1.1966, 6.8991, 1.6581, -0.0366, -0.0611, -0.0073, -0.0479, -10.4821, 7.8838, 1.536, 0.3346, 0.0708, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54d8386c187c471ab29f24886fa70565a4a898634edfd7761726d03c4fe5084f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:569d16d9ebb5168f0edf3a134d37bae4924906772ee744d0c6b57d4f81e01fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2cf6cd4b50dcf7f62db6e41f59989bc05d001b77219ff889df6855df94b6439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 23.26 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, 0.8078, 0.6067, -0.4961, -0.0189, -0.0387, 0.9988, 0.7265, 2.0064, 1.4242, -0.2119, 0.527, 0.2626, 0.7078]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1544 left_yaw=0.0027 left_pitch=-0.1201 left_roll=-0.0015 left_gripper=0.9988 right_x=0.4493 right_y=0.2852 right_z=0.108 right_yaw=0.1405 right_pitch=-0.0879 right_roll=-0.1556 right_gripper=0.7078\nstate[joint_eff]: [-0.0205, -1.1145, 6.9675, 1.7705, -0.0464, -0.0659, -0.0122, -0.3624, -9.5248, 6.4479, 1.6337, 0.2418, -0.0171, -0.0171]",
      "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, -0.5091, -0.0189, -0.0387, 0.9988, 0.7795, 2.0529, 1.491, -0.2646, 0.5514, 0.2901, 0.7078]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1515 left_yaw=0.0028 left_pitch=-0.135 left_roll=-0.0011 left_gripper=0.9988 right_x=0.4403 right_y=0.3101 right_z=0.1041 right_yaw=0.1585 right_pitch=-0.1021 right_roll=-0.1672 right_gripper=0.7078\nstate[joint_eff]: [-0.1162, -1.265, 7.1043, 1.7753, -0.0757, -0.0708, -0.0122, 0.335, -9.7983, 8.5128, 1.5165, 0.3834, 0.149, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5179, -0.0193, -0.0387, 0.9988, 0.8013, 2.0613, 1.5166, -0.2981, 0.5648, 0.3153, 0.9949]\nstate[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1499 left_yaw=0.0031 left_pitch=-0.1438 left_roll=-0.0007 left_gripper=0.9988 right_x=0.4348 right_y=0.3181 right_z=0.1057 right_yaw=0.1557 right_pitch=-0.1072 right_roll=-0.1654 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, -1.1966, 6.8991, 1.6581, -0.0366, -0.0611, -0.0073, -0.0479, -10.4821, 7.8838, 1.536, 0.3346, 0.0708, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54d8386c187c471ab29f24886fa70565a4a898634edfd7761726d03c4fe5084f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:569d16d9ebb5168f0edf3a134d37bae4924906772ee744d0c6b57d4f81e01fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2cf6cd4b50dcf7f62db6e41f59989bc05d001b77219ff889df6855df94b6439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIShAQKjgEIEhgCKkAVlRvWlH6mNiVlUkkHxmNnhBfrh5CeyAAph2sFya6jGhvppUYSb72nOWZAYx/DLkvVQSGc+9dn1YypkY0vQ+Q0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZv3y9UGEgx5HeGlM30F0pnqndQaDD8l7fQUF58wqa6biiIwGnFnAYHJzOQOcXDomy8p5EIphEXfQPF6Wddw5rRUl9mOBDl1ljjPiO5QScnyk414KqICVaaRbQUwNTehcXbDTN+l5+WAvf7LH013ScS6g04oqPgQCaPAsZcrZq3SJARk8PodJLtRGvBBXuJ6AjpgxbTp19Q8uep/Ga+knqeDIs/uW7BVFoIYpr91nLvCXEQK3YDSLNNyZUCe8RZA4D2O3p5AbJGEQ6ojNvVPq/gZP8XEWBHNj27PVEc8214ONlK0NFmZj9iwi9OJGJA8MlWALf3FCbntFDqDJmohkhbQR8sckXnuyJAEOlLvjamkX4sNmwTYzhljhYeQcCnupBuqKTfL98kZaDzpBOieu3fJFhtuxIBgxN/B9xPZ6G1XmAr6GqDilkZoHvndQe29YbTcB9fMTwMfZ8JTbBDSlvFM0gM2fDH9mudFTTQNkLkgyXVnl+MOuygYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018nYoVUhb34hoMJzwahpiPk",
      "input": {
        "note": "Mango released; retracting the right arm so the overhead camera can show whether it landed inside the safe.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_018nYoVUhb34hoMJzwahpiPk",
      "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, -0.5362, -0.0193, -0.0387, 0.9988, 0.2623, 1.0035, 1.0096, -0.7387, 0.2035, -0.0582, 0.9954]\nstate[eef_state]: left_x=0.2726 left_y=0.0018 left_z=0.1454 left_yaw=0.0032 left_pitch=-0.1667 left_roll=-0.0002 left_gripper=0.9988 right_x=0.3015 right_y=0.0477 right_z=0.2337 right_yaw=0.1142 right_pitch=-0.14 right_roll=-0.1712 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.1145, 6.8991, 1.7314, -0.0757, -0.0366, -0.0122, -0.1436, -2.7692, 9.306, 1.8584, 0.0171, -0.1148, 0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:889f39acde645492b98ef2f3cb3f7e27b1c0f06247e5b2692f0e4e44ac772195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5f0d8a7209880850a4e91873a946b1803ff17d7879e56cc6f175bc448ca705b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a223cf0894d27a6aba6db4a9d017ccc449ce00297617e977dc2b8ff1ad82de5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 5.742 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, -0.5091, -0.0189, -0.0387, 0.9988, 0.7795, 2.0529, 1.491, -0.2646, 0.5514, 0.2901, 0.7078]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1515 left_yaw=0.0028 left_pitch=-0.135 left_roll=-0.0011 left_gripper=0.9988 right_x=0.4403 right_y=0.3101 right_z=0.1041 right_yaw=0.1585 right_pitch=-0.1021 right_roll=-0.1672 right_gripper=0.7078\nstate[joint_eff]: [-0.1162, -1.265, 7.1043, 1.7753, -0.0757, -0.0708, -0.0122, 0.335, -9.7983, 8.5128, 1.5165, 0.3834, 0.149, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5179, -0.0193, -0.0387, 0.9988, 0.8013, 2.0613, 1.5166, -0.2981, 0.5648, 0.3153, 0.9949]\nstate[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1499 left_yaw=0.0031 left_pitch=-0.1438 left_roll=-0.0007 left_gripper=0.9988 right_x=0.4348 right_y=0.3181 right_z=0.1057 right_yaw=0.1557 right_pitch=-0.1072 right_roll=-0.1654 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, -1.1966, 6.8991, 1.6581, -0.0366, -0.0611, -0.0073, -0.0479, -10.4821, 7.8838, 1.536, 0.3346, 0.0708, -0.2271]",
      "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, -0.5362, -0.0193, -0.0387, 0.9988, 0.2623, 1.0035, 1.0096, -0.7387, 0.2035, -0.0582, 0.9954]\nstate[eef_state]: left_x=0.2726 left_y=0.0018 left_z=0.1454 left_yaw=0.0032 left_pitch=-0.1667 left_roll=-0.0002 left_gripper=0.9988 right_x=0.3015 right_y=0.0477 right_z=0.2337 right_yaw=0.1142 right_pitch=-0.14 right_roll=-0.1712 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.1145, 6.8991, 1.7314, -0.0757, -0.0366, -0.0122, -0.1436, -2.7692, 9.306, 1.8584, 0.0171, -0.1148, 0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:889f39acde645492b98ef2f3cb3f7e27b1c0f06247e5b2692f0e4e44ac772195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5f0d8a7209880850a4e91873a946b1803ff17d7879e56cc6f175bc448ca705b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a223cf0894d27a6aba6db4a9d017ccc449ce00297617e977dc2b8ff1ad82de5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ln1Q9dCBNuKxrxnKxKabjU",
      "input": {
        "note": "The mango missed the safe and rolled back to the table on the right of the box. Returning the gripper to it for a second pick, this time I will lower it into the box until contact before releasing.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.2,
          "right_x": 0.46,
          "right_y": 0.15,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Ln1Q9dCBNuKxrxnKxKabjU",
      "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, 0.8181, 0.6067, -0.5568, -0.0193, -0.0387, 0.9988, 0.45, 1.8545, 0.7494, 0.522, 0.3798, -0.0265, 0.999]\nstate[eef_state]: left_x=0.2693 left_y=0.0019 left_z=0.1407 left_yaw=0.0033 left_pitch=-0.1911 left_roll=0.0004 left_gripper=0.9988 right_x=0.4349 right_y=0.1413 right_z=0.0447 right_yaw=0.1408 right_pitch=0.033 right_roll=-0.2169 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.5248, 6.8718, 1.7265, -0.0562, -0.0317, -0.0122, 0.0889, -9.5658, 7.5145, 2.254, 0.1978, -0.0415, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c1d7939f76f9de5e69ae8de909badd669dde651fce3e7979cd6786243ec9119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:204b12ec3f3219f60ae1292c2c5cf2dda10e7855c54f4882f7838baa450ee39e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4633438a61608548522afdc61eb5d5924194b1ce396cc88181abb8d8688ce876",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 2.985 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, 0.8097, 0.6067, -0.5179, -0.0193, -0.0387, 0.9988, 0.8013, 2.0613, 1.5166, -0.2981, 0.5648, 0.3153, 0.9949]\nstate[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1499 left_yaw=0.0031 left_pitch=-0.1438 left_roll=-0.0007 left_gripper=0.9988 right_x=0.4348 right_y=0.3181 right_z=0.1057 right_yaw=0.1557 right_pitch=-0.1072 right_roll=-0.1654 right_gripper=0.9949\nstate[joint_eff]: [-0.1709, -1.1966, 6.8991, 1.6581, -0.0366, -0.0611, -0.0073, -0.0479, -10.4821, 7.8838, 1.536, 0.3346, 0.0708, -0.2271]",
      "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, -0.5362, -0.0193, -0.0387, 0.9988, 0.2623, 1.0035, 1.0096, -0.7387, 0.2035, -0.0582, 0.9954]\nstate[eef_state]: left_x=0.2726 left_y=0.0018 left_z=0.1454 left_yaw=0.0032 left_pitch=-0.1667 left_roll=-0.0002 left_gripper=0.9988 right_x=0.3015 right_y=0.0477 right_z=0.2337 right_yaw=0.1142 right_pitch=-0.14 right_roll=-0.1712 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.1145, 6.8991, 1.7314, -0.0757, -0.0366, -0.0122, -0.1436, -2.7692, 9.306, 1.8584, 0.0171, -0.1148, 0.0317]",
      "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, 0.8181, 0.6067, -0.5568, -0.0193, -0.0387, 0.9988, 0.45, 1.8545, 0.7494, 0.522, 0.3798, -0.0265, 0.999]\nstate[eef_state]: left_x=0.2693 left_y=0.0019 left_z=0.1407 left_yaw=0.0033 left_pitch=-0.1911 left_roll=0.0004 left_gripper=0.9988 right_x=0.4349 right_y=0.1413 right_z=0.0447 right_yaw=0.1408 right_pitch=0.033 right_roll=-0.2169 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.5248, 6.8718, 1.7265, -0.0562, -0.0317, -0.0122, 0.0889, -9.5658, 7.5145, 2.254, 0.1978, -0.0415, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c1d7939f76f9de5e69ae8de909badd669dde651fce3e7979cd6786243ec9119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:204b12ec3f3219f60ae1292c2c5cf2dda10e7855c54f4882f7838baa450ee39e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4633438a61608548522afdc61eb5d5924194b1ce396cc88181abb8d8688ce876",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7wMKjgEIEhgCKkAu8Vk6pxKL6gqOl2JmLvWA2iSEcCN7SekkU5vA2vO0cwC0hkHxkVjMPY/H6F+VCLXdeE48XHxiD1XjScF28yIjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbv3y9UGEgzp6JSKyhRxf/wFU98aDNZNQBHm4b/qufn4dCIw0HIlvhCeqoS4ETCaQlp8CEAxTSMcKSAF7jCkVDewDzaXIoNUcmSZmkZ9YVdKYTOFKo0CJpiaGZ6ZWsx5ld1Or6Yyaj18vnKFGtFRTQFyKy/DyUBpro6hn2JEBPPCYA1m2ncYjzmsrJhIZHPm0XCZqUeWyE4Now3A/WdsVEmOddktTfNtsjLVap5vF/bbnwzs7eRBC/vboLhCl0gndtXOgkP2moyJEUL0sLHst2HhcX/4GGnp0mC28o6TEqYBD7tj9uBEYfWtfiyexbSUzk2d8juQVixlm8h50XTThBxXBw2B+baUcn8/wPgvLiFhC5c2zJghuzGeDwbOwZgjSrrdpumyYDyYWBlittLZ9M6WKpEDFLT0/VSZXYqF4mkPMb0C0Uyb+awSdo0lqyk1WEgyhkbBM9SqtTufSaAbi64yq/cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012nTA5uR4CX5ymgwrjW44Y2",
      "input": {
        "note": "Mango fills the wrist view just beyond the jaws; advancing and dropping to table level to bracket it.",
        "targets": {
          "right_x": 0.49,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012nTA5uR4CX5ymgwrjW44Y2",
      "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, -0.5644, -0.0193, -0.0387, 0.9988, 0.3897, 2.0529, 0.9134, 0.54, 0.3328, -0.0578, 0.999]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1387 left_yaw=0.0033 left_pitch=-0.2014 left_roll=0.0006 left_gripper=0.9988 right_x=0.4786 right_y=0.138 right_z=0.0149 right_yaw=0.1359 right_pitch=0.0063 right_roll=-0.2228 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.4427, 7.0496, 1.5849, -0.0611, -0.0024, -0.0122, -0.5128, -9.347, 6.106, 1.8095, 0.1099, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e35572f783c37e41ea850d98d8416a42ab54b493bffc6428a9cfc2982e6a2925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b99fae082a12957c65fcc8c6dc5146eea6de37a4eef5df0074db1fa3c46ad38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e86880bcfb74b96500f3083d6a63bae3e46349628262f36fff9171115e16680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 8.427 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, -0.5362, -0.0193, -0.0387, 0.9988, 0.2623, 1.0035, 1.0096, -0.7387, 0.2035, -0.0582, 0.9954]\nstate[eef_state]: left_x=0.2726 left_y=0.0018 left_z=0.1454 left_yaw=0.0032 left_pitch=-0.1667 left_roll=-0.0002 left_gripper=0.9988 right_x=0.3015 right_y=0.0477 right_z=0.2337 right_yaw=0.1142 right_pitch=-0.14 right_roll=-0.1712 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.1145, 6.8991, 1.7314, -0.0757, -0.0366, -0.0122, -0.1436, -2.7692, 9.306, 1.8584, 0.0171, -0.1148, 0.0317]",
      "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, 0.8181, 0.6067, -0.5568, -0.0193, -0.0387, 0.9988, 0.45, 1.8545, 0.7494, 0.522, 0.3798, -0.0265, 0.999]\nstate[eef_state]: left_x=0.2693 left_y=0.0019 left_z=0.1407 left_yaw=0.0033 left_pitch=-0.1911 left_roll=0.0004 left_gripper=0.9988 right_x=0.4349 right_y=0.1413 right_z=0.0447 right_yaw=0.1408 right_pitch=0.033 right_roll=-0.2169 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.5248, 6.8718, 1.7265, -0.0562, -0.0317, -0.0122, 0.0889, -9.5658, 7.5145, 2.254, 0.1978, -0.0415, -0.1148]",
      "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, 0.8207, 0.6067, -0.5644, -0.0193, -0.0387, 0.9988, 0.3897, 2.0529, 0.9134, 0.54, 0.3328, -0.0578, 0.999]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1387 left_yaw=0.0033 left_pitch=-0.2014 left_roll=0.0006 left_gripper=0.9988 right_x=0.4786 right_y=0.138 right_z=0.0149 right_yaw=0.1359 right_pitch=0.0063 right_roll=-0.2228 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.4427, 7.0496, 1.5849, -0.0611, -0.0024, -0.0122, -0.5128, -9.347, 6.106, 1.8095, 0.1099, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e35572f783c37e41ea850d98d8416a42ab54b493bffc6428a9cfc2982e6a2925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b99fae082a12957c65fcc8c6dc5146eea6de37a4eef5df0074db1fa3c46ad38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e86880bcfb74b96500f3083d6a63bae3e46349628262f36fff9171115e16680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013XdG44KyfsRotGciozMbGK",
      "input": {
        "note": "Mango is between the open jaws at table level; closing to grasp it again.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013XdG44KyfsRotGciozMbGK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5781, -0.0189, -0.0387, 0.9988, 0.3855, 2.0636, 0.9314, 0.5327, 0.3202, -0.0715, 0.424]\nstate[eef_state]: left_x=0.2656 left_y=0.0019 left_z=0.1363 left_yaw=0.0031 left_pitch=-0.2151 left_roll=0.0006 left_gripper=0.9988 right_x=0.4826 right_y=0.1397 right_z=0.0143 right_yaw=0.1495 right_pitch=0.0029 right_roll=-0.2273 right_gripper=0.424\nstate[joint_eff]: [-0.0752, -1.1009, 6.9538, 1.6288, -0.0317, -0.022, -0.0122, -0.2667, -9.2786, 6.5162, 1.8779, 0.1245, 0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73cfe0ec3e84fb97707b9e5d8cd4c6c77730787ad10242334889f9fd86ddfb9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ef70d8d23a7fd4ff8b85cae80cc85a4d2400c17dcb82557c75c0e838fbc5a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:257a6be90d6230efc4324d8d0a04c3927282d2502cfaf0f7797436153fe4b73d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 11.4 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, 0.8181, 0.6067, -0.5568, -0.0193, -0.0387, 0.9988, 0.45, 1.8545, 0.7494, 0.522, 0.3798, -0.0265, 0.999]\nstate[eef_state]: left_x=0.2693 left_y=0.0019 left_z=0.1407 left_yaw=0.0033 left_pitch=-0.1911 left_roll=0.0004 left_gripper=0.9988 right_x=0.4349 right_y=0.1413 right_z=0.0447 right_yaw=0.1408 right_pitch=0.033 right_roll=-0.2169 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.5248, 6.8718, 1.7265, -0.0562, -0.0317, -0.0122, 0.0889, -9.5658, 7.5145, 2.254, 0.1978, -0.0415, -0.1148]",
      "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, 0.8207, 0.6067, -0.5644, -0.0193, -0.0387, 0.9988, 0.3897, 2.0529, 0.9134, 0.54, 0.3328, -0.0578, 0.999]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1387 left_yaw=0.0033 left_pitch=-0.2014 left_roll=0.0006 left_gripper=0.9988 right_x=0.4786 right_y=0.138 right_z=0.0149 right_yaw=0.1359 right_pitch=0.0063 right_roll=-0.2228 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.4427, 7.0496, 1.5849, -0.0611, -0.0024, -0.0122, -0.5128, -9.347, 6.106, 1.8095, 0.1099, -0.0757, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5781, -0.0189, -0.0387, 0.9988, 0.3855, 2.0636, 0.9314, 0.5327, 0.3202, -0.0715, 0.424]\nstate[eef_state]: left_x=0.2656 left_y=0.0019 left_z=0.1363 left_yaw=0.0031 left_pitch=-0.2151 left_roll=0.0006 left_gripper=0.9988 right_x=0.4826 right_y=0.1397 right_z=0.0143 right_yaw=0.1495 right_pitch=0.0029 right_roll=-0.2273 right_gripper=0.424\nstate[joint_eff]: [-0.0752, -1.1009, 6.9538, 1.6288, -0.0317, -0.022, -0.0122, -0.2667, -9.2786, 6.5162, 1.8779, 0.1245, 0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73cfe0ec3e84fb97707b9e5d8cd4c6c77730787ad10242334889f9fd86ddfb9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ef70d8d23a7fd4ff8b85cae80cc85a4d2400c17dcb82557c75c0e838fbc5a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:257a6be90d6230efc4324d8d0a04c3927282d2502cfaf0f7797436153fe4b73d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggcKjgEIEhgCKkBRGrq7f8HgH1t06jfcaZtD4ZhVDgLSgYfAM01ftQ68ropHQ4uKpnGZaaSl4havGD8GflnwjlL81Ssi5sfZzdRdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcj3y9UGEgwQmW4L4JO9fNn5OdMaDA1gPcHsSTJhfT/+yyIwVmVzLEgdATVPw+f2ADZs6yTKno+fdr1CKXMWbEtMPCsbwKC/SWHbf+C6wYg+Wc0FKqAFdtYPkCnsHTSRkSPc/Y96+VipnhUyD/c/PiIDGIgs0VO2pgk7IuvauMSIsQA+Jumod34wTre4anH+RpImRz8lqU+R9Ls+bDA519qk8EqLf32vpjcYjqwZpAdzDHtz7Ab9hyA4Bqi8E9pk4gnkG3VlY5uqYMR4T6vgcdZPG9h/F5QCSA05wwUkO4kPQNwP7AG6CHDQjafSV0GIHn/Nus6Tw+RmWsqL5J+f5/qccn5v1b8iUdzNMepxcJEJVmCDCCbqpB6VDjFUgJXERswym6VP7/dRCMwQ8laPSc7WAzaWAAefpjyI0FrhOg9CaJSgkZeu7l06oUiTej1/BOug8/ExpV19j61+uLNqFQppvTp9OLkk7jAwIlU1QBVkmGdHQnRJQpL5bZoy/1UB0wAeyhXew3UrO4NumHwkhc6/6HO1xkWKOZ70O7aKpQ7eVdykER8jwJOZhQBFRQwotTr3yGj4q0gk83EDB0qzxwFb/l1W+VBbi0cP/09CMhksrDnt0zN84mNCwRgyFdDqly1L/0njHSBu5abBYMAeQSzQI035EZnJ1z5QwWEhwxhUhA5qIyKrE+H064gJCdpQ/PhJJeD9mi0Z9PCNhJo2MQOn5YjGHWYmg9fOgxxMdhYEU9inSUuFnwdja3uKskU76/n2F0QfBRyOvQCZRwVbWOCYsmeoTYQeVH+ZffXWk1Xa033EzZktbZWRNrU1T3jS2mvL0LlLfbe7B/aDlX2+/Ez0exMYtRLmNy51RumJcoKXW0jYThi2Ow3hGLm69llu1EEER6OHKZ1aw+uxHzFRgPQOcjbM+CpgUL9WL2dQOGeXjz+P6vG78nEtW+GJsoQwbp3+Z4zk59Z+NuhMXXzZGNFk/kjoCwsqcLSszdZjeNt4qjF/33ATGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01159ELYjg3xGuUrwmXbWE41",
      "input": {
        "note": "Mango grasped (gripper 0.42 ≈ 4 cm). Lifting and moving over the safe, slightly further left than last time so the drop is inside the walls.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.34,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01159ELYjg3xGuUrwmXbWE41",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5854, -0.0193, -0.0387, 0.9988, 0.8471, 2.0426, 1.8393, -0.5449, 0.6521, 0.2234, 0.4262]\nstate[eef_state]: left_x=0.2643 left_y=0.002 left_z=0.135 left_yaw=0.0034 left_pitch=-0.2223 left_roll=0.0011 left_gripper=0.9988 right_x=0.4395 right_y=0.3408 right_z=0.2134 right_yaw=0.1905 right_pitch=-0.004 right_roll=-0.2317 right_gripper=0.4262\nstate[joint_eff]: [-0.2667, -1.2376, 6.8444, 1.5849, -0.0659, -0.0464, -0.0122, 0.2803, -10.8513, 8.5402, 1.5018, 0.442, 0.2076, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0ac2343a725a7a41edfe6190790706baa3470a4f8f5b2d256ec18bf7f930e13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50c78580b897d0c699aeaab06787f5cd1aa1baa17c960796d3c179973d220ed0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47b19a75f1705cd0366118486ad22bace864febdc61575ecd54ee06ecd007298",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 9.146 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, 0.8207, 0.6067, -0.5644, -0.0193, -0.0387, 0.9988, 0.3897, 2.0529, 0.9134, 0.54, 0.3328, -0.0578, 0.999]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1387 left_yaw=0.0033 left_pitch=-0.2014 left_roll=0.0006 left_gripper=0.9988 right_x=0.4786 right_y=0.138 right_z=0.0149 right_yaw=0.1359 right_pitch=0.0063 right_roll=-0.2228 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.4427, 7.0496, 1.5849, -0.0611, -0.0024, -0.0122, -0.5128, -9.347, 6.106, 1.8095, 0.1099, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5781, -0.0189, -0.0387, 0.9988, 0.3855, 2.0636, 0.9314, 0.5327, 0.3202, -0.0715, 0.424]\nstate[eef_state]: left_x=0.2656 left_y=0.0019 left_z=0.1363 left_yaw=0.0031 left_pitch=-0.2151 left_roll=0.0006 left_gripper=0.9988 right_x=0.4826 right_y=0.1397 right_z=0.0143 right_yaw=0.1495 right_pitch=0.0029 right_roll=-0.2273 right_gripper=0.424\nstate[joint_eff]: [-0.0752, -1.1009, 6.9538, 1.6288, -0.0317, -0.022, -0.0122, -0.2667, -9.2786, 6.5162, 1.8779, 0.1245, 0.022, 1.0281]",
      "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, 0.8207, 0.6067, -0.5854, -0.0193, -0.0387, 0.9988, 0.8471, 2.0426, 1.8393, -0.5449, 0.6521, 0.2234, 0.4262]\nstate[eef_state]: left_x=0.2643 left_y=0.002 left_z=0.135 left_yaw=0.0034 left_pitch=-0.2223 left_roll=0.0011 left_gripper=0.9988 right_x=0.4395 right_y=0.3408 right_z=0.2134 right_yaw=0.1905 right_pitch=-0.004 right_roll=-0.2317 right_gripper=0.4262\nstate[joint_eff]: [-0.2667, -1.2376, 6.8444, 1.5849, -0.0659, -0.0464, -0.0122, 0.2803, -10.8513, 8.5402, 1.5018, 0.442, 0.2076, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0ac2343a725a7a41edfe6190790706baa3470a4f8f5b2d256ec18bf7f930e13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50c78580b897d0c699aeaab06787f5cd1aa1baa17c960796d3c179973d220ed0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47b19a75f1705cd0366118486ad22bace864febdc61575ecd54ee06ecd007298",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS9goKjgEIEhgCKkDzk5IgG8VoG2tjeyE949cIZANNrCG8CIdqed9PgEXM+1oobUK+QaWeMYk7xxix7SbEpHuseIFmTi5jVpAYCrcIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdX3y9UGEgxTdggzSTNS5Ax71uAaDO5azlmmsYSbirzgfiIwFclNO0B2qf5xAz1EpEGN53m+siu/4NW9x7kU0FFFX3El+wEKgmHqfy6a6d3RDyLQKpQJ0PgZNMPNZWhSIBiUbGM/jTN6UmO2m9Vmwsr7IqY1sSBTSfaCfg2Jged4iUhDfimEu59laNhdrako2ahiD8obPCKAi4ehTWiaP6Hz/ODlMWviyWtMPkIbj6bi6O4MVnpjyNOhyY9BMRb2hhVF7m/CGick61BAzsBN8VmCAkcOP0kzPTHOzVqaTe1zxh5JTHY9NrXRsS4Ht+bmPMdMml8l5iMJVMWD9G8JyNDQcImoiIdM9TNe57DaJFcqs/0PiVk6LqzVhTWb+9utUxG2GsByurBL3dydQfUWSYaqtUSF2XhTHJMU7524tWnnaD45LaG1gMMuHct1oh5PXOztu+z8F8Z6/SMNnnDFn8Dg+2miWGTJlqG5G9wsmbg3Bp7LzAICeoIdTvRQpCCJLadDurRUGBPZFhcSVSmoyHRIafTDDYrRevpJHEHhSmns/fdQt9lleKEyj99ihFNsdMtp+/opbXdMGDthDFmN/XAGqprunb9sftQabigE0RX7jqQKiPKSGCPnR8CZoIU5qUg+gPBG0+V7ulyUUuf3dnq5Rm1xVCeMtFzPeDYrnf1T3xholyAwmZOinlBdTKZxTvPTdun2w4EB5HWL/Jhl/Zfw8WeUkeyYI0f5DG/On+U8SR7sQIv8K2oH6DDAwoP4UqGPaJzbShvnHNxR2Vq86o3qw2lzTJfh07kbE3mh/6krK4DRibDDmLtpn8fhHI0GmI86S19uDHn5kpOHkCNl7rWxvOnWvXnTpKNzXQPtNp84XkQsc+zNvGLeK15Xvy/QK5BpiWXmvoPo5mV6R0snrdUhKNOxcNyez/Aot+GoF8cOrSSOsj/5BYOCOfKl4jN0IzA+bvOGn+jF3hD+k59Nueyq1qyDaSwMn3RNLnTBfkgHKYV0rkdY2QZQFAjiZO2W6n9lTCmUQxqoxdP+t7TogK+yVtcdGRwYIi791tEh0Qcn+sLs8BzcV+vJbqIOhwl8ChkdgQ7C6y8HtqMlo/LmgfL8c+V/XeLKkJvsbDDe4KE+puYExSQKfptX4h5PK6QK49ctES+CF+g01cqDJemc0EtlaXtPWM78oy4QdkChhMdJAtXaXe9tsmhfB7yNa8Szj/xMG9rJ0kPyT8Dp6KjC01Cfj/dWgS9/oYu6jGa8bnWmZ1Qw/s/4dVLZr7DKgIFRld8aTW9rTGySlFNkylnE2b22kkPVb9rif8z7Da37Z6713Gwb0lMMkbY0RZfQLNJlFWW6R0fKrmqFB5sa0WH4lcsHloXZfFbvISYkKkmoLgj+/Cy+Lo2TANde6419SHuk9UZ3+vVUliH8YP/WzoCQ2wrADG/vEUgjeDPAl4RCA8VIeLyok1pHSyX/JaK9RSsgbLRMqnx7haXWeH+021vgbpoVVewxWj+/hBl1ZgbaTOQavR00QINHnCJuM9+nliZae78RMCubxL1hTmIj8V81fUq2mvqjnFmA9h+Xs6/aFNdaZJEBAYUmhbzmhdhRd+14kH0APh3LHJWDIcxOdulGHwgUAAAoY192UYaBwj+bIW7eq6iHIKhV5xZ++/Tj8SuiadTP4gco91rW0ZcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016cGM8aksgPvPC4LVZRk6yd",
      "input": {
        "note": "The wrist view shows the safe's front face beyond the mango, meaning the gripper is still on the near side of the box; moving further forward and up to get over the opening.",
        "targets": {
          "right_x": 0.51,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016cGM8aksgPvPC4LVZRk6yd",
      "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, -0.5915, -0.0189, -0.0387, 0.9988, 0.7433, 2.3299, 2.466, -0.8375, 0.5797, 0.1467, 0.4262]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1331 left_yaw=0.0031 left_pitch=-0.2323 left_roll=0.001 left_gripper=0.9988 right_x=0.5069 right_y=0.3394 right_z=0.2558 right_yaw=0.1825 right_pitch=-0.0026 right_roll=-0.2293 right_gripper=0.4262\nstate[joint_eff]: [-0.1709, -1.4701, 7.0222, 1.5653, -0.0269, -0.0366, -0.0122, -0.4171, -12.7521, 7.5282, 1.2137, 0.2662, -0.0122, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0d56412b7b35f241c3280588cbb225a1c60078486fbdb6ad989f88a730a195c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cf94703a8bcb22e8465c5bfd9e85db112685416d6792f147e03d72c1b384c3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d726140cb55ceab918e263b97df7492cbf8a48e7817f14d06fd330a249e49ec1",
        "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 · 15.33 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5781, -0.0189, -0.0387, 0.9988, 0.3855, 2.0636, 0.9314, 0.5327, 0.3202, -0.0715, 0.424]\nstate[eef_state]: left_x=0.2656 left_y=0.0019 left_z=0.1363 left_yaw=0.0031 left_pitch=-0.2151 left_roll=0.0006 left_gripper=0.9988 right_x=0.4826 right_y=0.1397 right_z=0.0143 right_yaw=0.1495 right_pitch=0.0029 right_roll=-0.2273 right_gripper=0.424\nstate[joint_eff]: [-0.0752, -1.1009, 6.9538, 1.6288, -0.0317, -0.022, -0.0122, -0.2667, -9.2786, 6.5162, 1.8779, 0.1245, 0.022, 1.0281]",
      "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, 0.8207, 0.6067, -0.5854, -0.0193, -0.0387, 0.9988, 0.8471, 2.0426, 1.8393, -0.5449, 0.6521, 0.2234, 0.4262]\nstate[eef_state]: left_x=0.2643 left_y=0.002 left_z=0.135 left_yaw=0.0034 left_pitch=-0.2223 left_roll=0.0011 left_gripper=0.9988 right_x=0.4395 right_y=0.3408 right_z=0.2134 right_yaw=0.1905 right_pitch=-0.004 right_roll=-0.2317 right_gripper=0.4262\nstate[joint_eff]: [-0.2667, -1.2376, 6.8444, 1.5849, -0.0659, -0.0464, -0.0122, 0.2803, -10.8513, 8.5402, 1.5018, 0.442, 0.2076, 1.033]\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 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, 0.8246, 0.6067, -0.5915, -0.0189, -0.0387, 0.9988, 0.7433, 2.3299, 2.466, -0.8375, 0.5797, 0.1467, 0.4262]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1331 left_yaw=0.0031 left_pitch=-0.2323 left_roll=0.001 left_gripper=0.9988 right_x=0.5069 right_y=0.3394 right_z=0.2558 right_yaw=0.1825 right_pitch=-0.0026 right_roll=-0.2293 right_gripper=0.4262\nstate[joint_eff]: [-0.1709, -1.4701, 7.0222, 1.5653, -0.0269, -0.0366, -0.0122, -0.4171, -12.7521, 7.5282, 1.2137, 0.2662, -0.0122, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0d56412b7b35f241c3280588cbb225a1c60078486fbdb6ad989f88a730a195c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cf94703a8bcb22e8465c5bfd9e85db112685416d6792f147e03d72c1b384c3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d726140cb55ceab918e263b97df7492cbf8a48e7817f14d06fd330a249e49ec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISigkKjgEIEhgCKkCV2cDp2v7UD2ONjPIUIfTrhyBAdd1ExSrskVE/4fElCrtq8m7Pdk+8wiM84f1ycff92GPqrhWfdlNMWeDCro+oMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd/3y9UGEgxKeqW4VyDbxsf5mysaDBkUcMJpY46ucQvB/CIwBHS815mh8ZR08y+tT9AWV6Dr1MCg00glmfH4cPbkwn4PriIWm68ujaNR29f5eaFQKqgHg4/+imC8kLXCyVH3uxZBzMsFAAJlzuRlbP34jMcU3FIC6JJcyjBE0Kogw91FPT4CdwIfY5xUA944PsJGS5I8ME2KakLN1yjHpkXeeKwOW8DVFsr1LJj4DrMtvgidcilDfXsJk3+DmEfmkwn/Ll/p3q5SVqeo2EhcHHVNpSr3qMlOEJDHK49kLludfn8Z3WWwlNfRUNzXZyDb2mQ8pihon+GthL0UskVCfDjZ7SZZ9QBIGDHVvznJbiI7WU4allgWK80dhAkvhfjnUpxxrtp/SltDQNuYEZgu01L/dUGzib28PNAE5igYWp+LhtIfcttde00pAQfYeFod0m/uViIBWeMw3b3UmVlLG3bxDuW4xgP1seRhheH0yUOMzto4bkxHFlYRDfJVIXbgZ9uob+3Zu46ycFoFyP7OtMwXjWoZZ2RttGqoLEA2X08qRiFW4sgtkfAlDdCSf4UFLDbLrcBI0ZXrFqFkxX4wwFOTQkcpBRhB1AuR98j2114O57+12Fv+TeTnKHcDliqDHffQvPkU2up/q82ekJfdciCM2mKg1SS/NXuxmySromFUvzicRiZ+ehwDP8DIqBKAJo6sw9gJapCw0rhwYCvUfCcGQwEWR71T7v5ZkQhL87D1O45773QqdFu5lcCUNw05QjguotGb8VyQz+ELptIxcuYi5VJpcINzU4PcMgF0yxV8iwiWDm7Q/k1KSCePk1oYJNMphvF8vyqtstxohQ9kxs1FDIYQXCbRmaofnWGRLySvWxhgcnAYsqOvYi7FVaxClvdapepv5ybeDHv9wHARdV6VRxQcVOTvebGz6C3pCJccGxyv16fBufm8hgZYQ+LUBBPU4GmpzlH/qxBW2pmHaWE/dIHYk8vKBWrezRcDpXf2C8djnsoa/zmV4DMAZvqaOaFrhWrcllmMlITCICVcEvGfV2wvXUCB+s6ZiSlECq/ALWsebDwqC4BUy/6F7mwxe/A76muBtgfgE0K0iL49ESNKlVoHCD3/LW1OYqeaccfIqmUX3W6X8kZdvOH7Nr7ZWGeIS3gvxxXqcBHFgBipxuPKqKSow0GgIngL53J7oOryKBI8DdvIcm0MLbKVahX2lSRcXgZEGt0CXcdO0TgVFq4TSN9ZDNoYTZBL8jJWDdR2GXqaXwQ/UzcDonPvFlJeEXJKp9BHDuonBhBNWGnYrolyFTJNTpZoRd7WwHYfgii9OIMWGhYFim0Aho/7G2tK1CrKmDCviGxQf2wLaDQ/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jj7RrmDqbpawcJkwTuyafK",
      "input": {
        "note": "Now the wrist looks past the safe onto the table, so the jaws should be roughly over the opening; descending to check whether the walls appear around the mango.",
        "targets": {
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Jj7RrmDqbpawcJkwTuyafK",
      "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, 0.8253, 0.6067, -0.5934, -0.0189, -0.0387, 0.9988, 0.7403, 2.2719, 1.9106, -0.458, 0.5644, 0.1349, 0.4262]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1325 left_yaw=0.0032 left_pitch=-0.2349 left_roll=0.0011 left_gripper=0.9988 right_x=0.4973 right_y=0.3312 right_z=0.1232 right_yaw=0.1939 right_pitch=-0.1101 right_roll=-0.2918 right_gripper=0.4262\nstate[joint_eff]: [-0.0615, -1.2376, 6.8444, 1.5116, -0.0513, -0.0269, -0.0122, 0.1436, -15.159, 7.6376, 1.8535, 0.3346, 0.0855, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87d7e27a6a0858fe215b51fd3c7c3ca1b8ada2ad05f202327592611a0a6e066a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f93a307cc417e81ce58eec99d0c3582e6974a3d5539b6eefae1452da3656ba2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32c343fb37aed77d6a889184ea9b4452f7ef9692885c64498a3b095d09172706",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 8.043 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, 0.8207, 0.6067, -0.5854, -0.0193, -0.0387, 0.9988, 0.8471, 2.0426, 1.8393, -0.5449, 0.6521, 0.2234, 0.4262]\nstate[eef_state]: left_x=0.2643 left_y=0.002 left_z=0.135 left_yaw=0.0034 left_pitch=-0.2223 left_roll=0.0011 left_gripper=0.9988 right_x=0.4395 right_y=0.3408 right_z=0.2134 right_yaw=0.1905 right_pitch=-0.004 right_roll=-0.2317 right_gripper=0.4262\nstate[joint_eff]: [-0.2667, -1.2376, 6.8444, 1.5849, -0.0659, -0.0464, -0.0122, 0.2803, -10.8513, 8.5402, 1.5018, 0.442, 0.2076, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.8246, 0.6067, -0.5915, -0.0189, -0.0387, 0.9988, 0.7433, 2.3299, 2.466, -0.8375, 0.5797, 0.1467, 0.4262]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1331 left_yaw=0.0031 left_pitch=-0.2323 left_roll=0.001 left_gripper=0.9988 right_x=0.5069 right_y=0.3394 right_z=0.2558 right_yaw=0.1825 right_pitch=-0.0026 right_roll=-0.2293 right_gripper=0.4262\nstate[joint_eff]: [-0.1709, -1.4701, 7.0222, 1.5653, -0.0269, -0.0366, -0.0122, -0.4171, -12.7521, 7.5282, 1.2137, 0.2662, -0.0122, 1.0232]",
      "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, 0.8253, 0.6067, -0.5934, -0.0189, -0.0387, 0.9988, 0.7403, 2.2719, 1.9106, -0.458, 0.5644, 0.1349, 0.4262]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1325 left_yaw=0.0032 left_pitch=-0.2349 left_roll=0.0011 left_gripper=0.9988 right_x=0.4973 right_y=0.3312 right_z=0.1232 right_yaw=0.1939 right_pitch=-0.1101 right_roll=-0.2918 right_gripper=0.4262\nstate[joint_eff]: [-0.0615, -1.2376, 6.8444, 1.5116, -0.0513, -0.0269, -0.0122, 0.1436, -15.159, 7.6376, 1.8535, 0.3346, 0.0855, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87d7e27a6a0858fe215b51fd3c7c3ca1b8ada2ad05f202327592611a0a6e066a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f93a307cc417e81ce58eec99d0c3582e6974a3d5539b6eefae1452da3656ba2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32c343fb37aed77d6a889184ea9b4452f7ef9692885c64498a3b095d09172706",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KvrgpXPGCUro5JUKGZDNUK",
      "input": {
        "note": "At x=0.50 the wrist sees the silver exterior beyond the box, so the opening lies a few cm nearer; backing to x=0.46 and lowering the mango into the interior.",
        "targets": {
          "right_x": 0.46,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KvrgpXPGCUro5JUKGZDNUK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.5961, -0.0189, -0.0387, 0.9988, 0.7753, 2.2227, 1.6833, -0.3466, 0.5842, 0.1558, 0.4283]\nstate[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.132 left_yaw=0.0032 left_pitch=-0.238 left_roll=0.0012 left_gripper=0.9988 right_x=0.4647 right_y=0.3241 right_z=0.0792 right_yaw=0.1983 right_pitch=-0.1551 right_roll=-0.3244 right_gripper=0.4283\nstate[joint_eff]: [-0.0068, -0.7316, 6.8308, 1.5556, -0.0464, -0.0464, -0.0122, 0.8, -14.9949, 7.8017, 1.7656, 0.3687, 0.1832, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dba30724b8b4025031ff967a08376c53e1e13049573c07b05e1c1a93ad0b9bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b0dc01da41754acb9de8bf3b7f16d56f4517e1c1a1aeaeb19395d5dd64ed82e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:583ab37489a3d67f24d680ee95d3812443d8456c6ca7d6a26d0ffdd2cd2df221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 12.57 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, 0.8246, 0.6067, -0.5915, -0.0189, -0.0387, 0.9988, 0.7433, 2.3299, 2.466, -0.8375, 0.5797, 0.1467, 0.4262]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.1331 left_yaw=0.0031 left_pitch=-0.2323 left_roll=0.001 left_gripper=0.9988 right_x=0.5069 right_y=0.3394 right_z=0.2558 right_yaw=0.1825 right_pitch=-0.0026 right_roll=-0.2293 right_gripper=0.4262\nstate[joint_eff]: [-0.1709, -1.4701, 7.0222, 1.5653, -0.0269, -0.0366, -0.0122, -0.4171, -12.7521, 7.5282, 1.2137, 0.2662, -0.0122, 1.0232]",
      "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, 0.8253, 0.6067, -0.5934, -0.0189, -0.0387, 0.9988, 0.7403, 2.2719, 1.9106, -0.458, 0.5644, 0.1349, 0.4262]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1325 left_yaw=0.0032 left_pitch=-0.2349 left_roll=0.0011 left_gripper=0.9988 right_x=0.4973 right_y=0.3312 right_z=0.1232 right_yaw=0.1939 right_pitch=-0.1101 right_roll=-0.2918 right_gripper=0.4262\nstate[joint_eff]: [-0.0615, -1.2376, 6.8444, 1.5116, -0.0513, -0.0269, -0.0122, 0.1436, -15.159, 7.6376, 1.8535, 0.3346, 0.0855, 1.0281]",
      "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, 0.8257, 0.6067, -0.5961, -0.0189, -0.0387, 0.9988, 0.7753, 2.2227, 1.6833, -0.3466, 0.5842, 0.1558, 0.4283]\nstate[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.132 left_yaw=0.0032 left_pitch=-0.238 left_roll=0.0012 left_gripper=0.9988 right_x=0.4647 right_y=0.3241 right_z=0.0792 right_yaw=0.1983 right_pitch=-0.1551 right_roll=-0.3244 right_gripper=0.4283\nstate[joint_eff]: [-0.0068, -0.7316, 6.8308, 1.5556, -0.0464, -0.0464, -0.0122, 0.8, -14.9949, 7.8017, 1.7656, 0.3687, 0.1832, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dba30724b8b4025031ff967a08376c53e1e13049573c07b05e1c1a93ad0b9bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b0dc01da41754acb9de8bf3b7f16d56f4517e1c1a1aeaeb19395d5dd64ed82e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:583ab37489a3d67f24d680ee95d3812443d8456c6ca7d6a26d0ffdd2cd2df221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2AYKjgEIEhgCKkDyvvqqdPgGNe9/hvjcjAQvt3xjlQdeXiL2h2W0JA22IhLJ/7l78mupBsTO0aOdn6Dx24QmHOkzQdEWm0od9lS6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAff3y9UGEgwQ/ojGTDpF5bVz/0gaDDiYakxlHVK5PxOyQiIw+Q7otMIoOAcCuaKZiH4tzyT2RrdbBR3GBcQWVx5UPjJOPuASdLFg6Mcr75OQXfO2KvYE93Bkp0fYWA0mhT9jxa3qCHCo/1OyrPjElbcDG6WzQ9vl4b6MU3Xhoyz9QxuG/DiIduyY8LtieQo2294iwzi7qiXMXKJx10wblrr+8VzHqcFbBiyZmPzbsPumZMF/WL0+Permxknf9ukrytoBOQbO68wpsQEUIgqT/8MRCzhMZrPYfTsREAyoiKqvdRM3ypL7M+M4z3YjmPYpEIAwQRBCqVfeRYAoJB3Y90gksf+Sys9cXu2CttezpEESNMtOIwrA7OUmrobVoYZopOw8VGKkM0jAxnZb8XAcSOSGDDOBCSfk6HY6QBSgwHQ8iF+J0FQhl/zyYtbcZI2zJ/lm7Iaq/Be7KmBrGbB87pyWO1TuxQQAhU8rn/7tTwnEkbdNlRTV1XaYnwXtmWsk2kSYT+meASh+VePTWETzKlW0afQTNCIKsKgEdBa3jyv6EZOW37+Bb5TlpG95nF12IZYWS0zdakd23CPIMv8Xp2nCCoZdZINddbxvbtvZrWjDe5hm8ak/kViC0uk11KS8S//v65INJaV0jzwLRCv/UnwkJuCuvZkjlIofcdG16+TnK/PdNIhD/kgWdoXQyUdPBoR6Hqw21Lim11LYQX5ANX3wiqWXoUqcMwEJx4FHNcplr/MXK24h/23RT01uO11qoE0Pnin+e2YBdw6HGXAFEOxvTx/aZk7x2vMFJPk81ESsDD3wusD/4FUjkLZM9xXlRZRcZIYq6N5DqXrvKrEMF9KC1KfMdKYcDYNzXE1gj1+ljEPH4fGI5V0A/17X33/V6C3h/mwVg2Bzshfk60FH6VfgveUMkLk8QDMoLhr3X/mYVSCBI6FdH0fvbL5PGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012eder5YkA5VsSqt2zK6ZkR",
      "input": {
        "note": "Still seeing only the silver exterior; retracting the right arm (still holding the mango) to get an unobstructed overhead view of the safe so I can locate its opening properly.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.05,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_012eder5YkA5VsSqt2zK6ZkR",
      "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, -0.6106, -0.0193, -0.0387, 0.9988, 0.2836, 1.1725, 1.3113, -0.9119, 0.2665, -0.2089, 0.4284]\nstate[eef_state]: left_x=0.26 left_y=0.0021 left_z=0.1287 left_yaw=0.0036 left_pitch=-0.2563 left_roll=0.0019 left_gripper=0.9988 right_x=0.3232 right_y=0.0495 right_z=0.2809 right_yaw=0.1632 right_pitch=-0.1948 right_roll=-0.3321 right_gripper=0.4284\nstate[joint_eff]: [-0.0752, -1.306, 6.8581, 1.6777, -0.0806, -0.0464, -0.0122, -0.2256, -4.1368, 9.0188, 1.7411, -0.022, -0.0073, 0.5983]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d73f44c3cc22ca2919ec1c95193bc4aedbe2eb33801b29a3b30f03e57a8952c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cc8ca5917c4c6c860de0ee56f9236d2f834a1ba508b533fe9ab9db5515b8444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b0ddf8cb19b6f96e910cf6ad461637f198dc294b78b58173380013db74f223f",
        "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 · 13.44 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, 0.8253, 0.6067, -0.5934, -0.0189, -0.0387, 0.9988, 0.7403, 2.2719, 1.9106, -0.458, 0.5644, 0.1349, 0.4262]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1325 left_yaw=0.0032 left_pitch=-0.2349 left_roll=0.0011 left_gripper=0.9988 right_x=0.4973 right_y=0.3312 right_z=0.1232 right_yaw=0.1939 right_pitch=-0.1101 right_roll=-0.2918 right_gripper=0.4262\nstate[joint_eff]: [-0.0615, -1.2376, 6.8444, 1.5116, -0.0513, -0.0269, -0.0122, 0.1436, -15.159, 7.6376, 1.8535, 0.3346, 0.0855, 1.0281]",
      "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, 0.8257, 0.6067, -0.5961, -0.0189, -0.0387, 0.9988, 0.7753, 2.2227, 1.6833, -0.3466, 0.5842, 0.1558, 0.4283]\nstate[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.132 left_yaw=0.0032 left_pitch=-0.238 left_roll=0.0012 left_gripper=0.9988 right_x=0.4647 right_y=0.3241 right_z=0.0792 right_yaw=0.1983 right_pitch=-0.1551 right_roll=-0.3244 right_gripper=0.4283\nstate[joint_eff]: [-0.0068, -0.7316, 6.8308, 1.5556, -0.0464, -0.0464, -0.0122, 0.8, -14.9949, 7.8017, 1.7656, 0.3687, 0.1832, 1.0134]\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, 0.8295, 0.6067, -0.6106, -0.0193, -0.0387, 0.9988, 0.2836, 1.1725, 1.3113, -0.9119, 0.2665, -0.2089, 0.4284]\nstate[eef_state]: left_x=0.26 left_y=0.0021 left_z=0.1287 left_yaw=0.0036 left_pitch=-0.2563 left_roll=0.0019 left_gripper=0.9988 right_x=0.3232 right_y=0.0495 right_z=0.2809 right_yaw=0.1632 right_pitch=-0.1948 right_roll=-0.3321 right_gripper=0.4284\nstate[joint_eff]: [-0.0752, -1.306, 6.8581, 1.6777, -0.0806, -0.0464, -0.0122, -0.2256, -4.1368, 9.0188, 1.7411, -0.022, -0.0073, 0.5983]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d73f44c3cc22ca2919ec1c95193bc4aedbe2eb33801b29a3b30f03e57a8952c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cc8ca5917c4c6c860de0ee56f9236d2f834a1ba508b533fe9ab9db5515b8444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b0ddf8cb19b6f96e910cf6ad461637f198dc294b78b58173380013db74f223f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SwmpsN29aNaGHVCWVsyzGE",
      "input": {
        "note": "Overhead view now shows the safe is a box whose door faces the arms — objects must be pushed in horizontally, not dropped from above. Bringing the mango low and in front of the opening.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.33,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01SwmpsN29aNaGHVCWVsyzGE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8318, 0.6067, -0.6163, -0.0189, -0.0387, 0.9988, 0.8879, 2.1082, 1.5024, -0.4576, 0.6292, 0.2859, 0.4314]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1272 left_yaw=0.0033 left_pitch=-0.2643 left_roll=0.0018 left_gripper=0.9988 right_x=0.3897 right_y=0.32 right_z=0.0627 right_yaw=0.1882 right_pitch=-0.2514 right_roll=-0.3684 right_gripper=0.4314\nstate[joint_eff]: [-0.2393, -1.4154, 6.8034, 1.4921, -0.0415, -0.0073, -0.0122, 0.1573, -11.0838, 8.0615, 1.2772, 0.4957, 0.2564, 0.735]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf26df40b08a4730c0f2d50092d553db024953ad2123534ccf766e0bdd2e5e28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39f0ac7e4c57baa6ebf1a0a81a07852d6247e99f1c1e6f1e44f36e9349e030b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:198e94d936558e5bf50f2d253219a6429015bda42cba1184c9424ca1e995f4ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 10.58 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, 0.8257, 0.6067, -0.5961, -0.0189, -0.0387, 0.9988, 0.7753, 2.2227, 1.6833, -0.3466, 0.5842, 0.1558, 0.4283]\nstate[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.132 left_yaw=0.0032 left_pitch=-0.238 left_roll=0.0012 left_gripper=0.9988 right_x=0.4647 right_y=0.3241 right_z=0.0792 right_yaw=0.1983 right_pitch=-0.1551 right_roll=-0.3244 right_gripper=0.4283\nstate[joint_eff]: [-0.0068, -0.7316, 6.8308, 1.5556, -0.0464, -0.0464, -0.0122, 0.8, -14.9949, 7.8017, 1.7656, 0.3687, 0.1832, 1.0134]\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, 0.8295, 0.6067, -0.6106, -0.0193, -0.0387, 0.9988, 0.2836, 1.1725, 1.3113, -0.9119, 0.2665, -0.2089, 0.4284]\nstate[eef_state]: left_x=0.26 left_y=0.0021 left_z=0.1287 left_yaw=0.0036 left_pitch=-0.2563 left_roll=0.0019 left_gripper=0.9988 right_x=0.3232 right_y=0.0495 right_z=0.2809 right_yaw=0.1632 right_pitch=-0.1948 right_roll=-0.3321 right_gripper=0.4284\nstate[joint_eff]: [-0.0752, -1.306, 6.8581, 1.6777, -0.0806, -0.0464, -0.0122, -0.2256, -4.1368, 9.0188, 1.7411, -0.022, -0.0073, 0.5983]",
      "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, 0.8318, 0.6067, -0.6163, -0.0189, -0.0387, 0.9988, 0.8879, 2.1082, 1.5024, -0.4576, 0.6292, 0.2859, 0.4314]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1272 left_yaw=0.0033 left_pitch=-0.2643 left_roll=0.0018 left_gripper=0.9988 right_x=0.3897 right_y=0.32 right_z=0.0627 right_yaw=0.1882 right_pitch=-0.2514 right_roll=-0.3684 right_gripper=0.4314\nstate[joint_eff]: [-0.2393, -1.4154, 6.8034, 1.4921, -0.0415, -0.0073, -0.0122, 0.1573, -11.0838, 8.0615, 1.2772, 0.4957, 0.2564, 0.735]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf26df40b08a4730c0f2d50092d553db024953ad2123534ccf766e0bdd2e5e28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39f0ac7e4c57baa6ebf1a0a81a07852d6247e99f1c1e6f1e44f36e9349e030b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:198e94d936558e5bf50f2d253219a6429015bda42cba1184c9424ca1e995f4ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GoSTXzLNs5d9TU9kuNz7TM",
      "input": {
        "note": "Overhead shows the gripper just right-of-centre and in front of the safe's tray; shifting left and forward to be over the middle of the opening.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.37,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GoSTXzLNs5d9TU9kuNz7TM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8356, 0.6067, -0.6315, -0.0189, -0.0387, 0.9988, 0.8776, 2.3375, 1.9888, -0.6849, 0.6121, 0.2653, 0.4308]\nstate[eef_state]: left_x=0.2562 left_y=0.0021 left_z=0.1238 left_yaw=0.0034 left_pitch=-0.2834 left_roll=0.0022 left_gripper=0.9988 right_x=0.4355 right_y=0.3711 right_z=0.0905 right_yaw=0.2051 right_pitch=-0.2418 right_roll=-0.3516 right_gripper=0.4308\nstate[joint_eff]: [-0.1846, -1.5385, 6.8034, 1.58, -0.0464, -0.0757, -0.0122, -0.7043, -12.547, 7.6513, 0.7302, 0.3639, 0.022, 0.5788]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b34bd8caea903e6c36a8aba954864aa2d22775362196ff427a14d9ed8b24c46f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd5efe44c395c5815ef1f1b26c17b0abf561d6e92fe8923a6c4880ac7046a23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c89ba3ce9d4790ff3420d43a7b6ab679f9489253567adbc5bedfd072b18e7a92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 11.54 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, 0.8295, 0.6067, -0.6106, -0.0193, -0.0387, 0.9988, 0.2836, 1.1725, 1.3113, -0.9119, 0.2665, -0.2089, 0.4284]\nstate[eef_state]: left_x=0.26 left_y=0.0021 left_z=0.1287 left_yaw=0.0036 left_pitch=-0.2563 left_roll=0.0019 left_gripper=0.9988 right_x=0.3232 right_y=0.0495 right_z=0.2809 right_yaw=0.1632 right_pitch=-0.1948 right_roll=-0.3321 right_gripper=0.4284\nstate[joint_eff]: [-0.0752, -1.306, 6.8581, 1.6777, -0.0806, -0.0464, -0.0122, -0.2256, -4.1368, 9.0188, 1.7411, -0.022, -0.0073, 0.5983]",
      "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, 0.8318, 0.6067, -0.6163, -0.0189, -0.0387, 0.9988, 0.8879, 2.1082, 1.5024, -0.4576, 0.6292, 0.2859, 0.4314]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1272 left_yaw=0.0033 left_pitch=-0.2643 left_roll=0.0018 left_gripper=0.9988 right_x=0.3897 right_y=0.32 right_z=0.0627 right_yaw=0.1882 right_pitch=-0.2514 right_roll=-0.3684 right_gripper=0.4314\nstate[joint_eff]: [-0.2393, -1.4154, 6.8034, 1.4921, -0.0415, -0.0073, -0.0122, 0.1573, -11.0838, 8.0615, 1.2772, 0.4957, 0.2564, 0.735]",
      "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, 0.8356, 0.6067, -0.6315, -0.0189, -0.0387, 0.9988, 0.8776, 2.3375, 1.9888, -0.6849, 0.6121, 0.2653, 0.4308]\nstate[eef_state]: left_x=0.2562 left_y=0.0021 left_z=0.1238 left_yaw=0.0034 left_pitch=-0.2834 left_roll=0.0022 left_gripper=0.9988 right_x=0.4355 right_y=0.3711 right_z=0.0905 right_yaw=0.2051 right_pitch=-0.2418 right_roll=-0.3516 right_gripper=0.4308\nstate[joint_eff]: [-0.1846, -1.5385, 6.8034, 1.58, -0.0464, -0.0757, -0.0122, -0.7043, -12.547, 7.6513, 0.7302, 0.3639, 0.022, 0.5788]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b34bd8caea903e6c36a8aba954864aa2d22775362196ff427a14d9ed8b24c46f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd5efe44c395c5815ef1f1b26c17b0abf561d6e92fe8923a6c4880ac7046a23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c89ba3ce9d4790ff3420d43a7b6ab679f9489253567adbc5bedfd072b18e7a92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIShgoKjgEIEhgCKkAaW24vd9dF/sxSh4xk3EewEUL5+CAvpHKrTYUIRJ6keE9ifYTokU62xfFzQG1YmkcWfbpy2DOhTCqOrQ88R2tkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaH4y9UGEgzM7mmTqbRrjXtcZzkaDNHTGMfCJfnWmlCzmiIwcd3LqKdnpyNn2w9STxYSkAOOSRahs8siRtlzK2tnlWb+H8/QJXTmgDhrgOSWmhAcKqQImob18wyhxjz9YOl/9KrgPN30vkNq+31LWTDkU5YVHTjGKFPOQ127WhLfs8DnI4FaQnGoZpsSizd3WT/GQGjKPxtz24iESE0qqHngmOMSCz6D7oghN961Zh1r4+b92lwBa6SUnjso2eQJ8zoGkXZU4MvhRtjJwcC5lTS3MFpNha+JbejHpAOF2Ycbaipn2SmltUzYYTR3gJrbCoHG0pZYZ1d/HjhH+L33VEsbiln88FZQplvhq9apOq1foCERSKFcBJXKbUUU1pfTupjxVgh0qkFCXFZw1qtCGoPJVV+1dHSUCrS14GGfex6BEHxn/QED82SEZb+KjqIDcNcmDI/l2LONLuqGHHSjkGL1d7jXH+c8AvSRnFrNIyGkkecQBTHlJswAwISpDRL9VUR8370ITLrGp0RL2ZgfqriqldzABA7VTh65lhot/XEnhAPWpZpsKhtKvWjmFLi2LSk0cirjZArlYxw9Nt/ZoubNbqPTtdzE84/af+/bm25TRNvX3tzl5WPo0C9kvYkw3SCSGksSWybLYRWUbxt8gnA7Y8YCWq7VwLwP/ojVdmOBius+mSmgFpf5DsvAN434AlF/ytVl/p8AzgJpBo8TJZv3DSRnQoX++kJMX7XPu+VWp6kCTTs2p8IB9rm2M4faaEEJEX1jnsuVM8Tv2yBBcRtBzoB2RKOW4LlK21UwQaHgiyrDMIeAWHW8kMgQHg1q4TZIZ6U9x2uy4rK66wO61gJTkDhGE7IxdviosKDZU2YT+ntJ3drRil1HK9n1a6ye5I59ubJzPXSA/6WMmTSZr0AfMGCWRERdDIR8qR38B2agvsuvVEeQZtzDjERDCFJyoijS/1yfqAD6wUF4wUW4O55nA1EQ5A9YFwFOIYA6BnV3Yu2blkdBZ6r2uEH9AC63cUefqc+EIRhIZW83MEsizbrgi75ljIjhJ2s+X/b0F6i1JtWYmUimfk7sfLC3HRXnnQUcExDR7rEsu5Ua/Ewpoo4KwX5zlKRruYeFUUfYQZBBHrnhDph515HS3NEqORI4RB2ouTMEtkqKshzXfegP7/KlGfpQMeCRXN+IfE+g6TMfp4s+qdl2QqfmDouRVL73cPYcmLIsrZa4T4gmrO1r3XlBn2UNeOiK3REcEg6UafUbmu60fJ2KtCzZp0Q60eY58S0XijInZuOp6LkoGS11t7b1Eyh4Bh2/I+iTnXLlxtD1MQBLsqLKXCiPyC2lh1tn6iqzq6hcls0x6BYV5lZdvS36O6zzN1gqjUNvhxWPEKAGe81iQYjWuK+rF86t6ZMP66eWMKFgLCdbaYPgca/aJk+4a4jsL+UpV3iVZqDkJXmin0Lo+fMMO3DKU9RudaIQddaBc8GF/oLaO2ip7FHGsjghGUYr5f8S8Omnny5P6QAOJlxsr5A5JZkNZhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016rqSPsdmjF6y5ZA8jXM51V",
      "input": {
        "note": "Testing depth: lowering the mango straight down here — if the tray of the safe is below, the descent will stop early on its floor; if not, it will reach table level.",
        "targets": {
          "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_016rqSPsdmjF6y5ZA8jXM51V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.635, -0.0189, -0.0387, 0.9988, 0.8776, 2.3737, 1.8526, -0.5686, 0.6083, 0.2649, 0.4336]\nstate[eef_state]: left_x=0.2555 left_y=0.0021 left_z=0.1231 left_yaw=0.0035 left_pitch=-0.2872 left_roll=0.0023 left_gripper=0.9988 right_x=0.4275 right_y=0.3622 right_z=0.0349 right_yaw=0.1983 right_pitch=-0.2877 right_roll=-0.3855 right_gripper=0.4336\nstate[joint_eff]: [-0.212, -1.1419, 6.7761, 1.4725, -0.0611, -0.0269, -0.0122, -0.212, -12.465, 6.8171, 1.5018, 0.3541, -0.0269, 0.569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dab0143c080161dad6e10a0bf4b62fb3b63bb2557fade4c17a813334aaedbae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92fc8c200c4191dbd2c1a6cd5b00178e31dcb0dd626d72236aeb48baf69d5e4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7ae8201aaabefe140e9c5f166ac1f40e31caf3b6b06cc494b0bfa57944a0849",
        "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 · 6.217 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, 0.8318, 0.6067, -0.6163, -0.0189, -0.0387, 0.9988, 0.8879, 2.1082, 1.5024, -0.4576, 0.6292, 0.2859, 0.4314]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1272 left_yaw=0.0033 left_pitch=-0.2643 left_roll=0.0018 left_gripper=0.9988 right_x=0.3897 right_y=0.32 right_z=0.0627 right_yaw=0.1882 right_pitch=-0.2514 right_roll=-0.3684 right_gripper=0.4314\nstate[joint_eff]: [-0.2393, -1.4154, 6.8034, 1.4921, -0.0415, -0.0073, -0.0122, 0.1573, -11.0838, 8.0615, 1.2772, 0.4957, 0.2564, 0.735]",
      "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, 0.8356, 0.6067, -0.6315, -0.0189, -0.0387, 0.9988, 0.8776, 2.3375, 1.9888, -0.6849, 0.6121, 0.2653, 0.4308]\nstate[eef_state]: left_x=0.2562 left_y=0.0021 left_z=0.1238 left_yaw=0.0034 left_pitch=-0.2834 left_roll=0.0022 left_gripper=0.9988 right_x=0.4355 right_y=0.3711 right_z=0.0905 right_yaw=0.2051 right_pitch=-0.2418 right_roll=-0.3516 right_gripper=0.4308\nstate[joint_eff]: [-0.1846, -1.5385, 6.8034, 1.58, -0.0464, -0.0757, -0.0122, -0.7043, -12.547, 7.6513, 0.7302, 0.3639, 0.022, 0.5788]",
      "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, 0.836, 0.6067, -0.635, -0.0189, -0.0387, 0.9988, 0.8776, 2.3737, 1.8526, -0.5686, 0.6083, 0.2649, 0.4336]\nstate[eef_state]: left_x=0.2555 left_y=0.0021 left_z=0.1231 left_yaw=0.0035 left_pitch=-0.2872 left_roll=0.0023 left_gripper=0.9988 right_x=0.4275 right_y=0.3622 right_z=0.0349 right_yaw=0.1983 right_pitch=-0.2877 right_roll=-0.3855 right_gripper=0.4336\nstate[joint_eff]: [-0.212, -1.1419, 6.7761, 1.4725, -0.0611, -0.0269, -0.0122, -0.212, -12.465, 6.8171, 1.5018, 0.3541, -0.0269, 0.569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dab0143c080161dad6e10a0bf4b62fb3b63bb2557fade4c17a813334aaedbae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92fc8c200c4191dbd2c1a6cd5b00178e31dcb0dd626d72236aeb48baf69d5e4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7ae8201aaabefe140e9c5f166ac1f40e31caf3b6b06cc494b0bfa57944a0849",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISswsKjgEIEhgCKkDAXLcAb7adMeehzznYmgDwvze+alb39of4MHipVRltZHi6LDspo12ZNHyadnFZq178acEHdjUA0DLmjuyL8vw/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaz4y9UGEgziDAuqFKsgaHtWoKUaDIV8o5tVa0TEXL+HXyIwgfJKsUJEr6/tDcHof+T4327ZtKhPyROPwWkD3eYZ655cWZWxmO5pcoTvdgpsa/DOKtEJt32kz/CLdfxToxXJe7Ff4cCk8+InQmXzWkVjjq8ACL7xE/CIPw1Gb/Zs9iJRPAzBvnngA70VMekP8IzC++ojjeOfBiTESpQojVo0wSxhSVHjG6e/8ztKOJURX8a3f1pcWprWoecs70pvIuXyoKSg1jUUQF47bSc5HsBgoVz8/a/fIS+0fM/+2P7VgcXEFNO4SY1usmscAQpf19A0QVAAO5uAIPXBb+tXJy/i5Jmxph2Nc0DNkAPmVWId6BtMj+x/ExiwKVtIN56XxKEJ+6z3K4hPdqBB2c9cigGJMqpvp5gMb6Zsk5l2NFegBqZRed6yfylfdxBNztiVVKzPHlmkNsYmRpcc79ouOCiZ1nkLxdjiaFThiexMKx0NTcSzo4V/VLiVnbRR+Mu7uIv1LLFXRHFsfd/w1paAdy91VcCDZLpQxnGl0+3ki9+bkQAOcBmYEfbf4fSziAg1+VG8c2GE5h/yK2q+SnRooAlAU7f8bNcEbN/tF5jd0u0Zgi06rN3U7fARg/J/CmL/pFE8z+EJAJrht44o4HslztzDsUVUYwc3bXCnZ2+m5X7WFxRiQoV28pTp6hWj8/ot65L6kIS/spN1QjCELJcaBh5ZwnT8ym4W98XqMY/qNmo6EY1/7B8A6PnwFfJXQ0o30eDbq2gZOQofbTgJ9zRheG9L5NK9Iwp5P7J5fJZEuURSHEeflXMD6bMIJ8YLXhig2Mg8zZRgzt1E67ACeQa/kXktwQ0BpXl1h6ZV78KYwVz1vpWXD9Ek+pcklE2HVpu6rJeHEaqiBeKC/4AC076qPAHczX2q0Q5f66zgvKtTioKB/EVXPvg7h+4Zn4McX0Ji597bxyufj09JULu1enfodPGv+E3WA2kUuifBeqlHjwV5QuyjG+UILTXKDFQZMEwmTpxllVI/J5+0bSfGPspcihGE4o4uaOkPhydhqWRXPGwZC0oEdngVL7wgszx3OmQ2Z/ahGBiPBX66kWp1rAXOjUdw2fLOd2Wb/UkwMa1765QFSwKeGAdzv9YA2AI+qEgdm/lLaUu6gCX0663L1OpCALKSOlWi320nHpaXPls2oGj5fRwkQijzz8q6zR7u1ReKjnPTO5CvXVSbPRJQ4cMpQnm0X2I7bhwDbS/1De3Ns1rQyIHYhSoJU5p7VIyRP6LzU5jwYcZQ98bnZ0oYZqlMnYEktEQO1Gxii8153GeNGwcoOQc3uZsb2ODyvdXxdsqi2cZQySvt6wX4BWMJ+WBfJN083dek1SDSti/tvwuWnnXm3N0uOJqDNYGJDqlt4VsuquUTj07tVlfT8qCxdxcriQsfuKrLRtX4ejM8ATKKqQCwtnWrCiR2x74vy54kGhgO4etYNgnbGZPnjGUlZZOfgjeQSNq7mO71kYhDCplejKAas3SZa3IpJVIlrrZ4mt/Sxhzx6G/AIiF642ykBnlMVj0+WojJtaFmIPEdJ0Aa1rlrxDb6I9jA+8HodEJHCeK3UhcBFSk5avfGqYdtA+pk0eaavdAev/eblaU9DR0mxtRO+h9EqY4LPIZ1oJmNE1tC4pAij/xcT9wuCB24PU1bla+E7oHDLFr9IN12PXiJaNbPhmI/xEsNx4a9u6xny//NW0XniFsbPV6ZH36bgcuUyH17GeoHRcQJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GKnu8nqrXeP6hejJFwQynP",
      "input": {
        "note": "The wrist sees the silver front wall of the case; the red-lined tray must be just beyond it. Lifting the mango over that wall and moving forward above the tray.",
        "targets": {
          "right_x": 0.51,
          "right_y": 0.36,
          "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_01GKnu8nqrXeP6hejJFwQynP",
      "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, 0.8406, 0.6067, -0.6453, -0.0189, -0.0387, 0.9988, 0.8776, 2.3939, 1.8397, -0.5144, 0.6052, 0.2623, 0.4334]\nstate[eef_state]: left_x=0.2536 left_y=0.0021 left_z=0.1204 left_yaw=0.0036 left_pitch=-0.3021 left_roll=0.0026 left_gripper=0.9988 right_x=0.4305 right_y=0.3666 right_z=0.0249 right_yaw=0.2056 right_pitch=-0.2736 right_roll=-0.3715 right_gripper=0.4334\nstate[joint_eff]: [-0.0615, -1.6479, 6.8991, 1.5263, -0.0513, -0.0415, -0.0073, -0.1846, -13.6957, 6.694, 1.4042, 0.3004, -0.022, 0.7643]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9ea96e3032b4cea2c18eb6fd9eceff797afeed53cf0e8e9cb38c4c4cc784fcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7c8b882933f988ddc87b43ae02068fce493de77e265b8633fd61f916a804a46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e29a8fa03b0cf88e0a1215b9203b8994e8e9b09844c5c9a25b3c6e6cb5df963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 9.873 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, 0.8356, 0.6067, -0.6315, -0.0189, -0.0387, 0.9988, 0.8776, 2.3375, 1.9888, -0.6849, 0.6121, 0.2653, 0.4308]\nstate[eef_state]: left_x=0.2562 left_y=0.0021 left_z=0.1238 left_yaw=0.0034 left_pitch=-0.2834 left_roll=0.0022 left_gripper=0.9988 right_x=0.4355 right_y=0.3711 right_z=0.0905 right_yaw=0.2051 right_pitch=-0.2418 right_roll=-0.3516 right_gripper=0.4308\nstate[joint_eff]: [-0.1846, -1.5385, 6.8034, 1.58, -0.0464, -0.0757, -0.0122, -0.7043, -12.547, 7.6513, 0.7302, 0.3639, 0.022, 0.5788]",
      "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, 0.836, 0.6067, -0.635, -0.0189, -0.0387, 0.9988, 0.8776, 2.3737, 1.8526, -0.5686, 0.6083, 0.2649, 0.4336]\nstate[eef_state]: left_x=0.2555 left_y=0.0021 left_z=0.1231 left_yaw=0.0035 left_pitch=-0.2872 left_roll=0.0023 left_gripper=0.9988 right_x=0.4275 right_y=0.3622 right_z=0.0349 right_yaw=0.1983 right_pitch=-0.2877 right_roll=-0.3855 right_gripper=0.4336\nstate[joint_eff]: [-0.212, -1.1419, 6.7761, 1.4725, -0.0611, -0.0269, -0.0122, -0.212, -12.465, 6.8171, 1.5018, 0.3541, -0.0269, 0.569]",
      "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, 0.8406, 0.6067, -0.6453, -0.0189, -0.0387, 0.9988, 0.8776, 2.3939, 1.8397, -0.5144, 0.6052, 0.2623, 0.4334]\nstate[eef_state]: left_x=0.2536 left_y=0.0021 left_z=0.1204 left_yaw=0.0036 left_pitch=-0.3021 left_roll=0.0026 left_gripper=0.9988 right_x=0.4305 right_y=0.3666 right_z=0.0249 right_yaw=0.2056 right_pitch=-0.2736 right_roll=-0.3715 right_gripper=0.4334\nstate[joint_eff]: [-0.0615, -1.6479, 6.8991, 1.5263, -0.0513, -0.0415, -0.0073, -0.1846, -13.6957, 6.694, 1.4042, 0.3004, -0.022, 0.7643]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9ea96e3032b4cea2c18eb6fd9eceff797afeed53cf0e8e9cb38c4c4cc784fcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7c8b882933f988ddc87b43ae02068fce493de77e265b8633fd61f916a804a46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e29a8fa03b0cf88e0a1215b9203b8994e8e9b09844c5c9a25b3c6e6cb5df963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6QMKjgEIEhgCKkAaW6hWk8RQIXm8ALW9XtsSsmHYkU0A4f11GK7T6SUyfIvHyWrSnh9P7tn2x1H7SJ6Inf7p824OSWoGAn4t6OHrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbX4y9UGEgyqT/rsWh6PioFxHLcaDJzjGU/4+40HnTF/UiIwUaxhb/WTtRNr3l9YGbGyJyQY1A7/bq5EHjldrXRm92lp2SCnkJQ1KV45eIp5RnNMKocCZGNQH43dybYVKkvzHbq9dj1eqrBJcE/8tB33y7S9RDvVY9buo+ZSPQCAtSf1UJng6bFl5djugd4T4KYaSc5SmNPTneBaY/A8l83tkTCfgxY9AWNVUDQtedWP7tcTN2OFMbMXLt7qvCogi4vBS/c9Z4qqfsTBfMuPZlWeK+sO7WfYlRIWoOOwI2OGjWgvW71PzkVCERzR74ZvS5+9Yglp17aI7W0yYSzYfppTSsGJW3v6wBJjndYpF8fU78h0djhIi27nc0Nii69zg94T1+XDev+PqFmCfZW9u2X/SCN8wBAvOAxqtHsFyj1AYgfSAMOAzb2V4snxQjP35p5jp613YKJj69CMVMUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LH6Tt1BrnxoJLfhhFMHRzb",
      "input": {
        "note": "The last command did not move the arm — it seems stuck at this low, far-left pose. Lifting straight up and pulling slightly back toward the arm to free it.",
        "targets": {
          "right_y": 0.33,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01LH6Tt1BrnxoJLfhhFMHRzb",
      "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, 0.8425, 0.6067, -0.6598, -0.0189, -0.0387, 0.9988, 0.8337, 2.2456, 2.0823, -0.9401, 0.5785, 0.2089, 0.4354]\nstate[eef_state]: left_x=0.2509 left_y=0.0022 left_z=0.1177 left_yaw=0.0037 left_pitch=-0.3185 left_roll=0.003 left_gripper=0.9988 right_x=0.4282 right_y=0.3333 right_z=0.1431 right_yaw=0.202 right_pitch=-0.3266 right_roll=-0.4099 right_gripper=0.4354\nstate[joint_eff]: [-0.1436, -1.4427, 6.7487, 1.5702, -0.0806, -0.022, -0.0122, -0.7453, -16.3761, 8.5402, 1.243, 0.3004, -0.0171, 0.4664]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9413d7fd98e267f0a5f5be9435d3778c66d59b07f54eaa069e1cfdbcaa44891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea444c52e434d7f3b2e072fd95f01ee77faf839738de292ccf38bb0d40be1909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac2536d630ed8362a90a5b8c81dbbb51b57d8c174e95c376b073c38f84e7226a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 12.59 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, 0.836, 0.6067, -0.635, -0.0189, -0.0387, 0.9988, 0.8776, 2.3737, 1.8526, -0.5686, 0.6083, 0.2649, 0.4336]\nstate[eef_state]: left_x=0.2555 left_y=0.0021 left_z=0.1231 left_yaw=0.0035 left_pitch=-0.2872 left_roll=0.0023 left_gripper=0.9988 right_x=0.4275 right_y=0.3622 right_z=0.0349 right_yaw=0.1983 right_pitch=-0.2877 right_roll=-0.3855 right_gripper=0.4336\nstate[joint_eff]: [-0.212, -1.1419, 6.7761, 1.4725, -0.0611, -0.0269, -0.0122, -0.212, -12.465, 6.8171, 1.5018, 0.3541, -0.0269, 0.569]",
      "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, 0.8406, 0.6067, -0.6453, -0.0189, -0.0387, 0.9988, 0.8776, 2.3939, 1.8397, -0.5144, 0.6052, 0.2623, 0.4334]\nstate[eef_state]: left_x=0.2536 left_y=0.0021 left_z=0.1204 left_yaw=0.0036 left_pitch=-0.3021 left_roll=0.0026 left_gripper=0.9988 right_x=0.4305 right_y=0.3666 right_z=0.0249 right_yaw=0.2056 right_pitch=-0.2736 right_roll=-0.3715 right_gripper=0.4334\nstate[joint_eff]: [-0.0615, -1.6479, 6.8991, 1.5263, -0.0513, -0.0415, -0.0073, -0.1846, -13.6957, 6.694, 1.4042, 0.3004, -0.022, 0.7643]",
      "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, 0.8425, 0.6067, -0.6598, -0.0189, -0.0387, 0.9988, 0.8337, 2.2456, 2.0823, -0.9401, 0.5785, 0.2089, 0.4354]\nstate[eef_state]: left_x=0.2509 left_y=0.0022 left_z=0.1177 left_yaw=0.0037 left_pitch=-0.3185 left_roll=0.003 left_gripper=0.9988 right_x=0.4282 right_y=0.3333 right_z=0.1431 right_yaw=0.202 right_pitch=-0.3266 right_roll=-0.4099 right_gripper=0.4354\nstate[joint_eff]: [-0.1436, -1.4427, 6.7487, 1.5702, -0.0806, -0.022, -0.0122, -0.7453, -16.3761, 8.5402, 1.243, 0.3004, -0.0171, 0.4664]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9413d7fd98e267f0a5f5be9435d3778c66d59b07f54eaa069e1cfdbcaa44891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea444c52e434d7f3b2e072fd95f01ee77faf839738de292ccf38bb0d40be1909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac2536d630ed8362a90a5b8c81dbbb51b57d8c174e95c376b073c38f84e7226a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QcKjgEIEhgCKkCScOqb1NkrJjsF5TaiYXGEroQH9R+8GSy405ZjFCJ+M2M3zf/rkIX0uIAGxzays6uO5IUKbHJ2v+mA69X771HFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb/4y9UGEgyancbYRFMF/gvITt0aDCsWS8etGJ5NqSiScSIwxHa7TrXneDi2yHG4BRhnUH1JyrRgGkWhqwELSaKu7QU5ThpWXrrtXgdMObi7NluoKpMGCmPqAxUMU4zO84RApBwLW0ZxK1Kv35yqS4pid1qHW/ICuDr0oNKwOZfmWkI/ztROM1AavvQyyeYNq7akoM+hhRL9uDbucWlj2itMDSIohbWWv30NxJJHf9dxykcot6uw6YhwZwU601gYSOwqTnxC0maVd5R25yQV+5wwbnmKICcSP/bb+tPoeg7pEIkfNW1mVXZWswgPSJFNa7v5EhB9jM3JCWH5npXRbk6Duc8kXaXQLBSKsHEKs/jY3nfWzY03omLW/pYdET193ldsIB1tpOMZnTD1vYylugUlTycHnmjnqTkawP+5HT0oO5vksIGvTv0D/B8LpX2/ncZSHWEqMFIosqz3kU0Yf/qx8orxmtMiR0+Tz+EUqnJdrAibjidCEoNlHDq3PPmSGuZEaHWKdkKGtZA8N7CcJOsyQnFnruqjN51njOL9y/+NG8sevlwUjlWhO8rnUZNlbJa8RjdR53KVuSKUUTRYoYHJGLocw/ZiSG1Ne7OoMbtKAMenQ/y1uvlqFXi/DjJYSaugTBk8BXAHDmqW7Dhm4h18mIWCjM3aTZG6gVuUzj7Bq4bQJepd5FEICueErctXOH1ERvjf/cRW5oKj+GcIK9t+kvP/pxOcr9QPRBbTBkvb40F0xEohBU12crLJFQDyNhoVpwNGGjRFsXwPTPBU/7CyIqA289DXulMZBv1blPhVoOhHWpS/WGTLQoTF8v2hbgKwM22FnkR+BwUGpo++POf0Yixle9RbHA7PaZAY9ia3T7lShu1EmcjcPeQU4hrx9wDMnAYeuxudKTPAO0p6qtfWhQyF/nioOhBzxSLWsHTGMXSRvzYtZiRhCkgpNuTzzCAHBoXdAvZvivOetmMqNkSbADTQAyI8/YRSn9NQRJQHL28mH0tmLoEqyoadRWlFJMjR4+KC/ENFyMZZQMi11xIc9t70eLV/W+ap8LeE3QqHpJw7zsRBbHOje1bv3ysiv25mnu2iJxvhaTyrPmDg9FQoddTaI9FlBzC+1GKikWruBf11KjOhe87voMSXct+0l/Mt6zM9YPAZFRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HaJKYhZmxqbcrhMEnZ2Tth",
      "input": {
        "note": "Free again at 14 cm height with the case front and open white lid ahead. Moving forward over the tray wall to get above the safe's interior.",
        "targets": {
          "right_x": 0.5,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HaJKYhZmxqbcrhMEnZ2Tth",
      "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, 0.8471, 0.6067, -0.6758, -0.0189, -0.0387, 0.9988, 0.7357, 2.7029, 2.9341, -1.3293, 0.5274, 0.1123, 0.4376]\nstate[eef_state]: left_x=0.2478 left_y=0.0022 left_z=0.1142 left_yaw=0.0039 left_pitch=-0.339 left_roll=0.0035 left_gripper=0.9988 right_x=0.491 right_y=0.3294 right_z=0.1405 right_yaw=0.1938 right_pitch=-0.369 right_roll=-0.4293 right_gripper=0.4376\nstate[joint_eff]: [-0.1846, -1.6479, 7.0359, 1.5214, -0.0659, -0.0659, -0.0122, -0.3214, -16.5402, 8.6222, 1.0574, 0.359, 0.1245, 0.5104]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57f2042958466aa2c5c12dcc95c94689636dd4db4cd1c8e56908c081989b7b2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f894436daefe7bece43da02a2015315fd778cd7eeb767471be68026437009a10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:544dc1ca72023818515e83899264fea44472d3d895b0ad0f748e813b5396bad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 19.17 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, 0.8406, 0.6067, -0.6453, -0.0189, -0.0387, 0.9988, 0.8776, 2.3939, 1.8397, -0.5144, 0.6052, 0.2623, 0.4334]\nstate[eef_state]: left_x=0.2536 left_y=0.0021 left_z=0.1204 left_yaw=0.0036 left_pitch=-0.3021 left_roll=0.0026 left_gripper=0.9988 right_x=0.4305 right_y=0.3666 right_z=0.0249 right_yaw=0.2056 right_pitch=-0.2736 right_roll=-0.3715 right_gripper=0.4334\nstate[joint_eff]: [-0.0615, -1.6479, 6.8991, 1.5263, -0.0513, -0.0415, -0.0073, -0.1846, -13.6957, 6.694, 1.4042, 0.3004, -0.022, 0.7643]",
      "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, 0.8425, 0.6067, -0.6598, -0.0189, -0.0387, 0.9988, 0.8337, 2.2456, 2.0823, -0.9401, 0.5785, 0.2089, 0.4354]\nstate[eef_state]: left_x=0.2509 left_y=0.0022 left_z=0.1177 left_yaw=0.0037 left_pitch=-0.3185 left_roll=0.003 left_gripper=0.9988 right_x=0.4282 right_y=0.3333 right_z=0.1431 right_yaw=0.202 right_pitch=-0.3266 right_roll=-0.4099 right_gripper=0.4354\nstate[joint_eff]: [-0.1436, -1.4427, 6.7487, 1.5702, -0.0806, -0.022, -0.0122, -0.7453, -16.3761, 8.5402, 1.243, 0.3004, -0.0171, 0.4664]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8471, 0.6067, -0.6758, -0.0189, -0.0387, 0.9988, 0.7357, 2.7029, 2.9341, -1.3293, 0.5274, 0.1123, 0.4376]\nstate[eef_state]: left_x=0.2478 left_y=0.0022 left_z=0.1142 left_yaw=0.0039 left_pitch=-0.339 left_roll=0.0035 left_gripper=0.9988 right_x=0.491 right_y=0.3294 right_z=0.1405 right_yaw=0.1938 right_pitch=-0.369 right_roll=-0.4293 right_gripper=0.4376\nstate[joint_eff]: [-0.1846, -1.6479, 7.0359, 1.5214, -0.0659, -0.0659, -0.0122, -0.3214, -16.5402, 8.6222, 1.0574, 0.359, 0.1245, 0.5104]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57f2042958466aa2c5c12dcc95c94689636dd4db4cd1c8e56908c081989b7b2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f894436daefe7bece43da02a2015315fd778cd7eeb767471be68026437009a10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:544dc1ca72023818515e83899264fea44472d3d895b0ad0f748e813b5396bad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AoKjgEIEhgCKkD4fN7ofupR36RVCST4Ylfa88a6QxwiLBPtfKANrJLwnrINUveYc3lP9+WsSp1W90ceCCPdDKK5BJcinrHIdSVoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcz4y9UGEgyMuNzCiBfgDLJG5QQaDIwVeJ+aHDXFRBs2qyIw1Cp0/sU2Fcgcng5+vSc4w2dyVlUNjo53kv6OoMXrFZXm33MpgnqApZg6ysigpXnpKvoImo8NrCBUAxBm2LnJne3nyErD1RmZRaJAAktMwDaXnpTmhummAVRC2Ts7/drh/SEcOJOZJvBC7WKejseYctFN83hlb96wJPvgpj0a/MIANo/b40iBDQRHmLAXm/reoI0/2PrFZyONsE0CVZNNV/z+3QCuFZpkg0lupYVXw9zgP5z1bC/ZoWoaCekAggEgE+8ROgAvibXG7iosuL+r8pa+T0528e5rDa2b+du9nwJz+rSWUHDc8i2NEaVx+/Yf/5gAPGT+SFajL3uW22z98znxpxEXsU00nUcNr4wyb1Ox4PRfDsqmAzWsGfL1J73l9NFBsAsnFlz3mQ6AmV7orREqXA4w6PD1BI6766PMp4SDBGWDcUCZCZmrIWsowTSTv09i1LcYNr0P8gSDFX4pvmqXm4VNlLYBGs5Ynzft0WNnX/yENoLEYA83MajH3HkGyHF63v5UrVK5vSK/sBzIEDiBzowT3L7DOu8QBwxpudErLL5RCoPUzmMpg0SObVv4rgC8/qMUhtrLFX3pHFBtQrwaQ9T+FVfoU/EegflilURh8dnPgwJ30jk7bdUztkDULpqitsiCh67C3Ug1RZmUp05OdFs2FcU/2JcfAgto4cirEinU7I56IJd3/nx8G7MdOHTadsUUcnxdXZUNLPc86VW9WWDqXSDY5Qxi67T/r+spc4WX3ZjHUeJXI5YPW/we+bkAM1swYRk8N8ISRUWfbMkj8cL2e3eMFy+TagSnM1ZcyKMW9Mvs0XNx1glcdQNCl+nNoJmrJThlxK8kzPtlMcdB+EHxu8+u9q55a4nHslH0+jhhUTZndDIfzAACJM6xhrnRZ7ggy+FwuzMQGZOgEf5hG/MfUBXcmnlb51EgeSzy9CXIZPdlLuMCJVh8ClxkTPY7YicpnhF+3FW0+l+JazSDmqMWBdLKs//N5C7f3w4bBiFzWNfZu/NvYUhHfI055HNyU58jmgJmnFLklkQeqGUE1eauB1MqhGS1txqYNz62NzKW/m2uM3rtf15xNv7OZfitmeqxsAW74+SNo3C5mMHkzD6q6wMN2R4LoDke01w2iTRWd3cnnyL5HSff+RQoIkE9giuyachuxVwuAkJfmnwczHdWGqqJGPnh613JVDIewvO5jpeomE+1gTOJKMJzKKXYy9DEqeeagpLY1Mt3+rjBzRhEJqP1a9wmhiUb9zoCcj4vJILYgVoUmT9CQ5m5/CadFRRCr38Ca786fvmWSq28OVZRGxeHIVM4JOohitDHEjm8JYPZrzts3XIvKHUyuNHkcXMH7IHIcfc/5RoYW2ohFW9FbUsP/StNKeV1tcBlCQi4Fk+syXKsmuvEl7mt2BZYjBhIkpuwtjxa4DRn1/xWTwcUgY46GD+m1qBizuNcIi7OfTftG57SSg2vpBjqycqkGcepYTyaox1haRv81PkP11/oxKph2FsW1yOpudaZ4K9YMrJkSSKMqpk7xgZQivemQi9WgOIgwEolCZkT0duWOYnotf+vyrs0duGfHWz/GM8xwu5CbAtxUU+jGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E2qtNYyhDCWKXeVwzWWbUs",
      "input": {
        "note": "Still short of the opening — the interior appears to lie further back. Reaching out to x=0.56 above the case to look down into it.",
        "targets": {
          "right_x": 0.56,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01E2qtNYyhDCWKXeVwzWWbUs",
      "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, 0.8482, 0.6067, -0.6899, -0.0189, -0.0387, 0.9988, 0.6525, 2.7346, 2.891, -1.3357, 0.482, 0.0254, 0.439]\nstate[eef_state]: left_x=0.245 left_y=0.0023 left_z=0.1119 left_yaw=0.004 left_pitch=-0.3543 left_roll=0.0039 left_gripper=0.9988 right_x=0.5096 right_y=0.2909 right_z=0.1046 right_yaw=0.1753 right_pitch=-0.4812 right_roll=-0.4863 right_gripper=0.439\nstate[joint_eff]: [-0.1299, -1.2239, 6.7897, 1.4774, -0.0366, -0.0366, -0.0122, -0.1983, -19.2752, 7.3504, 1.5897, 0.3883, 0.0122, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6bb17512986af9942db7fb34b5d4eaa138077738711b4564db28628aa545a94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e77e2293d1f3c69cdbf5875bd14a9f30927830bdb681939d4684188c8287aa91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18cb42c56f4ca124f964d6bbb68cc72b30882327b19756641456cb8e5a9dceaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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