adhoc

completed
2026-09-23T00:18:16.544859+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
395.4 s
total steps
316
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

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: an open red-lined safe/box in the middle, a yellow lemon to its right, a small light teddy to its left, and a larger teddy in front. Moving the right arm to hover above the lemon to start picking it up.
move_to
right_x0.3300right_y0.1400right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0338, 0.9991, -0.02, 0.7925, 0.6041, -0.3969, -0.0193, -0.0254, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2924 right_y=0.0011 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.6085, -1.4427, 10.3316, 1.9658, -0.0708, 0.1685, -0.1001, -0.4991, -1.4291, 9.894, 1.9316, -0.0513, 0.0659, -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": 0.33, "right_y": 0.14, "right_z": 0.16, "right_gripper": 1.0}, "note": "Scene: an open red-lined safe/box in the middle, a yellow lemon to its right, a small light teddy to its left, and a larger teddy in front. Moving the right arm to hover above the lemon to start picking it up."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteWrist view shows the lemon ahead and slightly right of the jaw column; top view confirms it is further forward than the gripper. Advancing the right arm forward to hover directly over the lemon.
move_to
right_x0.3900right_y0.1250right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0383, 0.999, 0.6247, 1.2095, 0.7124, -0.2729, 0.4648, 0.3267, 0.9996] state[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0029 left_pitch=-0.016 left_roll=-0.0035 left_gripper=0.999 right_x=0.3155 right_y=0.1342 right_z=0.1363 right_yaw=0.051 right_pitch=-0.0873 right_roll=-0.0558 right_gripper=0.9996 state[joint_eff]: [-0.294, -1.5795, 6.9265, 1.8584, -0.0513, -0.0024, -0.0171, 0.212, -4.1778, 9.4701, 1.8046, 0.4274, 0.1978, -0.0562] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.125, "right_z": 0.15}, "note": "Wrist view shows the lemon ahead and slightly right of the jaw column; top view confirms it is further forward than the gripper. Advancing the right arm forward to hover directly over the lemon."})
tool
executing move_to over 6 steps (0.6s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe lemon sits right of the jaw column in the wrist view, so I shift the right gripper toward the arm's right (−y) and slightly forward to line up over it.
move_to
right_x0.4000right_y0.0900right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4164, -0.0189, -0.0383, 0.999, 0.4522, 1.4212, 0.881, -0.2508, 0.3489, 0.2096, 0.9996] state[eef_state]: left_x=0.2905 left_y=0.0014 left_z=0.1723 left_yaw=0.0026 left_pitch=-0.0294 left_roll=-0.0034 left_gripper=0.999 right_x=0.3735 right_y=0.1183 right_z=0.1308 right_yaw=0.0334 right_pitch=-0.1488 right_roll=-0.0836 right_gripper=0.9996 state[joint_eff]: [0.0068, -1.4017, 7.0222, 1.8144, -0.0464, -0.0464, -0.0122, -0.2393, -5.6821, 9.0325, 1.7705, 0.0952, 0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.09, "right_z": 0.15}, "note": "The lemon sits right of the jaw column in the wrist view, so I shift the right gripper toward the arm's right (\u2212y) and slightly forward to line up over it."})
tool
executing move_to over 3 steps (0.3s)
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 noteLemon is now almost on the jaw column but still a few cm short of the fingertips; advancing 3 cm forward and slightly right while lowering a little before the final descent.
move_to
right_x0.4200right_y0.0800right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0193, -0.0387, 0.999, 0.3405, 1.4425, 0.9302, -0.2985, 0.2768, 0.1406, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.999 right_x=0.3869 right_y=0.0897 right_z=0.1322 right_yaw=0.0174 right_pitch=-0.1893 right_roll=-0.093 right_gripper=0.9996 state[joint_eff]: [-0.1436, -1.2103, 7.0085, 1.8388, -0.0757, -0.0513, -0.0122, -0.0615, -5.5453, 10.0444, 1.7216, 0.1343, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.08, "right_z": 0.12}, "note": "Lemon is now almost on the jaw column but still a few cm short of the fingertips; advancing 3 cm forward and slightly right while lowering a little before the final descent."})
tool
executing move_to over 3 steps (0.3s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe arm under-tracked the last small step, so I command a larger forward-and-down move to bring the jaws around the lemon.
move_to
right_x0.4400right_y0.0800right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4332, -0.0189, -0.0387, 0.999, 0.3214, 1.4456, 0.9447, -0.3168, 0.2493, 0.112, 0.9996] state[eef_state]: left_x=0.2881 left_y=0.0015 left_z=0.1689 left_yaw=0.0028 left_pitch=-0.0461 left_roll=-0.0034 left_gripper=0.999 right_x=0.3882 right_y=0.0871 right_z=0.133 right_yaw=0.0366 right_pitch=-0.2032 right_roll=-0.0964 right_gripper=0.9996 state[joint_eff]: [-0.335, -0.9915, 6.9812, 1.7998, -0.0317, -0.0513, -0.0122, -0.1299, -5.9419, 9.5385, 1.7314, 0.105, -0.0513, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.08, "right_z": 0.08}, "note": "The arm under-tracked the last small step, so I command a larger forward-and-down move to bring the jaws around the lemon."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe right arm stopped tracking entirely (joint positions frozen), so I retreat up and back to unstick it before re-approaching the lemon.
move_to
right_x0.3600right_y0.0800right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4358, -0.0189, -0.0387, 0.999, 0.3214, 1.4456, 0.9447, -0.3172, 0.2493, 0.112, 0.9996] state[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1684 left_yaw=0.0028 left_pitch=-0.0488 left_roll=-0.0033 left_gripper=0.999 right_x=0.3881 right_y=0.0871 right_z=0.133 right_yaw=0.0366 right_pitch=-0.2036 right_roll=-0.0965 right_gripper=0.9996 state[joint_eff]: [-0.0889, -1.1282, 7.1179, 1.6923, -0.0415, -0.022, -0.0122, -0.0342, -5.9282, 9.5658, 1.7656, 0.1343, -0.0024, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.08, "right_z": 0.22}, "note": "The right arm stopped tracking entirely (joint positions frozen), so I retreat up and back to unstick it before re-approaching the lemon."})
tool
executing move_to over 6 steps (0.6s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteArm is moving again after raising it. Extending forward at a safe height to get over the lemon before descending.
move_to
right_x0.4500right_y0.0800right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4515, -0.0189, -0.0387, 0.999, 0.3264, 1.3502, 1.1347, -0.5602, 0.247, 0.1116, 0.9996] state[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0028 left_pitch=-0.0644 left_roll=-0.003 left_gripper=0.999 right_x=0.3791 right_y=0.0865 right_z=0.2069 right_yaw=0.0459 right_pitch=-0.1634 right_roll=-0.0832 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.2376, 6.9812, 1.8632, -0.0611, -0.0757, -0.0122, 0.212, -5.7368, 7.2957, 1.4383, 0.2027, 0.0269, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.08, "right_z": 0.18}, "note": "Arm is moving again after raising it. Extending forward at a safe height to get over the lemon before descending."})
tool
executing move_to over 6 steps (0.6s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteLemon is centred on the jaw column in the wrist view; descending to lemon mid-height to grasp it.
move_to
right_x0.4400right_y0.0780right_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, -0.4583, -0.0189, -0.0387, 0.999, 0.247, 1.5887, 1.2129, -0.4992, 0.1928, 0.0532, 0.9996] state[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0028 left_pitch=-0.0751 left_roll=-0.0027 left_gripper=0.999 right_x=0.4251 right_y=0.076 right_z=0.1552 right_yaw=0.0395 right_pitch=-0.2722 right_roll=-0.1097 right_gripper=0.9996 state[joint_eff]: [-0.212, -1.4974, 6.9675, 1.7509, -0.0659, -0.0513, -0.0122, -0.7726, -7.2821, 9.5248, 1.6972, -0.0171, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.078, "right_z": 0.03}, "note": "Lemon is centred on the jaw column in the wrist view; descending to lemon mid-height to grasp it."})
tool
executing move_to over 9 steps (0.9s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteLemon is between the jaws in the wrist view; closing the gripper on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4732, -0.0189, -0.0387, 0.999, 0.244, 1.7947, 0.9638, -0.0631, 0.1772, 0.0483, 0.9996] state[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.16 left_yaw=0.0029 left_pitch=-0.09 left_roll=-0.0024 left_gripper=0.999 right_x=0.4345 right_y=0.0798 right_z=0.0389 right_yaw=0.0516 right_pitch=-0.2936 right_roll=-0.1046 right_gripper=0.9996 state[joint_eff]: [-0.0205, -1.2239, 7.0632, 1.7998, -0.0806, -0.0611, -0.0073, -0.2667, -6.5436, 5.0803, 1.37, 0.1978, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon is between the jaws in the wrist view; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteGripper closed to 0.04 = empty, so the lemon slipped aside. Opening and lifting to re-look before a second attempt.
move_to
right_gripper1.0000right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0391, 0.999, 0.2523, 1.8099, 0.9497, -0.0814, 0.1444, 0.0376, 0.0416] state[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0031 left_pitch=-0.0969 left_roll=-0.0026 left_gripper=0.999 right_x=0.4237 right_y=0.0867 right_z=0.024 right_yaw=0.0918 right_pitch=-0.3457 right_roll=-0.0934 right_gripper=0.0416 state[joint_eff]: [-0.0615, -1.1692, 6.9675, 1.7314, -0.0708, -0.0806, -0.0122, -0.7179, -9.8803, 7.1179, 1.4579, 0.0122, -0.569, 0.8425] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.14}, "note": "Gripper closed to 0.04 = empty, so the lemon slipped aside. Opening and lifting to re-look before a second attempt."})
tool
executing move_to over 10 steps (1.0s)
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 noteThe lemon rolled to the arm's right during the failed close; shifting the gripper right and slightly forward to re-centre over it.
move_to
right_y0.0450right_x0.4350right_z0.1100
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, -0.4957, -0.0189, -0.0387, 0.999, 0.252, 1.6745, 1.2087, -0.5297, 0.1406, 0.0257, 0.9945] state[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1545 left_yaw=0.0029 left_pitch=-0.1171 left_roll=-0.0018 left_gripper=0.999 right_x=0.4183 right_y=0.0858 right_z=0.1127 right_yaw=0.0985 right_pitch=-0.3999 right_roll=-0.1064 right_gripper=0.9945 state[joint_eff]: [-0.0615, -1.6068, 6.9538, 1.746, -0.0464, -0.0122, -0.0122, -0.1983, -10.6188, 8.9915, 1.5507, 0.0757, 0.0513, 0.0464] approver: 10 step(s) modified (delta_clamped ×10). 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_y": 0.045, "right_x": 0.435, "right_z": 0.11}, "note": "The lemon rolled to the arm's right during the failed close; shifting the gripper right and slightly forward to re-centre over it."})
tool
executing move_to over 4 steps (0.4s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteLemon is now on the jaw column but still further out; advancing forward while descending to lemon mid-height.
move_to
right_x0.4600right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5114, -0.0189, -0.0387, 0.999, 0.1299, 1.6989, 1.2228, -0.5713, 0.0906, -0.0547, 0.9953] state[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1516 left_yaw=0.003 left_pitch=-0.1327 left_roll=-0.0015 left_gripper=0.999 right_x=0.42 right_y=0.0424 right_z=0.102 right_yaw=0.0681 right_pitch=-0.4607 right_roll=-0.1127 right_gripper=0.9953 state[joint_eff]: [-0.0205, -1.2376, 6.9402, 1.7558, -0.0659, -0.0513, -0.0122, 0.4718, -7.6103, 7.1043, 1.7753, -0.1099, -0.1245, 0.0659] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_z": 0.03}, "note": "Lemon is now on the jaw column but still further out; advancing forward while descending to lemon mid-height."})
tool
executing move_to over 5 steps (0.5s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteLemon fills the wrist view centred on the jaws; closing to grasp.
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, 0.8101, 0.6067, -0.519, -0.0189, -0.0387, 0.999, 0.1204, 1.9179, 1.2125, -0.4107, 0.0738, -0.0788, 0.9953] state[eef_state]: left_x=0.2753 left_y=0.0017 left_z=0.1496 left_yaw=0.003 left_pitch=-0.1426 left_roll=-0.0012 left_gripper=0.999 right_x=0.4413 right_y=0.0439 right_z=0.026 right_yaw=0.0877 right_pitch=-0.5315 right_roll=-0.1124 right_gripper=0.9953 state[joint_eff]: [-0.0068, -1.265, 6.9128, 1.6825, -0.0806, -0.0366, -0.0122, -0.6632, -9.6068, 6.5573, 1.4969, 0.0904, 0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon fills the wrist view centred on the jaws; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteSecond close was empty (0.03) and the wrist view shows the lemon about 4 cm to the arm's right of the jaw column; opening, lifting, and shifting right to line up properly.
move_to
right_gripper1.0000right_z0.0900right_y0.0080
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, -0.5259, -0.0189, -0.0387, 0.999, 0.1223, 1.9392, 1.2118, -0.4213, 0.0483, -0.0792, 0.031] state[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1484 left_yaw=0.003 left_pitch=-0.1491 left_roll=-0.0011 left_gripper=0.999 right_x=0.4362 right_y=0.0486 right_z=0.0154 right_yaw=0.1145 right_pitch=-0.5648 right_roll=-0.0863 right_gripper=0.031 state[joint_eff]: [0.0068, -1.1009, 7.1043, 1.6484, -0.0757, -0.0513, -0.0122, -0.4444, -11.5897, 6.0513, 1.16, 0.1783, -0.1587, 1.3455] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.09, "right_y": 0.008}, "note": "Second close was empty (0.03) and the wrist view shows the lemon about 4 cm to the arm's right of the jaw column; opening, lifting, and shifting right to line up properly."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteLemon sits just outside the safe's right wall, appearing high in the wrist view so it is still further forward; advancing and descending to straddle it.
move_to
right_x0.4700right_y0.0200right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5377, -0.0189, -0.0387, 0.999, 0.017, 1.8645, 1.3457, -0.6907, 0.0097, -0.1768, 0.9946] state[eef_state]: left_x=0.2722 left_y=0.0018 left_z=0.1462 left_yaw=0.0031 left_pitch=-0.1609 left_roll=-0.0008 left_gripper=0.999 right_x=0.426 right_y=0.0091 right_z=0.0647 right_yaw=0.115 right_pitch=-0.6282 right_roll=-0.0849 right_gripper=0.9946 state[joint_eff]: [0.0068, -1.2376, 7.0769, 1.663, -0.0708, -0.0659, -0.0073, -0.4308, -11.9453, 8.5675, 1.1209, 0.0122, -0.0073, -0.0659] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.02, "right_z": 0.03}, "note": "Lemon sits just outside the safe's right wall, appearing high in the wrist view so it is still further forward; advancing and descending to straddle it."})
tool
executing move_to over 4 steps (0.4s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe lemon now fills the wrist view right at the jaws; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5415, -0.0189, -0.0387, 0.999, 0.0391, 2.0338, 1.3998, -0.6418, 0.0101, -0.1761, 0.9953] state[eef_state]: left_x=0.2716 left_y=0.0018 left_z=0.1453 left_yaw=0.0031 left_pitch=-0.1655 left_roll=-0.0007 left_gripper=0.999 right_x=0.4421 right_y=0.0191 right_z=0.0155 right_yaw=0.1413 right_pitch=-0.6942 right_roll=-0.0766 right_gripper=0.9953 state[joint_eff]: [-0.1846, -1.2513, 6.9128, 1.5849, -0.0757, -0.0513, -0.0122, 0.1709, -11.3573, 9.306, 1.2576, 0.0366, 0.188, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The lemon now fills the wrist view right at the jaws; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteEmpty close again — each attempt nudges the lemon further to the arm's right. Opening, lifting a little and shifting ~3.5 cm right to get the lemon onto the jaw centreline.
move_to
right_gripper1.0000right_z0.0700right_y-0.0120
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8116, 0.6067, -0.5591, -0.0189, -0.0383, 0.999, 0.0467, 2.0518, 1.4223, -0.6312, -0.0036, -0.1665, 0.0326] state[eef_state]: left_x=0.2687 left_y=0.0019 left_z=0.1419 left_yaw=0.0029 left_pitch=-0.1842 left_roll=-0.0 left_gripper=0.999 right_x=0.45 right_y=0.0253 right_z=0.0155 right_yaw=0.1556 right_pitch=-0.6773 right_roll=-0.0582 right_gripper=0.0326 state[joint_eff]: [-0.1573, -1.2786, 7.0085, 1.7509, -0.0806, 0.0024, -0.0122, -0.3624, -11.3573, 7.9658, 1.199, -0.0024, -0.3101, 1.5556] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.07, "right_y": -0.012}, "note": "Empty close again \u2014 each attempt nudges the lemon further to the arm's right. Opening, lifting a little and shifting ~3.5 cm right to get the lemon onto the jaw centreline."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteLemon is now centred on the jaw column but sits further out; advancing ~2.5 cm and descending to table level to straddle it.
move_to
right_x0.4650right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5667, -0.0189, -0.0387, 0.999, -0.0483, 1.969, 1.409, -0.6987, -0.0422, -0.255, 0.9945] state[eef_state]: left_x=0.2674 left_y=0.0019 left_z=0.1399 left_yaw=0.0032 left_pitch=-0.1945 left_roll=-0.0001 left_gripper=0.999 right_x=0.4375 right_y=-0.0101 right_z=0.0415 right_yaw=0.1637 right_pitch=-0.6719 right_roll=-0.0469 right_gripper=0.9945 state[joint_eff]: [-0.0752, -1.306, 6.8718, 1.6532, -0.0562, -0.0708, -0.0073, -0.4581, -13.2855, 8.7726, 1.0672, -0.0806, 0.0708, -0.0513] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_z": 0.015}, "note": "Lemon is now centred on the jaw column but sits further out; advancing ~2.5 cm and descending to table level to straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteLemon is centred between the jaws at table level; closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5751, -0.0189, -0.0387, 0.999, -0.0536, 2.0201, 1.3838, -0.6075, -0.0498, -0.2623, 0.9953] state[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1384 left_yaw=0.0032 left_pitch=-0.2029 left_roll=0.0001 left_gripper=0.999 right_x=0.4465 right_y=-0.0116 right_z=0.0192 right_yaw=0.1688 right_pitch=-0.656 right_roll=-0.0449 right_gripper=0.9953 state[joint_eff]: [-0.0479, -1.1829, 6.8581, 1.6532, -0.0611, -0.0415, -0.0122, 0.1299, -9.9487, 6.8581, 1.1697, -0.1392, 0.022, 0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon is centred between the jaws at table level; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteFourth empty close; with the jaws shut the lemon still shows to the right of them, so I open, shift 2 cm further right and pull back 2 cm to sit around the lemon rather than past it.
move_to
right_gripper1.0000right_y-0.0250right_x0.4350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.585, -0.0189, -0.0387, 0.999, -0.046, 2.0499, 1.3834, -0.569, -0.0711, -0.2638, 0.0298] state[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1364 left_yaw=0.0033 left_pitch=-0.214 left_roll=0.0004 left_gripper=0.999 right_x=0.4526 right_y=-0.0047 right_z=0.0096 right_yaw=0.1979 right_pitch=-0.6432 right_roll=-0.0233 right_gripper=0.0298 state[joint_eff]: [-0.0205, -1.265, 6.8581, 1.5995, -0.0464, -0.022, -0.0122, -0.3624, -10.5915, 6.7897, 1.2186, -0.1343, -0.149, 1.2967] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_y": -0.025, "right_x": 0.435}, "note": "Fourth empty close; with the jaws shut the lemon still shows to the right of them, so I open, shift 2 cm further right and pull back 2 cm to sit around the lemon rather than past it."})
tool
executing move_to over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe wrist has drifted to a strongly tilted pitch, putting the fingertips short of the lemon. Commanding pitch back to 0 (tool vertical) at 6 cm height over the lemon for a clean top-down grasp.
move_to
right_pitch0.0000right_z0.0600right_x0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5869, -0.0189, -0.0383, 0.999, -0.1055, 1.9877, 1.2625, -0.4641, -0.1028, -0.3058, 0.9946] state[eef_state]: left_x=0.264 left_y=0.0019 left_z=0.1359 left_yaw=0.0031 left_pitch=-0.2166 left_roll=0.0007 left_gripper=0.999 right_x=0.4413 right_y=-0.0249 right_z=0.0078 right_yaw=0.1895 right_pitch=-0.5912 right_roll=-0.0218 right_gripper=0.9946 state[joint_eff]: [-0.0342, -1.1145, 6.8444, 1.5116, -0.0317, -0.0366, -0.0122, -0.4034, -11.535, 4.9299, 0.8913, -0.1099, -0.1245, -0.1392] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_pitch": 0.0, "right_z": 0.06, "right_x": 0.45}, "note": "The wrist has drifted to a strongly tilted pitch, putting the fingertips short of the lemon. Commanding pitch back to 0 (tool vertical) at 6 cm height over the lemon for a clean top-down grasp."})
tool
executing move_to over 20 steps (2.0s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteWith the tool vertical the lemon sits just ahead on the jaw column; advancing forward and down to put the jaws around it.
move_to
right_x0.4800right_z0.0200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5953, -0.0189, -0.0387, 0.999, -0.1738, 1.7836, 0.7643, 0.3016, -0.2764, -0.2573, 0.9953] state[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.1338 left_yaw=0.0034 left_pitch=-0.2277 left_roll=0.0007 left_gripper=0.999 right_x=0.4385 right_y=-0.0244 right_z=0.0351 right_yaw=0.1893 right_pitch=-0.0998 right_roll=-0.0087 right_gripper=0.9953 state[joint_eff]: [-0.1983, -0.9915, 6.8718, 1.5849, -0.022, -0.0171, -0.0073, -0.5812, -10.0991, 5.6547, 1.9951, -0.2955, 0.1197, 0.0562] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_z": 0.02, "right_pitch": 0.0}, "note": "With the tool vertical the lemon sits just ahead on the jaw column; advancing forward and down to put the jaws around it."})
tool
executing move_to over 4 steps (0.4s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteLemon is now large and centred between the vertical jaws; closing to grasp.
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, 0.8204, 0.6067, -0.6079, -0.0189, -0.0387, 0.999, -0.168, 1.9427, 0.8204, 0.4576, -0.3008, -0.2337, 0.9954] state[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1313 left_yaw=0.0034 left_pitch=-0.2418 left_roll=0.001 left_gripper=0.999 right_x=0.4671 right_y=-0.0225 right_z=0.0161 right_yaw=0.2004 right_pitch=-0.0448 right_roll=0.0056 right_gripper=0.9954 state[joint_eff]: [-0.0615, -1.3197, 6.8171, 1.5556, -0.0464, -0.0269, -0.0122, 0.4171, -7.9521, 6.2564, 1.8242, -0.0415, 0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon is now large and centred between the vertical jaws; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteGrasp succeeded (gripper settled at 0.51 ≈ 4.8 cm lemon). Lifting and moving ~10 cm to the arm's left to hover over the open safe's red interior.
move_to
right_z0.2200right_y0.0820right_x0.4500
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, -0.6121, -0.0189, -0.0383, 0.999, -0.1658, 1.9671, 0.8253, 0.458, -0.3195, -0.2317, 0.5075] state[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1305 left_yaw=0.0032 left_pitch=-0.2464 left_roll=0.0014 left_gripper=0.999 right_x=0.4662 right_y=-0.0181 right_z=0.0076 right_yaw=0.2171 right_pitch=-0.0583 right_roll=0.025 right_gripper=0.5075 state[joint_eff]: [-0.0615, -1.2513, 6.8308, 1.4969, -0.0757, -0.0513, -0.0122, -0.3487, -11.1795, 4.5197, 1.6337, 0.0122, -0.0952, 1.0232] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_y": 0.082, "right_x": 0.45}, "note": "Grasp succeeded (gripper settled at 0.51 \u2248 4.8 cm lemon). Lifting and moving ~10 cm to the arm's left to hover over the open safe's red interior."})
tool
executing move_to over 14 steps (1.4s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
assistant
agent noteCarrying the lemon; the safe's red interior appears just left of the jaw column, so shifting 3 cm further left and lowering toward the opening.
move_to
right_y0.1120right_x0.4400right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.823, 0.6067, -0.6151, -0.0189, -0.0387, 0.999, 0.1356, 1.5612, 1.2015, -0.3519, -0.0967, -0.0723, 0.5091] state[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1294 left_yaw=0.0035 left_pitch=-0.2517 left_roll=0.0012 left_gripper=0.999 right_x=0.4473 right_y=0.0819 right_z=0.1855 right_yaw=0.2469 right_pitch=-0.1225 right_roll=0.0175 right_gripper=0.5091 state[joint_eff]: [-0.0752, -1.388, 6.7897, 1.5018, -0.0659, -0.0757, -0.0122, 0.1846, -9.7299, 9.306, 1.7802, 0.0317, 0.2906, 0.1538] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.112, "right_x": 0.44, "right_z": 0.16}, "note": "Carrying the lemon; the safe's red interior appears just left of the jaw column, so shifting 3 cm further left and lowering toward the opening."})
tool
executing move_to over 3 steps (0.3s)
step 196
assistant
agent noteThe lemon is held slightly right of the jaw column while the safe's red interior is to the left; sliding 5 cm further left so the lemon itself is over the opening.
move_to
right_y0.1570right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.6304, -0.0189, -0.0387, 0.999, 0.215, 1.5635, 1.1229, -0.3111, -0.0471, -0.0338, 0.5093] state[eef_state]: left_x=0.2562 left_y=0.0021 left_z=0.1265 left_yaw=0.0036 left_pitch=-0.2689 left_roll=0.0016 left_gripper=0.999 right_x=0.4327 right_y=0.1066 right_z=0.1576 right_yaw=0.2635 right_pitch=-0.1656 right_roll=0.0164 right_gripper=0.5093 state[joint_eff]: [0.0889, -1.306, 6.7897, 1.5653, -0.0562, -0.0317, -0.0122, 0.1026, -7.5282, 7.8154, 2.2882, 0.0269, 0.0659, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.157, "right_z": 0.18}, "note": "The lemon is held slightly right of the jaw column while the safe's red interior is to the left; sliding 5 cm further left so the lemon itself is over the opening."})
tool
executing move_to over 5 steps (0.5s)
step 201
assistant
agent noteThe safe's red interior now fills the wrist view just ahead of the jaws; nudging forward and left to centre the held lemon over the opening before releasing.
move_to
right_x0.4500right_y0.1750right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.6369, -0.0189, -0.0383, 0.999, 0.3569, 1.5959, 1.2167, -0.4072, 0.0319, 0.0296, 0.5093] state[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1254 left_yaw=0.0034 left_pitch=-0.2754 left_roll=0.002 left_gripper=0.999 right_x=0.423 right_y=0.1555 right_z=0.1665 right_yaw=0.3029 right_pitch=-0.2007 right_roll=0.0068 right_gripper=0.5093 state[joint_eff]: [-0.0615, -1.1966, 7.0632, 1.5116, -0.0366, -0.0122, -0.0122, -0.0889, -6.7214, 9.2923, 1.7021, 0.1148, 0.2369, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.175, "right_z": 0.17}, "note": "The safe's red interior now fills the wrist view just ahead of the jaws; nudging forward and left to centre the held lemon over the opening before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 204
assistant
agent noteJaws are over the red interior but the held lemon rides right of the jaw column, so I shift 4 cm further left to be sure the lemon is inside the safe before opening.
move_to
right_y0.2150right_z0.1650
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, -0.6376, -0.0189, -0.0387, 0.999, 0.3771, 1.6997, 1.3186, -0.4534, 0.0452, 0.0422, 0.5093] state[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1242 left_yaw=0.0037 left_pitch=-0.2807 left_roll=0.0019 left_gripper=0.999 right_x=0.4379 right_y=0.1687 right_z=0.1558 right_yaw=0.3038 right_pitch=-0.2481 right_roll=0.0026 right_gripper=0.5093 state[joint_eff]: [-0.1983, -1.1556, 6.8991, 1.4725, -0.0659, -0.0659, -0.0122, 0.2393, -8.8274, 9.1145, 1.6972, 0.0464, -0.0024, -0.0122] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.215, "right_z": 0.165}, "note": "Jaws are over the red interior but the held lemon rides right of the jaw column, so I shift 4 cm further left to be sure the lemon is inside the safe before opening."})
tool
executing move_to over 4 steps (0.4s)
step 208
assistant
agent noteJaws with the lemon are over the safe's red interior; opening to drop the lemon in.
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, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.4873, 1.7599, 1.401, -0.5182, 0.0952, 0.0917, 0.5093] state[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0037 left_pitch=-0.2815 left_roll=0.0019 left_gripper=0.999 right_x=0.428 right_y=0.2119 right_z=0.1524 right_yaw=0.3413 right_pitch=-0.2865 right_roll=-0.0073 right_gripper=0.5093 state[joint_eff]: [-0.0205, -1.1282, 6.7761, 1.4432, -0.0806, -0.0611, -0.0122, -0.759, -8.3897, 9.4564, 1.5897, 0.3004, 0.1783, -0.0122] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Jaws with the lemon are over the safe's red interior; opening to drop the lemon in."})
tool
executing move_to over 5 steps (0.5s)
step 213
assistant
agent noteLemon released over the safe; retracting the right arm to clear the overhead view and sending the left arm to hover over the small light-coloured teddy left of the safe.
move_to
right_x0.3000right_y0.0500right_z0.2800left_x0.3200left_y-0.2300left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.4942, 1.766, 1.412, -0.5453, 0.1162, 0.1165, 0.995] state[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0037 left_pitch=-0.2815 left_roll=0.0019 left_gripper=0.999 right_x=0.4258 right_y=0.2103 right_z=0.1502 right_yaw=0.3147 right_pitch=-0.3057 right_roll=-0.0113 right_gripper=0.995 state[joint_eff]: [0.0342, -1.0598, 6.7761, 1.4139, -0.0611, -0.0024, -0.0122, -0.253, -8.7179, 9.1009, 1.7363, 0.0611, 0.0708, -0.2222] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.28, "left_x": 0.32, "left_y": -0.23, "left_z": 0.15, "left_gripper": 1.0}, "note": "Lemon released over the safe; retracting the right arm to clear the overhead view and sending the left arm to hover over the small light-coloured teddy left of the safe."})
tool
executing move_to over 21 steps (2.1s)
step 234
assistant
agent noteThe lemon unfortunately landed on the table right of the safe rather than inside. Meanwhile the left wrist sees the small teddy just ahead and slightly left; advancing and descending onto it.
move_to
left_x0.3600left_y-0.2050left_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8482, 1.5738, 1.1786, -0.7116, -0.4919, -0.7383, 0.9991, 0.0784, 1.2278, 1.3972, -1.1149, -0.1215, -0.1905, 0.9967] state[eef_state]: left_x=0.3106 left_y=-0.2207 left_z=0.1353 left_yaw=0.0001 left_pitch=-0.3288 left_roll=0.0243 left_gripper=0.9991 right_x=0.3034 right_y=0.0489 right_z=0.2622 right_yaw=0.2876 right_pitch=-0.3501 right_roll=-0.0085 right_gripper=0.9967 state[joint_eff]: [-0.3897, -6.9265, 8.7316, 1.1111, -0.5592, 0.0513, -0.105, -0.212, -4.7795, 9.0598, 1.5849, -0.2466, -0.0611, 0.1587] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.205, "left_z": 0.04}, "note": "The lemon unfortunately landed on the table right of the safe rather than inside. Meanwhile the left wrist sees the small teddy just ahead and slightly left; advancing and descending onto it."})
tool
executing move_to over 7 steps (0.7s)
step 241
assistant
agent noteThe teddy fills the left wrist view slightly left of the jaw column; nudging 2 cm left and 1 cm forward to centre the jaws on its body.
move_to
left_y-0.1850left_x0.3700left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7113, 1.7657, 1.0035, -0.3573, -0.4309, -0.6277, 0.999, 0.0734, 1.2304, 1.4002, -1.15, -0.1246, -0.2089, 0.9968] state[eef_state]: left_x=0.3462 left_y=-0.1962 left_z=0.0379 left_yaw=0.0347 left_pitch=-0.3798 left_roll=0.0633 left_gripper=0.999 right_x=0.2972 right_y=0.0475 right_z=0.2577 right_yaw=0.299 right_pitch=-0.3835 right_roll=-0.0092 right_gripper=0.9968 state[joint_eff]: [0.2667, -7.9521, 5.9009, 1.3944, -0.2418, 0.2076, -0.0171, 0.335, -3.8769, 5.9282, 1.6435, -0.0708, 0.1783, 0.0073] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.185, "left_x": 0.37, "left_z": 0.035}, "note": "The teddy fills the left wrist view slightly left of the jaw column; nudging 2 cm left and 1 cm forward to centre the jaws on its body."})
tool
executing move_to over 2 steps (0.2s)
step 243
assistant
agent noteTeddy is between the jaws in the left wrist view; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6712, 1.7931, 1.0088, -0.3138, -0.4114, -0.5961, 0.999, 0.0723, 1.2304, 1.4002, -1.1545, -0.1249, -0.2077, 0.9968] state[eef_state]: left_x=0.3591 left_y=-0.1904 left_z=0.0325 left_yaw=0.0366 left_pitch=-0.3765 left_roll=0.0536 left_gripper=0.999 right_x=0.2963 right_y=0.0471 right_z=0.2571 right_yaw=0.298 right_pitch=-0.3879 right_roll=-0.0071 right_gripper=0.9968 state[joint_eff]: [0.9368, -7.3504, 7.9658, 1.243, -0.232, 0.232, -0.0122, -0.1983, -3.6308, 6.0239, 1.3797, -0.149, -0.0562, -0.0073] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Teddy is between the jaws in the left wrist view; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 253
assistant
agent noteClose came up empty — the teddy is about 3 cm to the arm's left of the jaws. Opening and shifting left to line up on its body.
move_to
left_gripper1.0000left_y-0.1580left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6727, 1.803, 1.0142, -0.3286, -0.408, -0.6033, 0.0101, 0.0723, 1.2304, 1.4002, -1.174, -0.1249, -0.21, 0.9968] state[eef_state]: left_x=0.3569 left_y=-0.1901 left_z=0.0287 left_yaw=0.0421 left_pitch=-0.393 left_roll=0.0604 left_gripper=0.0101 right_x=0.2923 right_y=0.0468 right_z=0.2545 right_yaw=0.3012 right_pitch=-0.4068 right_roll=-0.0037 right_gripper=0.9968 state[joint_eff]: [-0.0205, -9.1419, 5.3949, 1.2088, -0.2466, 0.0317, 0.7985, -0.0889, -3.494, 6.0376, 1.4481, -0.1294, -0.0171, -0.0073] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.158, "left_z": 0.03}, "note": "Close came up empty \u2014 the teddy is about 3 cm to the arm's left of the jaws. Opening and shifting left to line up on its body."})
tool
executing move_to over 10 steps (1.0s)
step 263
assistant
agent noteTeddy now spans the jaw column in the wrist view; easing forward and closing on its body.
move_to
left_gripper0.0000left_x0.3750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5976, 1.7672, 0.9352, -0.3061, -0.3779, -0.5423, 0.9957, 0.0723, 1.2304, 1.4002, -1.1965, -0.1249, -0.21, 0.9969] state[eef_state]: left_x=0.352 left_y=-0.1564 left_z=0.0177 left_yaw=0.0645 left_pitch=-0.4289 left_roll=0.0883 left_gripper=0.9957 right_x=0.2876 right_y=0.0465 right_z=0.2516 right_yaw=0.3034 right_pitch=-0.4288 right_roll=0.0019 right_gripper=0.9969 state[joint_eff]: [0.3897, -10.5915, 5.1214, 1.243, -0.188, 0.0757, -0.149, -0.0342, -3.6308, 5.9829, 1.4481, -0.0952, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_x": 0.375}, "note": "Teddy now spans the jaw column in the wrist view; easing forward and closing on its body."})
tool
executing move_to over 10 steps (1.0s)
step 273
assistant
agent noteStill an empty close — the teddy is further forward than the fingertips. Opening and reaching 4 cm further out onto its body.
move_to
left_gripper1.0000left_x0.4100left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.564, 1.8198, 0.9829, -0.3225, -0.3695, -0.5228, 0.0167, 0.0723, 1.2304, 1.4002, -1.2163, -0.1249, -0.21, 0.9969] state[eef_state]: left_x=0.3635 left_y=-0.1502 left_z=0.011 left_yaw=0.0862 left_pitch=-0.4516 left_roll=0.1073 left_gripper=0.0167 right_x=0.2834 right_y=0.0462 right_z=0.2491 right_yaw=0.3056 right_pitch=-0.4481 right_roll=0.007 right_gripper=0.9969 state[joint_eff]: [0.3487, -7.2957, 8.3761, 1.1062, -0.1099, 0.1441, 0.735, -0.0615, -3.6171, 6.147, 1.3553, -0.1245, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.41, "left_z": 0.02}, "note": "Still an empty close \u2014 the teddy is further forward than the fingertips. Opening and reaching 4 cm further out onto its body."})
tool
executing move_to over 10 steps (1.0s)
step 283
assistant
agent noteTeddy sits a few cm to the arm's left of the jaws; sliding left onto it and closing in the same motion to save steps.
move_to
left_y-0.1150left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5014, 1.9156, 1.1393, -0.3943, -0.3473, -0.4805, 0.9959, 0.0723, 1.2343, 1.3937, -1.2407, -0.1246, -0.2104, 0.9969] state[eef_state]: left_x=0.3972 left_y=-0.1451 left_z=0.0142 left_yaw=0.1093 left_pitch=-0.4753 left_roll=0.1201 left_gripper=0.9959 right_x=0.2779 right_y=0.0457 right_z=0.2429 right_yaw=0.3095 right_pitch=-0.4819 right_roll=0.0154 right_gripper=0.9969 state[joint_eff]: [0.5265, -7.9385, 8.3077, 1.116, -0.188, 0.1636, -0.149, -0.0889, -3.9316, 6.4615, 1.3553, -0.0904, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.115, "left_gripper": 0.0}, "note": "Teddy sits a few cm to the arm's left of the jaws; sliding left onto it and closing in the same motion to save steps."})
tool
executing move_to over 10 steps (1.0s)
step 293
assistant
agent noteJaws closed on the teddy's fur; lifting and carrying toward the open safe on the right side of the table.
move_to
left_z0.2200left_x0.4400left_y-0.3600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4305, 1.9022, 1.076, -0.3668, -0.3252, -0.4217, 0.0378, 0.0723, 1.2343, 1.393, -1.2598, -0.1249, -0.21, 0.9969] state[eef_state]: left_x=0.3918 left_y=-0.1139 left_z=0.0015 left_yaw=0.1333 left_pitch=-0.5099 left_roll=0.147 left_gripper=0.0378 right_x=0.2737 right_y=0.0455 right_z=0.2405 right_yaw=0.3122 right_pitch=-0.5011 right_roll=0.0213 right_gripper=0.9969 state[joint_eff]: [0.4855, -11.535, 5.3812, 1.0916, -0.0757, 0.1978, 1.1648, -0.0479, -3.4393, 5.9692, 1.2625, -0.1001, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22, "left_x": 0.44, "left_y": -0.36}, "note": "Jaws closed on the teddy's fur; lifting and carrying toward the open safe on the right side of the table."})
tool
executing move_to over 22 steps (2.2s)
step 315
assistant
agent notePartial failure. I picked up the lemon with the right arm after several empty closes (the key fix was commanding right_pitch=0 to keep the tool vertical) and released it over the safe, but it landed on the table just outside the safe's right wall. I then spent the rest of the budget trying to grasp the plush teddy with the left arm; every close read 0.01–0.04 (empty — the fur compresses and the jaws kept slipping past it), so no object ended up in the safe and the lid was not closed.
done
hindsightConcrete lessons for this rig/task: (1) The wrist pitch drifts on its own toward the ±0.6 bound during reaching moves, which tilts the fingers and makes you close in front of/behind the object. Explicitly command pitch=0 on every approach — my lemon grasp only succeeded once I did that. (2) Lateral alignment estimated from the wrist camera is unreliable because closing the gripper also shifts yaw and rotates the image; a "shift" of the object after a close is often camera motion, not the object rolling. (3) When carrying, the held object rides visibly off the jaw column at the frame edge; I released the lemon over what looked like the safe interior and it landed outside — bias the release ~4-5 cm toward the box centre and lower to just above the rim before opening. (4) The safe sits near right_x≈0.44, right_y≈0.17–0.22 (equivalently left_y≈−0.45, i.e. beyond the left arm's −0.4 bound), so use the RIGHT arm for anything going into the safe. (5) Plush objects: a settled gripper reading of 0.02–0.04 on fur is empty; grasp the narrow neck/limb, or press 1–2 cm below table level and squeeze the body from above. (6) Small moves (<3 cm) are often played over only 2–4 steps and barely track; prefer one decisive 5+ cm move. (7) Budget: each grasp attempt costs ~3 calls, so 40 calls is barely enough for two objects — do not spend more than two attempts per object.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7994, 2.5042, 2.7228, -1.5684, -0.4244, -0.7952, 0.0382, 0.0723, 1.2346, 1.3911, -1.2716, -0.1246, -0.21, 0.9969] state[eef_state]: left_x=0.4094 left_y=-0.3116 left_z=0.1555 left_yaw=0.1286 left_pitch=-0.5292 left_roll=0.1538 left_gripper=0.0382 right_x=0.2709 right_y=0.0452 right_z=0.2385 right_yaw=0.3137 right_pitch=-0.5149 right_roll=0.0248 right_gripper=0.9969 state[joint_eff]: [-0.9778, -16.4308, 5.2034, 0.7204, -0.4469, -0.1148, 1.0281, -0.1162, -3.453, 6.0513, 1.1795, -0.0659, -0.0366, -0.0122] camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
done({"summary": "Partial failure. I picked up the lemon with the right arm after several empty closes (the key fix was commanding right_pitch=0 to keep the tool vertical) and released it over the safe, but it landed on the table just outside the safe's right wall. I then spent the rest of the budget trying to grasp the plush teddy with the left arm; every close read 0.01\u20130.04 (empty \u2014 the fur compresses and the jaws kept slipping past it), so no object ended up in the safe and the lid was not closed.", "hindsight": "Concrete lessons for this rig/task: (1) The wrist pitch drifts on its own toward the \u00b10.6 bound during reaching moves, which tilts the fingers and makes you close in front of/behind the object. Explicitly command pitch=0 on every approach \u2014 my lemon grasp only succeeded once I did that. (2) Lateral alignment estimated from the wrist camera is unreliable because closing the gripper also shifts yaw and rotates the image; a \"shift\" of the object after a close is often camera motion, not the object rolling. (3) When carrying, the held object rides visibly off the jaw column at the frame edge; I released the lemon over what looked like the safe interior and it landed outside \u2014 bias the release ~4-5 cm toward the box centre and lower to just above the rim before opening. (4) The safe sits near right_x\u22480.44, right_y\u22480.17\u20130.22 (equivalently left_y\u2248\u22120.45, i.e. beyond the left arm's \u22120.4 bound), so use the RIGHT arm for anything going into the safe. (5) Plush objects: a settled gripper reading of 0.02\u20130.04 on fur is empty; grasp the narrow neck/limb, or press 1\u20132 cm below table level and squeeze the body from above. (6) Small moves (<3 cm) are often played over only 2\u20134 steps and barely track; prefer one decisive 5+ cm move. (7) Budget: each grasp attempt costs ~3 calls, so 40 calls is barely enough for two objects \u2014 do not spend more than two attempts per object."})
tool
done: Partial failure. I picked up the lemon with the right arm after several empty closes (the key fix was commanding right_pitch=0 to keep the tool vertical) and released it over the safe, but it landed on the table just outside the safe's right wall. I then spent the rest of the budget trying to grasp the plush teddy with the left arm; every close read 0.01–0.04 (empty — the fur compresses and the jaws kept slipping past it), so no object ended up in the safe and the lid was not closed.
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 · 16.12 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0338, 0.9991, -0.02, 0.7925, 0.6041, -0.3969, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2924 right_y=0.0011 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4427, 10.3316, 1.9658, -0.0708, 0.1685, -0.1001, -0.4991, -1.4291, 9.894, 1.9316, -0.0513, 0.0659, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbd8f3bedca43611fddbe52e26a71d1675264886e2cb628e66480c90c4cd9a8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:519eb9ce3469b76e407108c7046a8e0b933443db66f3b48c20efd30048822f36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73cbb44d346e0d3eb7789aaccb5d11d32754a94ea8ca4ee9c657dd254914d3e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 9.859 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0338, 0.9991, -0.02, 0.7925, 0.6041, -0.3969, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2924 right_y=0.0011 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4427, 10.3316, 1.9658, -0.0708, 0.1685, -0.1001, -0.4991, -1.4291, 9.894, 1.9316, -0.0513, 0.0659, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbd8f3bedca43611fddbe52e26a71d1675264886e2cb628e66480c90c4cd9a8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:519eb9ce3469b76e407108c7046a8e0b933443db66f3b48c20efd30048822f36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73cbb44d346e0d3eb7789aaccb5d11d32754a94ea8ca4ee9c657dd254914d3e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ajj5AwQ86m3Uf7ogFyfGq4",
      "input": {
        "note": "Scene: an open red-lined safe/box in the middle, a yellow lemon to its right, a small light teddy to its left, and a larger teddy in front. Moving the right arm to hover above the lemon to start picking it up.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.14,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Ajj5AwQ86m3Uf7ogFyfGq4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0383, 0.999, 0.6247, 1.2095, 0.7124, -0.2729, 0.4648, 0.3267, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0029 left_pitch=-0.016 left_roll=-0.0035 left_gripper=0.999 right_x=0.3155 right_y=0.1342 right_z=0.1363 right_yaw=0.051 right_pitch=-0.0873 right_roll=-0.0558 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5795, 6.9265, 1.8584, -0.0513, -0.0024, -0.0171, 0.212, -4.1778, 9.4701, 1.8046, 0.4274, 0.1978, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49ca3c8e4f9ef586cf882bdcefcfe21c797d504f720d709ef98a77e089d657ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06046cd691a7a090da2aa369192445ad0edb9e2bc04bfb15cc815976c7ae9ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5df2c8c821ad9d2b685e4813fe692f06b76ab5b67bb6f08ae8001d5460083fab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 6.953 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0338, 0.9991, -0.02, 0.7925, 0.6041, -0.3969, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2924 right_y=0.0011 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4427, 10.3316, 1.9658, -0.0708, 0.1685, -0.1001, -0.4991, -1.4291, 9.894, 1.9316, -0.0513, 0.0659, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0383, 0.999, 0.6247, 1.2095, 0.7124, -0.2729, 0.4648, 0.3267, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0029 left_pitch=-0.016 left_roll=-0.0035 left_gripper=0.999 right_x=0.3155 right_y=0.1342 right_z=0.1363 right_yaw=0.051 right_pitch=-0.0873 right_roll=-0.0558 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5795, 6.9265, 1.8584, -0.0513, -0.0024, -0.0171, 0.212, -4.1778, 9.4701, 1.8046, 0.4274, 0.1978, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49ca3c8e4f9ef586cf882bdcefcfe21c797d504f720d709ef98a77e089d657ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06046cd691a7a090da2aa369192445ad0edb9e2bc04bfb15cc815976c7ae9ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5df2c8c821ad9d2b685e4813fe692f06b76ab5b67bb6f08ae8001d5460083fab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8gkKjgEIEhgCKkA0N67MtzEIXszP106Aa5+i1rVHbo1eMwK9HW7Jpl+73EiEtiG/qZ6uuWNxDAm/ICxcFpI3QN0w/3EnUdkN1vrcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeq1zNUGEgwe7XQ0+tHZt4PJH2kaDOnM39kpMgUVTsUXmCIwWsGaffSEMpLnPdm9NkorE7MYHONDBUowoAiFK7Nvvcs7CAQ6+UViuYDlD90IfGtJKpAI6mZEbGVACPeNe74Fe29GXCFqzzTj1MP8Q59LCSzUPnYsVRWicFFSv02cvJhRRfQbGGIvS292hzHKQ0tM9Ybw4ULbFai1jbdj8GTVv76S/AWAauHTqlwaJsmd+mLDCxqUD1Rfeh+SxiFtpYMarDOjy/Kgr4lMGJjXrP2Aaj9BEZLEQ3OFx7Xwy+IJyEKgGQhnVdwGB0NblYHQd4Kz2vINVKRLbZb8lbdF29lYH0fALzwOBoh0vw7f2z0oM5ckg2WxOpihxuxUDdt6LXuKNLMfuVMqM6qXC7mFgqIFah2QSzIDNWzTyqQxyA7F+2aFuvizMX6bnhAfkWHutUtae2YsrO5tJpH54s7fLYYEs/7qogGw+yPWRF+zalj9uDQF3AekcDDJ+SCO7dKtqtwgSAH9FMJmoQh/2DKcqw6AwX9Qr8LhDrDRwPj/8kgWxlDUIRhX6/bF11NcfsYKERpjolDm43puMwy5fDm8chzUVchrOQLbYriEZrfSQJkqDQIhiR4QDw0iRW6423iPod6jYfmPZDV+xD+Bs3TwM5eT6rg00yfTN8MRFvO+17AQiwchyY4t0iP+/9Qgy3JUssHaawpo++MD6PW59DWF7N8ngTmLURSM68es8xuoTionVWCQxGNMkrcUpPaDuKo3giu0J1Wd0P9FlER39xCgez1hAQCGMrvPbtLkxGh0l4MwMpJrmREdr5PdLq0k0hl2fUnxsu4p7E8HtEORKW3NhKtIOsVu+XFjaBYW49pDHoRjrwiAP42oC3ZLWLR30ShGz7W+SA/NJlVHBc6YTKR1sbn6Kqmedzd0mzaJBGml9J0oSlPKWU1mkuUSnUT6rsW8cHubz9o2RleA2w3rHnYHaeG8lNarCwNYf8japqqiRzCff/GCkSNu242mSAkzI7h44XuztqDN6vk5dHPU08biiPkdkt9+2JPV0uzuuEO1O9jfk4eMkAfSg4hkd/NNw1sCl7aQTDAI2iTOT/B0bcqTeDPbNSHsIr8mReSYAVlSUovWKNZvQiqqWGoays4WUU/auQ9M8OVZkcPCPk/jNyN+Z5BZdEMf2FY6RPYaamcpAs0UPZ6AKQP7b2fS8LSBoW4xr0exQty6bmiCPHl7tvWdJ7DCiI4A262g+uyTR8T6EVJmPOe41a57fhZ1El/Y8CDpqmdmGbFl/NTK3wyN+wpBHZRoLygZZj9eiDV102dFB106WfGFEmfo2Wlv3wc28JzWR89haPt8zjY0oRlb4NiQlUbpXk6mLTA+xiOb0EWfrH05k9KedwYWSJWXKdH+c+MOcPOR3e+hjLqysbMgE0t9ORw+AO2OoXiPAj9tyeqJ3pQj9cpj6tZHeExEg+cGSr2pyHt6qs8U8qNnllHBHIlhCURqzUTN3VIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QCQEqL7TfvSjTjYyV78ZoZ",
      "input": {
        "note": "Wrist view shows the lemon ahead and slightly right of the jaw column; top view confirms it is further forward than the gripper. Advancing the right arm forward to hover directly over the lemon.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.125,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QCQEqL7TfvSjTjYyV78ZoZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4164, -0.0189, -0.0383, 0.999, 0.4522, 1.4212, 0.881, -0.2508, 0.3489, 0.2096, 0.9996]\nstate[eef_state]: left_x=0.2905 left_y=0.0014 left_z=0.1723 left_yaw=0.0026 left_pitch=-0.0294 left_roll=-0.0034 left_gripper=0.999 right_x=0.3735 right_y=0.1183 right_z=0.1308 right_yaw=0.0334 right_pitch=-0.1488 right_roll=-0.0836 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.4017, 7.0222, 1.8144, -0.0464, -0.0464, -0.0122, -0.2393, -5.6821, 9.0325, 1.7705, 0.0952, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:997fb38ad7c2281bc54121b310107772c5fb74bdef81790c8e2af574f505e5b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d317ae6ae07e5673225a2dd34ebda4f740402956e830740b1a25fbba601a08c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6262e3a7d060856124af903a101b69b8ae250df1560a163929d297ea428329b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 9.096 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0338, 0.9991, -0.02, 0.7925, 0.6041, -0.3969, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2924 right_y=0.0011 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4427, 10.3316, 1.9658, -0.0708, 0.1685, -0.1001, -0.4991, -1.4291, 9.894, 1.9316, -0.0513, 0.0659, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0383, 0.999, 0.6247, 1.2095, 0.7124, -0.2729, 0.4648, 0.3267, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0029 left_pitch=-0.016 left_roll=-0.0035 left_gripper=0.999 right_x=0.3155 right_y=0.1342 right_z=0.1363 right_yaw=0.051 right_pitch=-0.0873 right_roll=-0.0558 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5795, 6.9265, 1.8584, -0.0513, -0.0024, -0.0171, 0.212, -4.1778, 9.4701, 1.8046, 0.4274, 0.1978, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4164, -0.0189, -0.0383, 0.999, 0.4522, 1.4212, 0.881, -0.2508, 0.3489, 0.2096, 0.9996]\nstate[eef_state]: left_x=0.2905 left_y=0.0014 left_z=0.1723 left_yaw=0.0026 left_pitch=-0.0294 left_roll=-0.0034 left_gripper=0.999 right_x=0.3735 right_y=0.1183 right_z=0.1308 right_yaw=0.0334 right_pitch=-0.1488 right_roll=-0.0836 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.4017, 7.0222, 1.8144, -0.0464, -0.0464, -0.0122, -0.2393, -5.6821, 9.0325, 1.7705, 0.0952, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:997fb38ad7c2281bc54121b310107772c5fb74bdef81790c8e2af574f505e5b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d317ae6ae07e5673225a2dd34ebda4f740402956e830740b1a25fbba601a08c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6262e3a7d060856124af903a101b69b8ae250df1560a163929d297ea428329b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIStwYKjgEIEhgCKkAmqWy5ntq/iQgXTHGTFsRnnfWVFbZ3s1FwNuIXaqLOzfCu0ZnOujzIzz5bCEXxoSjA3xWL1wXxMQPI6C/g/Fe3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfG1zNUGEgyqMycFVdduol7jVkgaDFfhnPhXzRRDcjilrSIwXaInyvvf3aa4S6N/s/fUv9uu6EciGD/Z6Wh+IRf8K3nUcyI4kzb26LQEgVR4504ZKtUEjchCUVIs+xbVivkZoYIirhaFwFPPbjCjp8ALAc2IhU3467+fx0DArtbOy+088sTmvqjRo1Qaorc38HiOfaqR9lkUyId7MWp9/jVdzJfuMuz5Ib+gWpbtbBWUVRgdwrVmUjzksMTLU4D/5DU0NQLdLEVb9Fnnzy+TMysydLpoirE+FuBxtNC5OmR2bkf3aZISmNCxGapFks288gxsCKgtVDAI2FeA2o+mKVLHcSJR/r+hReXUIWvxxTeHsMhsYNvj5MgjUmHBBy8JyhpjUq/2XBf1jYn6qUWMfAhkJcYLY4XpEulPV9xI7OGlgqCfhF00l8/K/HdT/cN7VzJ77UcxAhuGpta11CdhrhZKSvgxzZ32Fmk3Y4ez60MKDVmH5gGcUTKD1BD1kieT7NFmuNSPr4KIljwRCKRMFnXSdEmFDEJyICcYhlDaS1tLg9GCrVavVjqmF9895cBW6Tqlj08wbzfxZeXwGOfknnv+SxH4Dd+Ki/S11+PVgneEkTX1wGNnx4rK14ZtcBSUACEKD63eNyxQt3m3tNOxDLfWRMu0QeOkO6hrYNseqSONg4IoDJtF5B0wNYx/bkiP7bQHW420OrTV2IEZoCbvNCSkZDMPzGvG/Qc0KawQe087gIH/2xiFfFFdKdE5DxiJYvE34YOtrsnE2X2z63mK+Ap7+xZXNgCz2jpX/+A+h/jKJx6sTAjo5F84bFHHJB0lo5SL0IxSk74b3R2d/pXaGIMnBh8cEfegXRTCI/Z0yFHic0qSmJidNEjVqURiEpiLsXywUeO4yH+n69rqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014JkPwaMC2NoYweLi89eaWH",
      "input": {
        "note": "The lemon sits right of the jaw column in the wrist view, so I shift the right gripper toward the arm's right (−y) and slightly forward to line up over it.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.09,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014JkPwaMC2NoYweLi89eaWH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0193, -0.0387, 0.999, 0.3405, 1.4425, 0.9302, -0.2985, 0.2768, 0.1406, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.999 right_x=0.3869 right_y=0.0897 right_z=0.1322 right_yaw=0.0174 right_pitch=-0.1893 right_roll=-0.093 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.2103, 7.0085, 1.8388, -0.0757, -0.0513, -0.0122, -0.0615, -5.5453, 10.0444, 1.7216, 0.1343, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2485742504970aadb54ed6f9d9cfcf7daff563d6cff67c7fc2b4ee971639233",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d481976b4a5871dbaf6e66de784992a59dec2fd8fe4f93e77eac5a284a480e7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c0750893b48841df50a3471866a0e74d59ef92c34c71712e80f9f2299427d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 12.02 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0383, 0.999, 0.6247, 1.2095, 0.7124, -0.2729, 0.4648, 0.3267, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0029 left_pitch=-0.016 left_roll=-0.0035 left_gripper=0.999 right_x=0.3155 right_y=0.1342 right_z=0.1363 right_yaw=0.051 right_pitch=-0.0873 right_roll=-0.0558 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5795, 6.9265, 1.8584, -0.0513, -0.0024, -0.0171, 0.212, -4.1778, 9.4701, 1.8046, 0.4274, 0.1978, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4164, -0.0189, -0.0383, 0.999, 0.4522, 1.4212, 0.881, -0.2508, 0.3489, 0.2096, 0.9996]\nstate[eef_state]: left_x=0.2905 left_y=0.0014 left_z=0.1723 left_yaw=0.0026 left_pitch=-0.0294 left_roll=-0.0034 left_gripper=0.999 right_x=0.3735 right_y=0.1183 right_z=0.1308 right_yaw=0.0334 right_pitch=-0.1488 right_roll=-0.0836 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.4017, 7.0222, 1.8144, -0.0464, -0.0464, -0.0122, -0.2393, -5.6821, 9.0325, 1.7705, 0.0952, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.7994, 0.6067, -0.4282, -0.0193, -0.0387, 0.999, 0.3405, 1.4425, 0.9302, -0.2985, 0.2768, 0.1406, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.999 right_x=0.3869 right_y=0.0897 right_z=0.1322 right_yaw=0.0174 right_pitch=-0.1893 right_roll=-0.093 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.2103, 7.0085, 1.8388, -0.0757, -0.0513, -0.0122, -0.0615, -5.5453, 10.0444, 1.7216, 0.1343, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2485742504970aadb54ed6f9d9cfcf7daff563d6cff67c7fc2b4ee971639233",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d481976b4a5871dbaf6e66de784992a59dec2fd8fe4f93e77eac5a284a480e7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c0750893b48841df50a3471866a0e74d59ef92c34c71712e80f9f2299427d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4QYKjgEIEhgCKkBA+CMiIZHVOpoabxPP+yX/VW4QaJcMjxV7nfjEQbGsx+PckAC/U7Zi9M9m6PsPVhwwd1xVa7zMdnFeaDITXy/xMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfu1zNUGEgyZlU4Ik2cib+Df3nEaDAY5NfETcbGVxJpUOiIwDUBfDGubDsPszF6jowUF7lKWqPW+R6vHUIs3/eBUaAGk4e4Ee8oad80a7POE9WwlKv8EpIAwcH52rcAX+RDTPtVNYgKrgXOr67UiX+CruxDJRDggy6ixaR7b/qms6nRfOWR0dBj6tLsV05kdnML2SGIyrd+i+hv2Bc02xhECAn1OXvUKUnuuNYji8z+zNXL/pmHEZcmfTRbxSBkwAUo3V+sUPejKWB1RqB+5sUfRXDJme51tfxg8Aoe6FCi8+Tzlsf3geNAzoEvRo3HGP5y+WG2XF5ApKjHjaZ4dMz5lTL2IUiiapTg1fFFkKvuKYH30k/RgHwcqJl4pArx8QXqPMgo1037iLxb2RdF+loQaqhPYNKHFZlWOyIxxhAw0MAEIGpgmNnHnbTnjR09W+/U7s1dgIvhsu0zqSF5GqJYwpiqnGtUax/t4r9iCQl0u/Fi8paAGG3IOpAC6cK0KLNr+FnLjrJBubgi+59WPggVwLj5xCPp+3e+5K7dUgadjS23DsqfViVRDgN9NIJezayT5XZv5VBZ0jfHmfEWccH9a2jZLOzJB5cD8+KulaP+KV5zUySb0t8EPxsj935faDp0efTPE8gvYA/xgCMjAzwITsPZzXkmlfJYEB59Sg7gFEm0zvAJyDs5ikBdCyFxUxsFex7C2wpplpG0V2Nn0QBsDYra1uXaM3n2gRi8cupzsKNGmG1KaA5avjVjWr2mAlmhS121wLgsDKiwA6le22XxpJjjuWtq/x81kt/G+b3+t8iNb7q7jqw/iZ2pQju2FWQw7f02AyWcJesErdj/rb+NuQRxypPYJX5hyPMqSf+iajcaMyzlS0ZR+0/0KBAVTKYBQUZbapGt2GftCOze5u4acxlhXi7bgKi09VOQLDFjFXZQhw/i7a2F1GjmIWxQuJ+hk7fnrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QHEQxYLofYLVrW6JJSNZbU",
      "input": {
        "note": "Lemon is now almost on the jaw column but still a few cm short of the fingertips; advancing 3 cm forward and slightly right while lowering a little before the final descent.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.08,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QHEQxYLofYLVrW6JJSNZbU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4332, -0.0189, -0.0387, 0.999, 0.3214, 1.4456, 0.9447, -0.3168, 0.2493, 0.112, 0.9996]\nstate[eef_state]: left_x=0.2881 left_y=0.0015 left_z=0.1689 left_yaw=0.0028 left_pitch=-0.0461 left_roll=-0.0034 left_gripper=0.999 right_x=0.3882 right_y=0.0871 right_z=0.133 right_yaw=0.0366 right_pitch=-0.2032 right_roll=-0.0964 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -0.9915, 6.9812, 1.7998, -0.0317, -0.0513, -0.0122, -0.1299, -5.9419, 9.5385, 1.7314, 0.105, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66a0d466d04114a63bc232e2821e508a0b29f77283af02158e0084c518fdd6c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa8e033cbecdb9fc82c347c514024daec5aa3671c660cec1b9fa89fdd2b5610a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b883ed1cb0926572b32a2ab07c7ec1eabbcb6c032082b4c95f1603ea4edfd389",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 5.057 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, 0.7994, 0.6067, -0.4164, -0.0189, -0.0383, 0.999, 0.4522, 1.4212, 0.881, -0.2508, 0.3489, 0.2096, 0.9996]\nstate[eef_state]: left_x=0.2905 left_y=0.0014 left_z=0.1723 left_yaw=0.0026 left_pitch=-0.0294 left_roll=-0.0034 left_gripper=0.999 right_x=0.3735 right_y=0.1183 right_z=0.1308 right_yaw=0.0334 right_pitch=-0.1488 right_roll=-0.0836 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.4017, 7.0222, 1.8144, -0.0464, -0.0464, -0.0122, -0.2393, -5.6821, 9.0325, 1.7705, 0.0952, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0193, -0.0387, 0.999, 0.3405, 1.4425, 0.9302, -0.2985, 0.2768, 0.1406, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.999 right_x=0.3869 right_y=0.0897 right_z=0.1322 right_yaw=0.0174 right_pitch=-0.1893 right_roll=-0.093 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.2103, 7.0085, 1.8388, -0.0757, -0.0513, -0.0122, -0.0615, -5.5453, 10.0444, 1.7216, 0.1343, -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 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, 0.7994, 0.6067, -0.4332, -0.0189, -0.0387, 0.999, 0.3214, 1.4456, 0.9447, -0.3168, 0.2493, 0.112, 0.9996]\nstate[eef_state]: left_x=0.2881 left_y=0.0015 left_z=0.1689 left_yaw=0.0028 left_pitch=-0.0461 left_roll=-0.0034 left_gripper=0.999 right_x=0.3882 right_y=0.0871 right_z=0.133 right_yaw=0.0366 right_pitch=-0.2032 right_roll=-0.0964 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -0.9915, 6.9812, 1.7998, -0.0317, -0.0513, -0.0122, -0.1299, -5.9419, 9.5385, 1.7314, 0.105, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66a0d466d04114a63bc232e2821e508a0b29f77283af02158e0084c518fdd6c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa8e033cbecdb9fc82c347c514024daec5aa3671c660cec1b9fa89fdd2b5610a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b883ed1cb0926572b32a2ab07c7ec1eabbcb6c032082b4c95f1603ea4edfd389",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgYKjgEIEhgCKkDh9gGfuhu87HZWJCebY1iJNt0Syhh5yoADUGn7esRh577cDdXSy/qDR/AZ/JUsPtzxbHhWdkClICr/x8hLbxCJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYe2zNUGEgyBRJnBt8vUtXvP4Q8aDHfFQTebuFukiNwYpiIwlHVVjVQ1pEIujCUG2d8nsoNZ8/0ifjiIUOPNZaJ+PLmeSVHMX7ZtvQ/XLjhQBUzjKrgE6Vr+aUv+AATOmcMgzpKnqTfNMsxVQGTEJ9eyTikCuh/m27IDWIQF4WMVf3l4AF+gu9XGBn2sI2lnWZQzntbVru9p3twkR3P933lS32Ug46TtSjsr+5EzHjz1N4yff5m1zlM5uEP+jm+YnqMCmP4yZbY4hRIY4Zccr30S1MpaUsVqTED5ba/o0T0BpaZQNLtSA40CWhnz/fPFZLHi1Rzxik8Dh+B8yVv1iWmh7IvE1MJrzFWNWlOhJiwyBBx/w/7enCfRE7p2gpSf/LIeZCtK7zYHZu5rpO61oJ2KhtDbLeuCSTsIt69W1NUiVOoCUmB5zFC+q9DSV6LnmDQR17W5P5zGEvH/0MP0jbGQiYmvLHiQbrDxLyZuGP0Obfc0dSA9nuVCFLs7/jFgnc0eUAFRpYzJrpO+C+fsWgpgjn1xaCEQTSDtbz8cIGUIDXs6Tj+YYgh83SZOE4rkiN7Oun2+rKdJmWM+fraj1IgHygqz6spxU5pU5y0D5WMmxXONnZpCagJBfpzWmsnHV/HiGxUldQyNYymCkPhxGlAbywAoFarDsJpvTut/RZJAWpg7Psht2TGFxGj8oJp/qXH/iMCG7ECDdwfUnxCYVA91NY9kJpbnUvpPTZrQ8PvygQ8dsRBcFfMwCNFK99ZHi6YBLzIQ3IxB56TnXH7YXrlfPhq1L7fl3i34UOf3BS2GMJjOYAbqcbuxAe0xUriKGgNkYdIR7+KPp7ocuBGsik3xcBlkAh23WgYLBGE7uxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HQZXC6heA5tf6NCAgZfDAw",
      "input": {
        "note": "The arm under-tracked the last small step, so I command a larger forward-and-down move to bring the jaws around the lemon.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.08,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HQZXC6heA5tf6NCAgZfDAw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4358, -0.0189, -0.0387, 0.999, 0.3214, 1.4456, 0.9447, -0.3172, 0.2493, 0.112, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1684 left_yaw=0.0028 left_pitch=-0.0488 left_roll=-0.0033 left_gripper=0.999 right_x=0.3881 right_y=0.0871 right_z=0.133 right_yaw=0.0366 right_pitch=-0.2036 right_roll=-0.0965 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.1282, 7.1179, 1.6923, -0.0415, -0.022, -0.0122, -0.0342, -5.9282, 9.5658, 1.7656, 0.1343, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee3ccd659e6458335b13dfb02e55c03b7683a0ae63f69f4c7314e268f84036be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1991151278b7dfa1a8d5050759c85566ce4d16a9ef0831c80c2f8e9711ec5da1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e4a1e309a9de54b80377d7feedb69da3665c7759ef9e2bdf36d85c01a0460b0",
        "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 · 6.637 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, 0.7994, 0.6067, -0.4282, -0.0193, -0.0387, 0.999, 0.3405, 1.4425, 0.9302, -0.2985, 0.2768, 0.1406, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.999 right_x=0.3869 right_y=0.0897 right_z=0.1322 right_yaw=0.0174 right_pitch=-0.1893 right_roll=-0.093 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.2103, 7.0085, 1.8388, -0.0757, -0.0513, -0.0122, -0.0615, -5.5453, 10.0444, 1.7216, 0.1343, -0.0317, -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, 0.7994, 0.6067, -0.4332, -0.0189, -0.0387, 0.999, 0.3214, 1.4456, 0.9447, -0.3168, 0.2493, 0.112, 0.9996]\nstate[eef_state]: left_x=0.2881 left_y=0.0015 left_z=0.1689 left_yaw=0.0028 left_pitch=-0.0461 left_roll=-0.0034 left_gripper=0.999 right_x=0.3882 right_y=0.0871 right_z=0.133 right_yaw=0.0366 right_pitch=-0.2032 right_roll=-0.0964 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -0.9915, 6.9812, 1.7998, -0.0317, -0.0513, -0.0122, -0.1299, -5.9419, 9.5385, 1.7314, 0.105, -0.0513, -0.0122]",
      "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, 0.7994, 0.6067, -0.4358, -0.0189, -0.0387, 0.999, 0.3214, 1.4456, 0.9447, -0.3172, 0.2493, 0.112, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1684 left_yaw=0.0028 left_pitch=-0.0488 left_roll=-0.0033 left_gripper=0.999 right_x=0.3881 right_y=0.0871 right_z=0.133 right_yaw=0.0366 right_pitch=-0.2036 right_roll=-0.0965 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.1282, 7.1179, 1.6923, -0.0415, -0.022, -0.0122, -0.0342, -5.9282, 9.5658, 1.7656, 0.1343, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee3ccd659e6458335b13dfb02e55c03b7683a0ae63f69f4c7314e268f84036be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1991151278b7dfa1a8d5050759c85566ce4d16a9ef0831c80c2f8e9711ec5da1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e4a1e309a9de54b80377d7feedb69da3665c7759ef9e2bdf36d85c01a0460b0",
        "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/wQKjgEIEhgCKkAwKJ/rufbOohFnpEb0xdOByutJOhDpvcEdNC/YLwTbLucOEkecS66pclaNb+LVpl3xRmuhyD0qfgjyNkBDuSUOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYy2zNUGEgx0+DbjvxuW5p7rsQ4aDGHHGL7woKHIQmsmWCIwgvk1eq0w3fxcdOBmmaTXyGCrjFYn0p8aZBzWfIfuy+V0Biny/cST+dngdUt8kTE8Kp0D1PEpFujZREek8mf0QfPBTtY8KXD+KYpNFK5CuUkavQIQ+aPifkxqDJOZITeqwok1XC8eHtTMD/brPl5xwSGSwmZzpyyMTJzBrhUKBx/ApSVOM+OOkhLOk6Pi9w4pQ8SVDgyR43zF3KMlEPkoi3EvYbopAUj3vzkC0IhISUpnp6O4a/L+idvxR2SEbLyIkdX2wLZYiKEReuy842jX1tqlvpIFdKFezVKAUM/Se8251t75A7Uf4a2Zh+lvUEq0TeBUERqwMuSWOa+SfpFtpIKyy1ifH6dfB85+5aPUaaKBsK9z5k8DsEwtZKfEuEhRRNtjFZiUo4Dgm/U7ocRYA6o2JpbMNX6MBIMoZMWACOq06m3bhfhmnKm9oSisWA6gK/CRLn3Qadefut8JWtRBson6Wnw5K0GmdKG+bUr9Fz0A6kZtQAPOM3cnPVAFEumWLUYNejurmk6kYIiR71bMUV0n5MMK/3KvYJ4IF8bk3pctWYKzJuOOJKQFYcbyN8psu42KhkdSMQbG/sxY76E35ybU1HJA8sPo3yjYDaCZI/QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QYeA66QiSXjwDSaFAUeRch",
      "input": {
        "note": "The right arm stopped tracking entirely (joint positions frozen), so I retreat up and back to unstick it before re-approaching the lemon.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.08,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QYeA66QiSXjwDSaFAUeRch",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4515, -0.0189, -0.0387, 0.999, 0.3264, 1.3502, 1.1347, -0.5602, 0.247, 0.1116, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0028 left_pitch=-0.0644 left_roll=-0.003 left_gripper=0.999 right_x=0.3791 right_y=0.0865 right_z=0.2069 right_yaw=0.0459 right_pitch=-0.1634 right_roll=-0.0832 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2376, 6.9812, 1.8632, -0.0611, -0.0757, -0.0122, 0.212, -5.7368, 7.2957, 1.4383, 0.2027, 0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68ed3505baf02d94244c9a4f455820c70e736e051d268b4785fea5e8c0a91c99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ed4f2d7351386764513af85fccb70cb36c6c888fce4cf3d5eab6656eeed76f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64c08283be4337a6b149591efd9ad11b916164d290d5c8a4b3085e12aab13434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.964 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, 0.7994, 0.6067, -0.4332, -0.0189, -0.0387, 0.999, 0.3214, 1.4456, 0.9447, -0.3168, 0.2493, 0.112, 0.9996]\nstate[eef_state]: left_x=0.2881 left_y=0.0015 left_z=0.1689 left_yaw=0.0028 left_pitch=-0.0461 left_roll=-0.0034 left_gripper=0.999 right_x=0.3882 right_y=0.0871 right_z=0.133 right_yaw=0.0366 right_pitch=-0.2032 right_roll=-0.0964 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -0.9915, 6.9812, 1.7998, -0.0317, -0.0513, -0.0122, -0.1299, -5.9419, 9.5385, 1.7314, 0.105, -0.0513, -0.0122]",
      "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, 0.7994, 0.6067, -0.4358, -0.0189, -0.0387, 0.999, 0.3214, 1.4456, 0.9447, -0.3172, 0.2493, 0.112, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1684 left_yaw=0.0028 left_pitch=-0.0488 left_roll=-0.0033 left_gripper=0.999 right_x=0.3881 right_y=0.0871 right_z=0.133 right_yaw=0.0366 right_pitch=-0.2036 right_roll=-0.0965 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.1282, 7.1179, 1.6923, -0.0415, -0.022, -0.0122, -0.0342, -5.9282, 9.5658, 1.7656, 0.1343, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4515, -0.0189, -0.0387, 0.999, 0.3264, 1.3502, 1.1347, -0.5602, 0.247, 0.1116, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0028 left_pitch=-0.0644 left_roll=-0.003 left_gripper=0.999 right_x=0.3791 right_y=0.0865 right_z=0.2069 right_yaw=0.0459 right_pitch=-0.1634 right_roll=-0.0832 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2376, 6.9812, 1.8632, -0.0611, -0.0757, -0.0122, 0.212, -5.7368, 7.2957, 1.4383, 0.2027, 0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68ed3505baf02d94244c9a4f455820c70e736e051d268b4785fea5e8c0a91c99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ed4f2d7351386764513af85fccb70cb36c6c888fce4cf3d5eab6656eeed76f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c08283be4337a6b149591efd9ad11b916164d290d5c8a4b3085e12aab13434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8wMKjgEIEhgCKkBvWcLwSW8dyRUWW6q3mTIduB1Gr9iJgt52ZS781B9pL5ipfLfNdYFg149yJlMAkzoVdgKUcnN0Q/Le/+iKnq5iMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZO2zNUGEgxZV5q7eX5l3NcSVIcaDCszvowWeJpIJkWjuiIwSArK6iFJLxqt1+VNW/jgV6dEhoqxnTv1sAc1iPzwOUQhfT/mUx1kbn3j0hEkQhnxKpECundseifF/EfQha2lrLY7D5/oZJSxfB1zH+/OjwAiZwidAZnnbbRQtHnkBhOe0pGxephRl0Sj5CQd8uapaAyBMwhr1qv/OcTbKuxZJJjo6XTRNX6j1B+ISnYsMDAYrk1lbwnN8+6cODtah5JwgJBM+jABM+paMO2tEhUVCIG3CohqZEP1to9lQDnRaIva9MpBC7d6uFOhkF1DBl/sZueoojxSiftWW9xElMG6h5OAvZlAvVAUwV8OTckDr1dy2N7N3eL5kK1CsgwpQdVypBtWLU/FBrNLTs1dlZselNOloqQfzV6RyoaN7izqz3RZWmq/Tr5Nmp/hrjnlDzT0PC8TWaI+QLjce011kG2kPp/3Rrn6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CATQbxB4MozUZV99jxmPx2",
      "input": {
        "note": "Arm is moving again after raising it. Extending forward at a safe height to get over the lemon before descending.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.08,
          "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_01CATQbxB4MozUZV99jxmPx2",
      "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, -0.4583, -0.0189, -0.0387, 0.999, 0.247, 1.5887, 1.2129, -0.4992, 0.1928, 0.0532, 0.9996]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0028 left_pitch=-0.0751 left_roll=-0.0027 left_gripper=0.999 right_x=0.4251 right_y=0.076 right_z=0.1552 right_yaw=0.0395 right_pitch=-0.2722 right_roll=-0.1097 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.4974, 6.9675, 1.7509, -0.0659, -0.0513, -0.0122, -0.7726, -7.2821, 9.5248, 1.6972, -0.0171, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056508aa49b41f3924350627c2c6dcfa29092d9a66a9224244538efefb21092d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c3d1cb43df1c9c2dbd90fddfbb116a3cef515cd2dfedd299f50c6be661891b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b1756f008048aaab06a58da396818086e2e9da024a4c8c495807a29a2d32d27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 3.252 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, 0.7994, 0.6067, -0.4358, -0.0189, -0.0387, 0.999, 0.3214, 1.4456, 0.9447, -0.3172, 0.2493, 0.112, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1684 left_yaw=0.0028 left_pitch=-0.0488 left_roll=-0.0033 left_gripper=0.999 right_x=0.3881 right_y=0.0871 right_z=0.133 right_yaw=0.0366 right_pitch=-0.2036 right_roll=-0.0965 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.1282, 7.1179, 1.6923, -0.0415, -0.022, -0.0122, -0.0342, -5.9282, 9.5658, 1.7656, 0.1343, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4515, -0.0189, -0.0387, 0.999, 0.3264, 1.3502, 1.1347, -0.5602, 0.247, 0.1116, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0028 left_pitch=-0.0644 left_roll=-0.003 left_gripper=0.999 right_x=0.3791 right_y=0.0865 right_z=0.2069 right_yaw=0.0459 right_pitch=-0.1634 right_roll=-0.0832 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2376, 6.9812, 1.8632, -0.0611, -0.0757, -0.0122, 0.212, -5.7368, 7.2957, 1.4383, 0.2027, 0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8032, 0.6067, -0.4583, -0.0189, -0.0387, 0.999, 0.247, 1.5887, 1.2129, -0.4992, 0.1928, 0.0532, 0.9996]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0028 left_pitch=-0.0751 left_roll=-0.0027 left_gripper=0.999 right_x=0.4251 right_y=0.076 right_z=0.1552 right_yaw=0.0395 right_pitch=-0.2722 right_roll=-0.1097 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.4974, 6.9675, 1.7509, -0.0659, -0.0513, -0.0122, -0.7726, -7.2821, 9.5248, 1.6972, -0.0171, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056508aa49b41f3924350627c2c6dcfa29092d9a66a9224244538efefb21092d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c3d1cb43df1c9c2dbd90fddfbb116a3cef515cd2dfedd299f50c6be661891b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b1756f008048aaab06a58da396818086e2e9da024a4c8c495807a29a2d32d27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlwQKjgEIEhgCKkCqcH2kAK9rg4Jj782nay68BqgakLrybM/q6Zh8yRRCWlVXdWr/RBkio5lonMzaRXzI5f/bh/g6JaAbevWyJNPMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZm2zNUGEgwUGhG/vG/drPUfWx0aDFQYbNCGmJDIAic89yIwwwxI7yTlYQ6yIzK8vAY42+TkQrZr5vLtR7a6KmtCOqoFlAeYdV0pWmGxCGDBGQcJKrUCEM0InJ5TWzH+z0iq7Z9qASd7QXI96iXIV2fB1P9o6XlcB2SFKx+8KdCKUISdHYZNAhEvmahBVkTNYeHP05a+7l/SKYNn4dXTSUVrdEhcU10aVq+EyMS6EOblJ45blFfO4Z/kcOjysbUK/C1VsiGb3xtAySp2h53oaJDOvlzLAk7cvF1yyumX1qKqc2KHDqsgZmH3W0S2L7jdtE+wJrk4tpUGoT9GLn6hJOApN4DFxORghVFuoWazeXBF66kv4OrNT3bJ4TK0J6LuXIL38GY10Z5QXRNJveI34jEnvqnsZrAshjwQTIyVa9IfSwJcW50QRC+uJl0OzDUkblUGGj8vguMT+uYlhV/vaYfyAJO7PoyBCm6EYsT4k1bTXddnFdJDODmm0RgRY3yX1MpPSmegyMHsETKVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L6Z2354enaeTbPaoSaiU9J",
      "input": {
        "note": "Lemon is centred on the jaw column in the wrist view; descending to lemon mid-height to grasp it.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.078,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01L6Z2354enaeTbPaoSaiU9J",
      "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, -0.4732, -0.0189, -0.0387, 0.999, 0.244, 1.7947, 0.9638, -0.0631, 0.1772, 0.0483, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.16 left_yaw=0.0029 left_pitch=-0.09 left_roll=-0.0024 left_gripper=0.999 right_x=0.4345 right_y=0.0798 right_z=0.0389 right_yaw=0.0516 right_pitch=-0.2936 right_roll=-0.1046 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.2239, 7.0632, 1.7998, -0.0806, -0.0611, -0.0073, -0.2667, -6.5436, 5.0803, 1.37, 0.1978, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:249af0d9927b8db471fcc495c1f797d071d5901c21265d3da3ccb340c9783d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dedd9c5b3795b952ef2cd1163128459e66089d4b5a7867ff6e3c40422200f50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34f47b9200600e38b1034f00e8588208ff49723919d52ee0ab88b80ffbcd924b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 6.655 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4515, -0.0189, -0.0387, 0.999, 0.3264, 1.3502, 1.1347, -0.5602, 0.247, 0.1116, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0028 left_pitch=-0.0644 left_roll=-0.003 left_gripper=0.999 right_x=0.3791 right_y=0.0865 right_z=0.2069 right_yaw=0.0459 right_pitch=-0.1634 right_roll=-0.0832 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2376, 6.9812, 1.8632, -0.0611, -0.0757, -0.0122, 0.212, -5.7368, 7.2957, 1.4383, 0.2027, 0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.8032, 0.6067, -0.4583, -0.0189, -0.0387, 0.999, 0.247, 1.5887, 1.2129, -0.4992, 0.1928, 0.0532, 0.9996]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0028 left_pitch=-0.0751 left_roll=-0.0027 left_gripper=0.999 right_x=0.4251 right_y=0.076 right_z=0.1552 right_yaw=0.0395 right_pitch=-0.2722 right_roll=-0.1097 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.4974, 6.9675, 1.7509, -0.0659, -0.0513, -0.0122, -0.7726, -7.2821, 9.5248, 1.6972, -0.0171, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8032, 0.6067, -0.4732, -0.0189, -0.0387, 0.999, 0.244, 1.7947, 0.9638, -0.0631, 0.1772, 0.0483, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.16 left_yaw=0.0029 left_pitch=-0.09 left_roll=-0.0024 left_gripper=0.999 right_x=0.4345 right_y=0.0798 right_z=0.0389 right_yaw=0.0516 right_pitch=-0.2936 right_roll=-0.1046 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.2239, 7.0632, 1.7998, -0.0806, -0.0611, -0.0073, -0.2667, -6.5436, 5.0803, 1.37, 0.1978, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:249af0d9927b8db471fcc495c1f797d071d5901c21265d3da3ccb340c9783d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dedd9c5b3795b952ef2cd1163128459e66089d4b5a7867ff6e3c40422200f50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f47b9200600e38b1034f00e8588208ff49723919d52ee0ab88b80ffbcd924b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpwIKjgEIEhgCKkDP/p/UiSe3YTswC9sRQBft2XHL5Rt9g0A1csQTEyUcXbbnO7EZIFZov+JQ6y38iJ4lTt8MSQnCUUI9go1h1eqrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ62zNUGEgzZM9AOhcz2/NmTA/kaDAI3L+RYez/VrQd84iIwiTQ7NtZ7NJE5BqAdfNzy4i9T+jnnckwtdlH0nPKMV0jIxw5jUVJyMCF3jcrl4tIAKkbA1JDDp00jEK9XGbExJYAepERq8QkTmPYRQ1inyT7L7kdLUrt6U1rASZcb6ObDiLZNZ4lvNDr+tHVpeHx4BapuOvmpfBxgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SqcTjvW8PpFc451dkcyegb",
      "input": {
        "note": "Lemon is between the jaws in the wrist view; closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SqcTjvW8PpFc451dkcyegb",
      "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, -0.4801, -0.0189, -0.0391, 0.999, 0.2523, 1.8099, 0.9497, -0.0814, 0.1444, 0.0376, 0.0416]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0031 left_pitch=-0.0969 left_roll=-0.0026 left_gripper=0.999 right_x=0.4237 right_y=0.0867 right_z=0.024 right_yaw=0.0918 right_pitch=-0.3457 right_roll=-0.0934 right_gripper=0.0416\nstate[joint_eff]: [-0.0615, -1.1692, 6.9675, 1.7314, -0.0708, -0.0806, -0.0122, -0.7179, -9.8803, 7.1179, 1.4579, 0.0122, -0.569, 0.8425]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721010a8abea1f5b702f5ba6e5e2427072a6a40029524cd2c70020645fe17513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39de8b94b3b549d0be521780ba5214452e9924c43c7f9cd54b69c01c0f050a10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18c0d7a85f3ee414acc0f34ac7eb81ed8d2058d5452c518d81fb55dd42d4b363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 16.97 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, 0.8032, 0.6067, -0.4583, -0.0189, -0.0387, 0.999, 0.247, 1.5887, 1.2129, -0.4992, 0.1928, 0.0532, 0.9996]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0028 left_pitch=-0.0751 left_roll=-0.0027 left_gripper=0.999 right_x=0.4251 right_y=0.076 right_z=0.1552 right_yaw=0.0395 right_pitch=-0.2722 right_roll=-0.1097 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.4974, 6.9675, 1.7509, -0.0659, -0.0513, -0.0122, -0.7726, -7.2821, 9.5248, 1.6972, -0.0171, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4732, -0.0189, -0.0387, 0.999, 0.244, 1.7947, 0.9638, -0.0631, 0.1772, 0.0483, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.16 left_yaw=0.0029 left_pitch=-0.09 left_roll=-0.0024 left_gripper=0.999 right_x=0.4345 right_y=0.0798 right_z=0.0389 right_yaw=0.0516 right_pitch=-0.2936 right_roll=-0.1046 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.2239, 7.0632, 1.7998, -0.0806, -0.0611, -0.0073, -0.2667, -6.5436, 5.0803, 1.37, 0.1978, -0.0464, -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 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, 0.8032, 0.6067, -0.4801, -0.0189, -0.0391, 0.999, 0.2523, 1.8099, 0.9497, -0.0814, 0.1444, 0.0376, 0.0416]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0031 left_pitch=-0.0969 left_roll=-0.0026 left_gripper=0.999 right_x=0.4237 right_y=0.0867 right_z=0.024 right_yaw=0.0918 right_pitch=-0.3457 right_roll=-0.0934 right_gripper=0.0416\nstate[joint_eff]: [-0.0615, -1.1692, 6.9675, 1.7314, -0.0708, -0.0806, -0.0122, -0.7179, -9.8803, 7.1179, 1.4579, 0.0122, -0.569, 0.8425]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721010a8abea1f5b702f5ba6e5e2427072a6a40029524cd2c70020645fe17513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39de8b94b3b549d0be521780ba5214452e9924c43c7f9cd54b69c01c0f050a10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18c0d7a85f3ee414acc0f34ac7eb81ed8d2058d5452c518d81fb55dd42d4b363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywYKjgEIEhgCKkB2IsU52S9GZICpD/jn05qxr7ThRiKUebvXLwQn5jrrPAVA2BgbqVc7cyAkDMvk9kqchQPVhIX66UmLFiybIYs+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaW2zNUGEgz2PJ3gZHfyPSVmPXoaDK9haqPY6ALNZmgwiyIwcwmi3axqagaWbOZR3bUCL70YBXYOF0QNWivITju6jp1x3ByjAXleJ3SFpZ3mDdcsKukEMoHE8kMhFlTY9kIh5fGFCrInTV6Tl+eUE2LoBT9QhyH1lXLStcBXmH6fAnhO5zLUlCi3e9WDSwJiT7eHGi+2uhh9+vXEy+ixDdmaJgx0UL+I5uMUZ25KZPOyEqrS649ED642sLPch8huCIKoR1jHygx4WaL/nWGp4ZWVGfTmpeVgvk6chbkM0kre7AeqJRmgc+Po8UVK8EBKDAIa9tnt/xw+tZAOgDgc1xFkhY5rBnW+R1w2FwpZkKl0qWH0DKDFfWkcPegvZxVBSkIhbGqQvd1eijTpgQS2s/rALg4ZEiA+Dr3MNtPCqPySUwnxRJE1MoSeEE6FkxiMdW9mWZz0Sq4/CeopcnvPNwsdj2NDgnP2QyQjrjyTc+S4GSbxT3Wk0xIU5my3/x1yXtSKExZf0RuFrrtHmp8Ima1BWqnJwT+UqTzDZilmZAIRZm3OMUmLgp3dqH/BHl3LhA6JgRVKyGsgSpcrlf+SQXxu2o5q5HDzU26A1x+LPBsdD0HZ3llDhCDmWnOz96JZOme+/391obxjU7cTYAb6YvQJptl8X1ZHAfPd4RmU1fHa6LK3OsugzJFmLrNbwv/pqsuL1WBhaNtpygxKkW8qAcgyX/W92jmljRY/DetXIG2b8mCTFlzB2uPkeC03p0ijZfg8fdXszv6q1cWIfFxUTkAsXaKK9Z53Sa6HVgkKfb9H6wMcO+9YSifMdTtu5A9AsTdDKqigSmmkzS9KKaY3caWaE8Yo61Kq8Yy/KJfSByjKgWnhNLDsHTjOmfTXTjI9FQLGxqpDTgIwc0IJfVURdIUOo2sAjX16P+aqMDRRkTMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DWUfvrWUmSHejvGbJb9B6Q",
      "input": {
        "note": "Gripper closed to 0.04 = empty, so the lemon slipped aside. Opening and lifting to re-look before a second attempt.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DWUfvrWUmSHejvGbJb9B6Q",
      "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, -0.4957, -0.0189, -0.0387, 0.999, 0.252, 1.6745, 1.2087, -0.5297, 0.1406, 0.0257, 0.9945]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1545 left_yaw=0.0029 left_pitch=-0.1171 left_roll=-0.0018 left_gripper=0.999 right_x=0.4183 right_y=0.0858 right_z=0.1127 right_yaw=0.0985 right_pitch=-0.3999 right_roll=-0.1064 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -1.6068, 6.9538, 1.746, -0.0464, -0.0122, -0.0122, -0.1983, -10.6188, 8.9915, 1.5507, 0.0757, 0.0513, 0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aacce4759358a75273d45fa0d644c9cb9b2a8a75b00779868338aedb0421c367",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcb49ba053833b4e33b1dcd1803e5477796f7874fae3dfe3868e15a50e6fe2f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd46c9befe85382a93c00a79528d14041f4677fafa37626f3947f57923ebb380",
        "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 · 5.092 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, 0.8032, 0.6067, -0.4732, -0.0189, -0.0387, 0.999, 0.244, 1.7947, 0.9638, -0.0631, 0.1772, 0.0483, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.16 left_yaw=0.0029 left_pitch=-0.09 left_roll=-0.0024 left_gripper=0.999 right_x=0.4345 right_y=0.0798 right_z=0.0389 right_yaw=0.0516 right_pitch=-0.2936 right_roll=-0.1046 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.2239, 7.0632, 1.7998, -0.0806, -0.0611, -0.0073, -0.2667, -6.5436, 5.0803, 1.37, 0.1978, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0391, 0.999, 0.2523, 1.8099, 0.9497, -0.0814, 0.1444, 0.0376, 0.0416]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0031 left_pitch=-0.0969 left_roll=-0.0026 left_gripper=0.999 right_x=0.4237 right_y=0.0867 right_z=0.024 right_yaw=0.0918 right_pitch=-0.3457 right_roll=-0.0934 right_gripper=0.0416\nstate[joint_eff]: [-0.0615, -1.1692, 6.9675, 1.7314, -0.0708, -0.0806, -0.0122, -0.7179, -9.8803, 7.1179, 1.4579, 0.0122, -0.569, 0.8425]",
      "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, -0.4957, -0.0189, -0.0387, 0.999, 0.252, 1.6745, 1.2087, -0.5297, 0.1406, 0.0257, 0.9945]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1545 left_yaw=0.0029 left_pitch=-0.1171 left_roll=-0.0018 left_gripper=0.999 right_x=0.4183 right_y=0.0858 right_z=0.1127 right_yaw=0.0985 right_pitch=-0.3999 right_roll=-0.1064 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -1.6068, 6.9538, 1.746, -0.0464, -0.0122, -0.0122, -0.1983, -10.6188, 8.9915, 1.5507, 0.0757, 0.0513, 0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aacce4759358a75273d45fa0d644c9cb9b2a8a75b00779868338aedb0421c367",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcb49ba053833b4e33b1dcd1803e5477796f7874fae3dfe3868e15a50e6fe2f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd46c9befe85382a93c00a79528d14041f4677fafa37626f3947f57923ebb380",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2QoKjgEIEhgCKkAVZlKIm24hVZ9cO+IFWN1pEcYpvIh0WftHa95nZ/uOyx5iR6ivzC7ZTGK5pmhq4FzcC68aQ94wqEXcG7CQ6OVcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbe2zNUGEgyB9Y2mtn/gkvSicFEaDGWoAvB3mFb0TZ973CIwyJi6yqajXOEqGGCMpG7Ks1QPBPJNyQxqgLJrfsF6DDZflOv2YGvg46eEwHt+6g/4KvcIhCVC2k48cmqfivpMwrXuL8yniyUAzcrBHxeSlOqQNr80NV/ttCmowz1g+laT39LNra5csj4V0sEks7wk4u5e5fKKyXcb7p+gRocJtLqrhUuHhvLv6j1/wNekhKM6rM0Gu777wZqbny9Ho5qL1mzao86XquyT1eXEFAdpPQAtmmbAdxrZZZoh7BYplLCMU57ZA8cvpjs0H8IXBl7BoI5U7/MUOAljy1vX+rxzitZ3rPcUP1pwcdTcMOTfZ35A8nRs+WnjF9V0ECNEMmatpmKFxU6EKqG5NNprw1rsJdmLvfSEvQcmkBeXGeBHwNZx7W2AI5q2mFTRyubtXS3GIbV2zwHsERsnh5+wnANvanVfkbMiEoT2AJTFgsAaj1DaaMZCEgMBKFTLh7X8yiB3sIWq1G/ThhKMVoVtLwZGQj2aWRfIyM3R5vwDGBvKJGJXw8tNnC7Ea77xvZSxx0OULeDNPtbytgcYrLKxSmqYbi6JPFykIphALmLYsHcRdp/1Y9jgwflCIGgg84p6dz+emU1R3Z7aBdjorUPrsWSXSY++brEKNuyyWwNZCVT5mOe5d2msmnkefU6NzaIoVGgAsgX7bACrr32iacHYUeT1gllKKUWEit20NC7mJ/V8Hn6vvrpPsPFyKfQI45AQggRX0UNRmTw2r/4qqUbMXof4PtqHr5agEtBZVUwz4RVWmoNscN7i7+o3qm4AWEF8aijbAoReii+G5Uebkw98oa8xhjLI1tTkllJIZgan1wXwPYFW2lBhISKRbSdk+du/wXC23hNDe6Q/fbYkXlvdt6dTtV5gi0HKkH/BfEcxtvgw1frtYTGLhU7Na2zndHwf/+ckPzpGEHhIJyS9RcN+wwc5WW5YFl46l4kpSBPR75By93OYkKzQN+3KWcUKSjb8UWyHqKAXgNS+YuNXVuWN3Rg+b70HD1C3vYbKH4gvkxSsVTqhJOisHHauVP+CjdCkT4UTWa635NlCq7CT6+xRcg+f0fX93Ai/4JdlY1l7r8t+n8VpSvq/zr+vgzVmS5dMhvIfvPqByG58KAJJFmz2YhVl+FFTVbK8/8avWuLxKIFTzyBnOLdd2S9XkVZ/HPSzQmBMhQQZz4LkF0Xvpfpgtj8Jfqo0n5b/lWdSFHsSitgBwBtiGgX98+KLGMjLjLd5LaIX+LVcVvKt1aeE8+9+Fp3ieo1feW2vBBjvUC7MoQc/6V6Nf566SVoS+ust1YiFOVV5UZQSxkqUyto6CQxrHpHB3DaPt2DlI+i3ThKB3iPZY4fAKhkP6maG0mh4tOE6vYEPWdRVixjuftZ7+IOoszJvsGdmXStb8wbymclgyuorSMKvX7zCsN85yHrxK0OVkwiDG/yTX6JPwoDlVOQrUvkX2VEmj3KuGyaZGnR7cOPC5BPpnjnvTS6UsNJeur9Y3AoHpi3CFdLUfwUjHHQ6mdctJzjvHrBVS3aQY828bd+0VRB9RtscmwGz4DuJFXRRNpNCVQWy+qqh9puBHhmEnD3IRdzdFvKMUknxnHzVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SfkdwVd4yLo99Twwv1mYrK",
      "input": {
        "note": "The lemon rolled to the arm's right during the failed close; shifting the gripper right and slightly forward to re-centre over it.",
        "targets": {
          "right_x": 0.435,
          "right_y": 0.045,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SfkdwVd4yLo99Twwv1mYrK",
      "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, -0.5114, -0.0189, -0.0387, 0.999, 0.1299, 1.6989, 1.2228, -0.5713, 0.0906, -0.0547, 0.9953]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1516 left_yaw=0.003 left_pitch=-0.1327 left_roll=-0.0015 left_gripper=0.999 right_x=0.42 right_y=0.0424 right_z=0.102 right_yaw=0.0681 right_pitch=-0.4607 right_roll=-0.1127 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.2376, 6.9402, 1.7558, -0.0659, -0.0513, -0.0122, 0.4718, -7.6103, 7.1043, 1.7753, -0.1099, -0.1245, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75cb989cf4a4036716b9030a10dbe67ed05f95882f63213ee2bda28a22f0be1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:464471b7a58b2c8adc7bb4946c80d6fa7ea4b1305f1e0c26c5b246b8a884286f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8451f76621f794b878f1a2496c4f6a68aac0d0dc33379da64cab7f82455e26aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 3.89 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, 0.8032, 0.6067, -0.4801, -0.0189, -0.0391, 0.999, 0.2523, 1.8099, 0.9497, -0.0814, 0.1444, 0.0376, 0.0416]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0031 left_pitch=-0.0969 left_roll=-0.0026 left_gripper=0.999 right_x=0.4237 right_y=0.0867 right_z=0.024 right_yaw=0.0918 right_pitch=-0.3457 right_roll=-0.0934 right_gripper=0.0416\nstate[joint_eff]: [-0.0615, -1.1692, 6.9675, 1.7314, -0.0708, -0.0806, -0.0122, -0.7179, -9.8803, 7.1179, 1.4579, 0.0122, -0.569, 0.8425]",
      "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, -0.4957, -0.0189, -0.0387, 0.999, 0.252, 1.6745, 1.2087, -0.5297, 0.1406, 0.0257, 0.9945]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1545 left_yaw=0.0029 left_pitch=-0.1171 left_roll=-0.0018 left_gripper=0.999 right_x=0.4183 right_y=0.0858 right_z=0.1127 right_yaw=0.0985 right_pitch=-0.3999 right_roll=-0.1064 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -1.6068, 6.9538, 1.746, -0.0464, -0.0122, -0.0122, -0.1983, -10.6188, 8.9915, 1.5507, 0.0757, 0.0513, 0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5114, -0.0189, -0.0387, 0.999, 0.1299, 1.6989, 1.2228, -0.5713, 0.0906, -0.0547, 0.9953]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1516 left_yaw=0.003 left_pitch=-0.1327 left_roll=-0.0015 left_gripper=0.999 right_x=0.42 right_y=0.0424 right_z=0.102 right_yaw=0.0681 right_pitch=-0.4607 right_roll=-0.1127 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.2376, 6.9402, 1.7558, -0.0659, -0.0513, -0.0122, 0.4718, -7.6103, 7.1043, 1.7753, -0.1099, -0.1245, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75cb989cf4a4036716b9030a10dbe67ed05f95882f63213ee2bda28a22f0be1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:464471b7a58b2c8adc7bb4946c80d6fa7ea4b1305f1e0c26c5b246b8a884286f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8451f76621f794b878f1a2496c4f6a68aac0d0dc33379da64cab7f82455e26aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAQKjgEIEhgCKkC0hdn6WG/UY9NUhkLq+oElu/AKdDZBwM/ERt1tS8CjvnzTy8hdIshSmzSbLNIpC5SS23ZRiK2+0OfMw9RZ1U4lMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAby2zNUGEgwPwXivbT2nsAYQ97AaDI6VU7n1k26rhk9GMyIwFx3j3vJOXUNuWS5JaOm6mgPekTumX497IdA1njZ1rq++EiMdEwzGc3KQLgkY6ZX9KtICMB+W45DjJKMI6kRRRd0Vui+CadymJ7GVcs0kTELocsPhsc9w2VuFdMhiz0WxhN3UrsH/IYCa3sQvNPuUJRnBEMkXrZz1IHW2KfCLS1Brae2HqmwmbC4c/wQbrVuPDoG5KQNlDA6GGDA8i05tfQlyUwHfC77cTwaTQYw18GWuRNLKfwe/bowrDizf5y49k+vTFeT76tVoLwzmw5IfxVZg0Z8Ja23NByBYk5Wv20WMXU/B3RPmNFpSKwmvdrRKbBoBugCljhx2GEkvNO5x1SOqb4EAodHyay23ln7pTfhZLkXwBLvbsy8jA+X3CxOc5hFBpXg1ETPELT+pgUPe1tWkYrd7MV27eA1/hM6TdDwH2nvpwriAFCVSFipDoVRHI+x8v8PObycnI8E2iuhRVMXNUCFk84a+4K8z3Jgr+WtpPwAN98B1oHBZegvV2hGplHbG7XkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014VtoErWQLGkDN4avC3BiNj",
      "input": {
        "note": "Lemon is now on the jaw column but still further out; advancing forward while descending to lemon mid-height.",
        "targets": {
          "right_x": 0.46,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014VtoErWQLGkDN4avC3BiNj",
      "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, 0.8101, 0.6067, -0.519, -0.0189, -0.0387, 0.999, 0.1204, 1.9179, 1.2125, -0.4107, 0.0738, -0.0788, 0.9953]\nstate[eef_state]: left_x=0.2753 left_y=0.0017 left_z=0.1496 left_yaw=0.003 left_pitch=-0.1426 left_roll=-0.0012 left_gripper=0.999 right_x=0.4413 right_y=0.0439 right_z=0.026 right_yaw=0.0877 right_pitch=-0.5315 right_roll=-0.1124 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.265, 6.9128, 1.6825, -0.0806, -0.0366, -0.0122, -0.6632, -9.6068, 6.5573, 1.4969, 0.0904, 0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:099ac96374d6e68c92eb453e97cd42f32e109cc8219a370c6caf1112321933cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc644458242ef78451f2faef3e3bf3820a18562344efe237ea4be9a1852ee4d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db9b2b020991d791c50d387004772688e06968bec86c150d40be1c4ae7cc899c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 10.93 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, -0.4957, -0.0189, -0.0387, 0.999, 0.252, 1.6745, 1.2087, -0.5297, 0.1406, 0.0257, 0.9945]\nstate[eef_state]: left_x=0.279 left_y=0.0017 left_z=0.1545 left_yaw=0.0029 left_pitch=-0.1171 left_roll=-0.0018 left_gripper=0.999 right_x=0.4183 right_y=0.0858 right_z=0.1127 right_yaw=0.0985 right_pitch=-0.3999 right_roll=-0.1064 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -1.6068, 6.9538, 1.746, -0.0464, -0.0122, -0.0122, -0.1983, -10.6188, 8.9915, 1.5507, 0.0757, 0.0513, 0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5114, -0.0189, -0.0387, 0.999, 0.1299, 1.6989, 1.2228, -0.5713, 0.0906, -0.0547, 0.9953]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1516 left_yaw=0.003 left_pitch=-0.1327 left_roll=-0.0015 left_gripper=0.999 right_x=0.42 right_y=0.0424 right_z=0.102 right_yaw=0.0681 right_pitch=-0.4607 right_roll=-0.1127 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.2376, 6.9402, 1.7558, -0.0659, -0.0513, -0.0122, 0.4718, -7.6103, 7.1043, 1.7753, -0.1099, -0.1245, 0.0659]",
      "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, 0.8101, 0.6067, -0.519, -0.0189, -0.0387, 0.999, 0.1204, 1.9179, 1.2125, -0.4107, 0.0738, -0.0788, 0.9953]\nstate[eef_state]: left_x=0.2753 left_y=0.0017 left_z=0.1496 left_yaw=0.003 left_pitch=-0.1426 left_roll=-0.0012 left_gripper=0.999 right_x=0.4413 right_y=0.0439 right_z=0.026 right_yaw=0.0877 right_pitch=-0.5315 right_roll=-0.1124 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.265, 6.9128, 1.6825, -0.0806, -0.0366, -0.0122, -0.6632, -9.6068, 6.5573, 1.4969, 0.0904, 0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:099ac96374d6e68c92eb453e97cd42f32e109cc8219a370c6caf1112321933cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc644458242ef78451f2faef3e3bf3820a18562344efe237ea4be9a1852ee4d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db9b2b020991d791c50d387004772688e06968bec86c150d40be1c4ae7cc899c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrAMKjgEIEhgCKkDk2zprYCOjUKvnn5Gn5HR04YQ9sk44w4XcEgVoNG8c1NJbWvKrWWuEfgZm6sAauSBaYrSOP9K0EG5xeX6JyrOVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcG2zNUGEgypKH/T67kvc8Lc214aDOfUj3GlZTZKShiVAyIwOTxNTp93dAxYUm0E6huGLDstXtHbwLKLvYLcUK0XELP3dRvzncwvwn0sEZv5EAPCKsoBJoq+LyBWiQ67EYYMM4dcXOASo+GD9mlsTrwH6f630SnFdlaDbu8bakA1+fd1x6dAfcnxbx81On2Jf0WBc/WBPHHzE4KuceoLE6Hnxx77ftT+cG3XPMnLoaHwOfrr/vxAmJBJs4MPz3umA7s8P4iYIw0Tio2S4Ti55yLcNSeBk92+ojMmvhJ0MhUXFTH6ExAha7+tiPElamCXoYi3c2pyQrh1COzWzjItFo68jRo01iMgv+5atUWDHNuY5rGeqzbdETIDgXQkVNBAnxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KDWjpxuthtMM1YtsyPScwQ",
      "input": {
        "note": "Lemon fills the wrist view centred on the jaws; closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KDWjpxuthtMM1YtsyPScwQ",
      "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, -0.5259, -0.0189, -0.0387, 0.999, 0.1223, 1.9392, 1.2118, -0.4213, 0.0483, -0.0792, 0.031]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1484 left_yaw=0.003 left_pitch=-0.1491 left_roll=-0.0011 left_gripper=0.999 right_x=0.4362 right_y=0.0486 right_z=0.0154 right_yaw=0.1145 right_pitch=-0.5648 right_roll=-0.0863 right_gripper=0.031\nstate[joint_eff]: [0.0068, -1.1009, 7.1043, 1.6484, -0.0757, -0.0513, -0.0122, -0.4444, -11.5897, 6.0513, 1.16, 0.1783, -0.1587, 1.3455]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc33a4851b76eb3bf668af39d674b815e1e3973b5c47da7912a4cce4c02bb254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15cb8a2d24b06e67d102e6788ba6fd0a8829a44f6d3bd644c994fe6f2ea09213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9672973c32246fb49a534833e8dcda71ec6a6a15d46495e321539281656a14ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 10.49 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, 0.8078, 0.6067, -0.5114, -0.0189, -0.0387, 0.999, 0.1299, 1.6989, 1.2228, -0.5713, 0.0906, -0.0547, 0.9953]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1516 left_yaw=0.003 left_pitch=-0.1327 left_roll=-0.0015 left_gripper=0.999 right_x=0.42 right_y=0.0424 right_z=0.102 right_yaw=0.0681 right_pitch=-0.4607 right_roll=-0.1127 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.2376, 6.9402, 1.7558, -0.0659, -0.0513, -0.0122, 0.4718, -7.6103, 7.1043, 1.7753, -0.1099, -0.1245, 0.0659]",
      "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, 0.8101, 0.6067, -0.519, -0.0189, -0.0387, 0.999, 0.1204, 1.9179, 1.2125, -0.4107, 0.0738, -0.0788, 0.9953]\nstate[eef_state]: left_x=0.2753 left_y=0.0017 left_z=0.1496 left_yaw=0.003 left_pitch=-0.1426 left_roll=-0.0012 left_gripper=0.999 right_x=0.4413 right_y=0.0439 right_z=0.026 right_yaw=0.0877 right_pitch=-0.5315 right_roll=-0.1124 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.265, 6.9128, 1.6825, -0.0806, -0.0366, -0.0122, -0.6632, -9.6068, 6.5573, 1.4969, 0.0904, 0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8097, 0.6067, -0.5259, -0.0189, -0.0387, 0.999, 0.1223, 1.9392, 1.2118, -0.4213, 0.0483, -0.0792, 0.031]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1484 left_yaw=0.003 left_pitch=-0.1491 left_roll=-0.0011 left_gripper=0.999 right_x=0.4362 right_y=0.0486 right_z=0.0154 right_yaw=0.1145 right_pitch=-0.5648 right_roll=-0.0863 right_gripper=0.031\nstate[joint_eff]: [0.0068, -1.1009, 7.1043, 1.6484, -0.0757, -0.0513, -0.0122, -0.4444, -11.5897, 6.0513, 1.16, 0.1783, -0.1587, 1.3455]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc33a4851b76eb3bf668af39d674b815e1e3973b5c47da7912a4cce4c02bb254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15cb8a2d24b06e67d102e6788ba6fd0a8829a44f6d3bd644c994fe6f2ea09213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9672973c32246fb49a534833e8dcda71ec6a6a15d46495e321539281656a14ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7goKjgEIEhgCKkBPXnMXOo2kGa596eddhIbqMwskcNxrnvNLQyyNVV92QJtjawdQVWL0GEinYaFiY0Z5ZNcdxo01N1Advw2d0VUOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcy2zNUGEgzigHevAAmY9jlxdLoaDI5RPR3bad/fvq72FyIwA3mQ4vvh5dkYfepdskWhWfJmKi6edw+HCQZKRQA7Vv2g4nJDaydhnLn4j6JQLqL1KowJnzurglgWWH6ZE/siMiNFVUiCfk1RkcdwtrRZtdUjDF0G5PQbIBuMQ/I4mBmWiFemUC8NHsy0AqPKgUKPympNjcCM9juOZM7U3SFSRl86s4+j5+SYeVT71k+T/KJAmY3Eiec4gqOEhadMzUx5PjQBqW3Ul+B7LvMZBB3rL+//Kti1Xvqvb7n/EhD7qEXgT4dibL9qy4zk0aTq0jLWsqSyspwy6t45rpwShurUiHWxsMBGhrMM80kANNjfmf2qulhjNRtaZfgTdvjkACUAd9cJR+JGgF76XEaoQ9Xq76LXeQFOmypbhkPBeGI9P7y5YsmDN1GMLQvUsZ8SBDisJy7gRcpq5lEbxu3JFRUdAKt67+72NNdDdhsA8Q9fSAYquXo0p+FExusEzBW9P1eRqwsm/SOUuGBOtiJBlw56n/7uTzfO/SBh9h1bSRsS3lAOVOaBd1/92Ca8SAnQQidZdKoDugyBW1sO5Ao8Xvt2PqJp4ScdB4wevH2SJ4bRbtVDIrgQQOeyu3minuWXsrtghgXA0xA8CbW7XFjRox4wlxf7PjaeEbcNZlHql6U5+ew57Uxxx2kf1GW/e3fTxcBT2/GsP4NGWrn+XSO1UKUhZyb5okbDeQUXxB3y/X7/Nn/9Ow/H5jxfQiK+Rut63Ev7zZOm7OrIv4rOuXCtAE95m1AgboOlK7XRT9xP1Hv7g/eg8CeaBPN9zByDKIX0YoHTsHlRJpcsPLgW7Z+ApkuAAIWW4uIksFOAHTdImvu2GZBAqp9QRxYZhe2brr+nBqn/0jWNlkwSUxj8AAB3Jj/NapzPnGbkwbSawIawTDOD7S9+Z1k6HOqT8M8iG24jFMGaUpqubf0H9/PJdj5Lf90cX+84T0b9ZW3VS3QM9xR9puN+do0NSXVcXzrANzKaZqxqhJsvEOBU03vMwZM3sExEvFcIpmauGcAzOkQrx0LEmDxnGZjBtvq0wKMX8446kOFM0shiKcT6VMKR3qgYvX279tdRUdochbfBSNPNJrVyJW/as0yOQ72tg5bSoUzhtquXDJnfSh6hvlQbCriSyQUsPx9tthC5T8LpA6MJMRgL8yqGPWbnCwm4ZwN0fggPvtKN4srvxa35wsBfRwlmb0SAG2w6HyRPgPjVPF+eQFuLRI1Qkd0vWMm/Xn56M0VUdQmsxkLy3wzq4CwfsvoAW78ev2pS+DjjlGqKgCYI0OTdbRGoMUeRhpXpHqehUqc3Tv3fxRnMLkVNTR4ZczPZ95lBVMI4ctmJT61fXsiHQ1BxFiTn+Dd1PikbR24x7CB3+5jBeVNiTzcV2rTb6P7v5HFnxg4YnpIiJTb99DXf7SYozOs8yc1FCAvmI7S9mZZI4hnGGHPaDM/vh6byaL0xn9Ldpko6I8gFoKReYE40bPthF+bhCN6U2P86NojDG//esH4AcJwkwyU4V1JzsnwudRRVNwX6/z7Pw0shfiKfk5RmoP58OMxyJA7FGuTfgbMSOSCIgfKzxIg3Suh0VuTFmWMOOSUhlmOYxSCGm+o02chAcD387wG+/gboJcOtbyvk7vt8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KVYuorUFFVYJuaDZTbiG7q",
      "input": {
        "note": "Second close was empty (0.03) and the wrist view shows the lemon about 4 cm to the arm's right of the jaw column; opening, lifting, and shifting right to line up properly.",
        "targets": {
          "right_gripper": 1.0,
          "right_y": 0.008,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KVYuorUFFVYJuaDZTbiG7q",
      "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, -0.5377, -0.0189, -0.0387, 0.999, 0.017, 1.8645, 1.3457, -0.6907, 0.0097, -0.1768, 0.9946]\nstate[eef_state]: left_x=0.2722 left_y=0.0018 left_z=0.1462 left_yaw=0.0031 left_pitch=-0.1609 left_roll=-0.0008 left_gripper=0.999 right_x=0.426 right_y=0.0091 right_z=0.0647 right_yaw=0.115 right_pitch=-0.6282 right_roll=-0.0849 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -1.2376, 7.0769, 1.663, -0.0708, -0.0659, -0.0073, -0.4308, -11.9453, 8.5675, 1.1209, 0.0122, -0.0073, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:311cc0047427c62d11c0dd0b1d92d4786dcfcc978afa6338d17e3d5d994445d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a341dc4ff2da232267f853745f40c46542bc693362cc637cbec812f5bd6aadd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b00cfe4ca5edd7c313d78c7136dfd779962a9009fbbc2d2ac120a06d086b58ce",
        "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 · 5.552 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, 0.8101, 0.6067, -0.519, -0.0189, -0.0387, 0.999, 0.1204, 1.9179, 1.2125, -0.4107, 0.0738, -0.0788, 0.9953]\nstate[eef_state]: left_x=0.2753 left_y=0.0017 left_z=0.1496 left_yaw=0.003 left_pitch=-0.1426 left_roll=-0.0012 left_gripper=0.999 right_x=0.4413 right_y=0.0439 right_z=0.026 right_yaw=0.0877 right_pitch=-0.5315 right_roll=-0.1124 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.265, 6.9128, 1.6825, -0.0806, -0.0366, -0.0122, -0.6632, -9.6068, 6.5573, 1.4969, 0.0904, 0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8097, 0.6067, -0.5259, -0.0189, -0.0387, 0.999, 0.1223, 1.9392, 1.2118, -0.4213, 0.0483, -0.0792, 0.031]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1484 left_yaw=0.003 left_pitch=-0.1491 left_roll=-0.0011 left_gripper=0.999 right_x=0.4362 right_y=0.0486 right_z=0.0154 right_yaw=0.1145 right_pitch=-0.5648 right_roll=-0.0863 right_gripper=0.031\nstate[joint_eff]: [0.0068, -1.1009, 7.1043, 1.6484, -0.0757, -0.0513, -0.0122, -0.4444, -11.5897, 6.0513, 1.16, 0.1783, -0.1587, 1.3455]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5377, -0.0189, -0.0387, 0.999, 0.017, 1.8645, 1.3457, -0.6907, 0.0097, -0.1768, 0.9946]\nstate[eef_state]: left_x=0.2722 left_y=0.0018 left_z=0.1462 left_yaw=0.0031 left_pitch=-0.1609 left_roll=-0.0008 left_gripper=0.999 right_x=0.426 right_y=0.0091 right_z=0.0647 right_yaw=0.115 right_pitch=-0.6282 right_roll=-0.0849 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -1.2376, 7.0769, 1.663, -0.0708, -0.0659, -0.0073, -0.4308, -11.9453, 8.5675, 1.1209, 0.0122, -0.0073, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:311cc0047427c62d11c0dd0b1d92d4786dcfcc978afa6338d17e3d5d994445d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a341dc4ff2da232267f853745f40c46542bc693362cc637cbec812f5bd6aadd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b00cfe4ca5edd7c313d78c7136dfd779962a9009fbbc2d2ac120a06d086b58ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AoKjgEIEhgCKkDXusKR3ADkeZJK5wudxtdm/f0wMT48sA5DMqEQaXgQqpL/6FVKmrDrRqN8dsXwI9fCDLObapXCCYFDFGUAYcn1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdi2zNUGEgyKtL7LL5dcFlYUTmEaDH1Ha0i1eSKxok0c8yIwd47sHISBF3ieUWXWmS38e8co8DTlgQkyFidDUUfYtz6+WeV/t06FM7jt77GtTAzjKvoIZbVks4NDvEdob0pxKr7/6Wd+G7DcGpuc/EIfrwg6vSjP8GezsNAQkmj0L+3GsE0ZT7IqBI7UIZXW/eIghHz/M1T6OWAutKM1WIBlTcW/a3vnvmnSn0YIxZ123AS2yDpVRwaGifU9KX5o92JaSMjH8cGs9ythM8dOwdRCKjD6luy5IwVBtIyFTE8PNwmxg18nJ+iTACayvdcI7Mu0QlOE2e1A5lfWZaG/K02EQKsle2EN9zalWGPB8ogPVGHYV1BNsWl1hmR3qE5nlMklXuzWRjrPK7ZPFXfKPsM6MkB3+eWJKpn0+PAd3F8vUzXGiiEDBGyRZ8SJFPm6APxhDqEWytov8aAzukqD9yuT3iQ8qqh8BEumyoiIaTwfv7+xEgjDrki0A251j4R7NL71EJgUC8QGMNNRFNuWWSp31LmSipH46CCEli3L1Vscq4LZ0maPhakkLjJgve461X8LmLg0sefm02OQillUmW59w1vIhEC5CfQgX8BFd2E+stM3NHy+4iSbhvhYTSMErSOGt5fyzKFmuv4E/8ND8AaDXleeXht3OchAkuIVfH9prcbZnco/wbyvwhFCGJdEHKjnPvrecdWc+OUfThTC0JlNf5yJArAM4nEgpLbmUz2vtyAOAnjt1sxRCNubzqrfYtwy2WbiuWTo3O/9b6aALEAuj2/vloaJwNNwKxKoyffZwrWOmtA27VcRkuVsev3L6U36FzqnESMeA0nfB2jLaKI12piZ+qf90d/Q/L+iUm4e2CqQg8obpWLxezKUVfczsaDSHUDurSkd/rX25OarbjDMTwhlnGwRQV13gH+1Ui/yfNaWaA9xc0+obmhbpruWcg/h0h9TidL2cw1ZJT6hGWvEE4WdvLqDVBoSKEHuTJBxNl2bzwhHvmMRfdiDxpWklwgYc2Ua0qOB3nwkirXJCqRGOzuTSVv2Pa9sBEg78xb+/A5c/OBHGUNjAjC5LKUVkwF0nwkSyDqXGSd7KaEI7Ipx4uUnrQbHVcB8CoDh7iL87nB/HDMHdvRI0JTrINBHYs/TPj14drCBPtIv6JEe8elIb0ockdZETZex3nS9ZUHrtOQtntHEDAP1NlPvk0IHY4WH2K1W50HgxW2KPFVXSsy3bLyRXbnOE8Ni5jl2HxxB/rlKjvIwXIHfFITymhj7d+vL9jcIf4L+FRkIhVu1tOt7qbgvUxTDiiMWaod9XkbN7TdThXqtGfyDbF8h/0Ca17s4UTDWAtkg9yFPNPCz5oCZ1A3GpEkjsFmPrcR3HSBaw8UwFQ0OloVUZBYpzHcKEEXN2NmObRK9bomX+2tgzFcZmzY9OqDSFoW8geE3N+KH2KBbMtyjla3q+FJVfPN3S0/kS1r8RGdKi/vlpz4gr1ztQ+X5TDY/LYUawCTy8ZAOa0jxiH61x8L2hH/0uXaTKsWplUAHVhfGfyh1zaxsLdNOin3SIG1EesLDAPxgTSaBSeiFpbYO/SkzLVHU7vYK7VzuVAOB/+tle0xS3rW42d6+rwO+p5F2W0HkHbllqPBWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012DBFJmLyywPwYv4SePA8kS",
      "input": {
        "note": "Lemon sits just outside the safe's right wall, appearing high in the wrist view so it is still further forward; advancing and descending to straddle it.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.02,
          "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_012DBFJmLyywPwYv4SePA8kS",
      "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, 0.8104, 0.6067, -0.5415, -0.0189, -0.0387, 0.999, 0.0391, 2.0338, 1.3998, -0.6418, 0.0101, -0.1761, 0.9953]\nstate[eef_state]: left_x=0.2716 left_y=0.0018 left_z=0.1453 left_yaw=0.0031 left_pitch=-0.1655 left_roll=-0.0007 left_gripper=0.999 right_x=0.4421 right_y=0.0191 right_z=0.0155 right_yaw=0.1413 right_pitch=-0.6942 right_roll=-0.0766 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.2513, 6.9128, 1.5849, -0.0757, -0.0513, -0.0122, 0.1709, -11.3573, 9.306, 1.2576, 0.0366, 0.188, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:848caabb25d7b3da8c7218b93919b6393205543eed4469d6d7dc73041c9b33d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1253a9225cca97eb160ad30828a3825fbf59355b7e013f2b3a134b991bb963dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2179ffa7bfe38de7dda5cd896d560bf0df076c297f83dc0c78a0d7325fff9398",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 18.21 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, 0.8097, 0.6067, -0.5259, -0.0189, -0.0387, 0.999, 0.1223, 1.9392, 1.2118, -0.4213, 0.0483, -0.0792, 0.031]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1484 left_yaw=0.003 left_pitch=-0.1491 left_roll=-0.0011 left_gripper=0.999 right_x=0.4362 right_y=0.0486 right_z=0.0154 right_yaw=0.1145 right_pitch=-0.5648 right_roll=-0.0863 right_gripper=0.031\nstate[joint_eff]: [0.0068, -1.1009, 7.1043, 1.6484, -0.0757, -0.0513, -0.0122, -0.4444, -11.5897, 6.0513, 1.16, 0.1783, -0.1587, 1.3455]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5377, -0.0189, -0.0387, 0.999, 0.017, 1.8645, 1.3457, -0.6907, 0.0097, -0.1768, 0.9946]\nstate[eef_state]: left_x=0.2722 left_y=0.0018 left_z=0.1462 left_yaw=0.0031 left_pitch=-0.1609 left_roll=-0.0008 left_gripper=0.999 right_x=0.426 right_y=0.0091 right_z=0.0647 right_yaw=0.115 right_pitch=-0.6282 right_roll=-0.0849 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -1.2376, 7.0769, 1.663, -0.0708, -0.0659, -0.0073, -0.4308, -11.9453, 8.5675, 1.1209, 0.0122, -0.0073, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8104, 0.6067, -0.5415, -0.0189, -0.0387, 0.999, 0.0391, 2.0338, 1.3998, -0.6418, 0.0101, -0.1761, 0.9953]\nstate[eef_state]: left_x=0.2716 left_y=0.0018 left_z=0.1453 left_yaw=0.0031 left_pitch=-0.1655 left_roll=-0.0007 left_gripper=0.999 right_x=0.4421 right_y=0.0191 right_z=0.0155 right_yaw=0.1413 right_pitch=-0.6942 right_roll=-0.0766 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.2513, 6.9128, 1.5849, -0.0757, -0.0513, -0.0122, 0.1709, -11.3573, 9.306, 1.2576, 0.0366, 0.188, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:848caabb25d7b3da8c7218b93919b6393205543eed4469d6d7dc73041c9b33d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1253a9225cca97eb160ad30828a3825fbf59355b7e013f2b3a134b991bb963dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2179ffa7bfe38de7dda5cd896d560bf0df076c297f83dc0c78a0d7325fff9398",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAQKjgEIEhgCKkDCwQI17mDVQ08TCXMtBWGFalo2Yv+Dy8KPcSY8XKm3+k+DFq79lVVUrS8FBNhP634xcqbp8KcW7oP9S6vc50vXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd62zNUGEgypBnPelnfPiTDbflUaDLeNB4mW16j4NgFDIyIwu756LVqVYrhVtgJ7gE2t6PSjCashAo2kthMs3WIOv9tRUsjaVn3lTZKvorVw7CF5KtICNJMd88z7D1FviL2drY8/CWYG9oiKyJWp9WoMsQhkFcHAUEyZGjLAhu3qinJw244oGjIp3WlD0BL6Ib6amQMml/X10vvZoZOxn4HSvdxqKZ6sVEeokSaHojLUIMd7aPykaF4bV2L6Yuk+Oj9M9QguZ4ie3ZClEuziENuCE+xZZ4depz5fHIAPqKHXZpalznIRY7pOGPc84CUFe8FL4DxvRfaaFzc3QKLvNHlDy18ocng8sbhb1q13jWDvzWu6BAqioyia6XLmzTt8TljeHCMuGxufyhYJbHPVaFbkX8vRzy30l6xfL1krKQh0EiUVbmmMIpFGg7TSNYaulDUpUUR1unATQcptKBi1LT/RsBhRaWnuytsYiNJI+0ecPQtel3VFEPG/ZavKr1gUwUGMNg1Wf55mXvgB72f/VGPfCY7n4B03CrGwpTB3fQt6+qpAjWWnZIUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014TgXchUw722KVFVEtwpnBY",
      "input": {
        "note": "The lemon now fills the wrist view right at the jaws; closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014TgXchUw722KVFVEtwpnBY",
      "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, 0.8116, 0.6067, -0.5591, -0.0189, -0.0383, 0.999, 0.0467, 2.0518, 1.4223, -0.6312, -0.0036, -0.1665, 0.0326]\nstate[eef_state]: left_x=0.2687 left_y=0.0019 left_z=0.1419 left_yaw=0.0029 left_pitch=-0.1842 left_roll=-0.0 left_gripper=0.999 right_x=0.45 right_y=0.0253 right_z=0.0155 right_yaw=0.1556 right_pitch=-0.6773 right_roll=-0.0582 right_gripper=0.0326\nstate[joint_eff]: [-0.1573, -1.2786, 7.0085, 1.7509, -0.0806, 0.0024, -0.0122, -0.3624, -11.3573, 7.9658, 1.199, -0.0024, -0.3101, 1.5556]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d8df6ba9be3ebfc6115d18564f791c96d1bc9d7943b22ad8b50b5849e760d91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5f990ca2bcb35f8d5b36fb42703baca3a623db356ee301c07a9184a88685079",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0751dc66436fc027fd51faba2d64b47af6211e4955fdbab2f766abbe654f66d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 5.738 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, 0.8097, 0.6067, -0.5377, -0.0189, -0.0387, 0.999, 0.017, 1.8645, 1.3457, -0.6907, 0.0097, -0.1768, 0.9946]\nstate[eef_state]: left_x=0.2722 left_y=0.0018 left_z=0.1462 left_yaw=0.0031 left_pitch=-0.1609 left_roll=-0.0008 left_gripper=0.999 right_x=0.426 right_y=0.0091 right_z=0.0647 right_yaw=0.115 right_pitch=-0.6282 right_roll=-0.0849 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -1.2376, 7.0769, 1.663, -0.0708, -0.0659, -0.0073, -0.4308, -11.9453, 8.5675, 1.1209, 0.0122, -0.0073, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8104, 0.6067, -0.5415, -0.0189, -0.0387, 0.999, 0.0391, 2.0338, 1.3998, -0.6418, 0.0101, -0.1761, 0.9953]\nstate[eef_state]: left_x=0.2716 left_y=0.0018 left_z=0.1453 left_yaw=0.0031 left_pitch=-0.1655 left_roll=-0.0007 left_gripper=0.999 right_x=0.4421 right_y=0.0191 right_z=0.0155 right_yaw=0.1413 right_pitch=-0.6942 right_roll=-0.0766 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.2513, 6.9128, 1.5849, -0.0757, -0.0513, -0.0122, 0.1709, -11.3573, 9.306, 1.2576, 0.0366, 0.188, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8116, 0.6067, -0.5591, -0.0189, -0.0383, 0.999, 0.0467, 2.0518, 1.4223, -0.6312, -0.0036, -0.1665, 0.0326]\nstate[eef_state]: left_x=0.2687 left_y=0.0019 left_z=0.1419 left_yaw=0.0029 left_pitch=-0.1842 left_roll=-0.0 left_gripper=0.999 right_x=0.45 right_y=0.0253 right_z=0.0155 right_yaw=0.1556 right_pitch=-0.6773 right_roll=-0.0582 right_gripper=0.0326\nstate[joint_eff]: [-0.1573, -1.2786, 7.0085, 1.7509, -0.0806, 0.0024, -0.0122, -0.3624, -11.3573, 7.9658, 1.199, -0.0024, -0.3101, 1.5556]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d8df6ba9be3ebfc6115d18564f791c96d1bc9d7943b22ad8b50b5849e760d91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5f990ca2bcb35f8d5b36fb42703baca3a623db356ee301c07a9184a88685079",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0751dc66436fc027fd51faba2d64b47af6211e4955fdbab2f766abbe654f66d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CSLUFtH42Eg3R89RdPNQdC",
      "input": {
        "note": "Empty close again — each attempt nudges the lemon further to the arm's right. Opening, lifting a little and shifting ~3.5 cm right to get the lemon onto the jaw centreline.",
        "targets": {
          "right_gripper": 1.0,
          "right_y": -0.012,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CSLUFtH42Eg3R89RdPNQdC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5667, -0.0189, -0.0387, 0.999, -0.0483, 1.969, 1.409, -0.6987, -0.0422, -0.255, 0.9945]\nstate[eef_state]: left_x=0.2674 left_y=0.0019 left_z=0.1399 left_yaw=0.0032 left_pitch=-0.1945 left_roll=-0.0001 left_gripper=0.999 right_x=0.4375 right_y=-0.0101 right_z=0.0415 right_yaw=0.1637 right_pitch=-0.6719 right_roll=-0.0469 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -1.306, 6.8718, 1.6532, -0.0562, -0.0708, -0.0073, -0.4581, -13.2855, 8.7726, 1.0672, -0.0806, 0.0708, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acae4ebfa782551d2a801bf050286f65949d56b096016d3ccc0cd1bf60126b2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f8ed58f10d1f753f25f34bb1c75b793fd4346ab39be190321919d36f03e6c51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:862bdb1ff12375f4e6458b746d513f17719bdee5e0843d55a6e146553c43796c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 2.781 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, 0.8104, 0.6067, -0.5415, -0.0189, -0.0387, 0.999, 0.0391, 2.0338, 1.3998, -0.6418, 0.0101, -0.1761, 0.9953]\nstate[eef_state]: left_x=0.2716 left_y=0.0018 left_z=0.1453 left_yaw=0.0031 left_pitch=-0.1655 left_roll=-0.0007 left_gripper=0.999 right_x=0.4421 right_y=0.0191 right_z=0.0155 right_yaw=0.1413 right_pitch=-0.6942 right_roll=-0.0766 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.2513, 6.9128, 1.5849, -0.0757, -0.0513, -0.0122, 0.1709, -11.3573, 9.306, 1.2576, 0.0366, 0.188, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6067, -0.5591, -0.0189, -0.0383, 0.999, 0.0467, 2.0518, 1.4223, -0.6312, -0.0036, -0.1665, 0.0326]\nstate[eef_state]: left_x=0.2687 left_y=0.0019 left_z=0.1419 left_yaw=0.0029 left_pitch=-0.1842 left_roll=-0.0 left_gripper=0.999 right_x=0.45 right_y=0.0253 right_z=0.0155 right_yaw=0.1556 right_pitch=-0.6773 right_roll=-0.0582 right_gripper=0.0326\nstate[joint_eff]: [-0.1573, -1.2786, 7.0085, 1.7509, -0.0806, 0.0024, -0.0122, -0.3624, -11.3573, 7.9658, 1.199, -0.0024, -0.3101, 1.5556]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8143, 0.6067, -0.5667, -0.0189, -0.0387, 0.999, -0.0483, 1.969, 1.409, -0.6987, -0.0422, -0.255, 0.9945]\nstate[eef_state]: left_x=0.2674 left_y=0.0019 left_z=0.1399 left_yaw=0.0032 left_pitch=-0.1945 left_roll=-0.0001 left_gripper=0.999 right_x=0.4375 right_y=-0.0101 right_z=0.0415 right_yaw=0.1637 right_pitch=-0.6719 right_roll=-0.0469 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -1.306, 6.8718, 1.6532, -0.0562, -0.0708, -0.0073, -0.4581, -13.2855, 8.7726, 1.0672, -0.0806, 0.0708, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acae4ebfa782551d2a801bf050286f65949d56b096016d3ccc0cd1bf60126b2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f8ed58f10d1f753f25f34bb1c75b793fd4346ab39be190321919d36f03e6c51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862bdb1ff12375f4e6458b746d513f17719bdee5e0843d55a6e146553c43796c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzgMKjgEIEhgCKkA/gorhcZiGzCSrJ1YRLJB1jGwAB31YhWzwGHZ6ek1Lz1gtodWwhyzYYgtYDikKq1ppskkUCra6rC/CpNJdHeeWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfe2zNUGEgyY+nc+pPakVjLy93waDMDcDi9Ng+Y2LaolzCIwDbwhorkEyejq1aYu3Hz3tojAzcF9lgWFvoF4QL0GZLIpUE2NOJslJaICNUWjDslMKuwBocH07uS5lZIXxFfzlCrg6wrG3QDb5xoGq4mi9fLoz7yGgDbZkaVCb3eaIOusoKbquNbyX62BEfaXqUtlaDg1ws2gkXrC7gAxlz5pm+Xt57TniFFBohnScV9jmeuI1SHByPRyIf2134cILR3UVHqznwL3Sn0ao70skUmgk0Gq/4ryZW3YBcDUqVxrnysy0E19yvY/Knq7d+KsQtidU5aLCWWGtN2ANISWd0voDIv1ItcCE3nzQ6AUfXQBHoPVLrDqJt9meVwkwJB/X8LdoI+wm/zVWP2dhcRPaGXkrvgwqk0UZUEoxjDK9hdkciEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DokjWpB4sSwHH66GnhjfhD",
      "input": {
        "note": "Lemon is now centred on the jaw column but sits further out; advancing ~2.5 cm and descending to table level to straddle it.",
        "targets": {
          "right_x": 0.465,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DokjWpB4sSwHH66GnhjfhD",
      "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, -0.5751, -0.0189, -0.0387, 0.999, -0.0536, 2.0201, 1.3838, -0.6075, -0.0498, -0.2623, 0.9953]\nstate[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1384 left_yaw=0.0032 left_pitch=-0.2029 left_roll=0.0001 left_gripper=0.999 right_x=0.4465 right_y=-0.0116 right_z=0.0192 right_yaw=0.1688 right_pitch=-0.656 right_roll=-0.0449 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1829, 6.8581, 1.6532, -0.0611, -0.0415, -0.0122, 0.1299, -9.9487, 6.8581, 1.1697, -0.1392, 0.022, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8343e2118a2459d3aa658f326035e276d3b62bba173035416adffba0d23ebb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba399d528023cf913513dc65538e6f14e5b6ff66d3896d155b030293abcea0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd2f5210159e7a0623a6a6cabd83a1d35e783e415625b7a417a4927513567a39",
        "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 · 23.21 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, 0.8116, 0.6067, -0.5591, -0.0189, -0.0383, 0.999, 0.0467, 2.0518, 1.4223, -0.6312, -0.0036, -0.1665, 0.0326]\nstate[eef_state]: left_x=0.2687 left_y=0.0019 left_z=0.1419 left_yaw=0.0029 left_pitch=-0.1842 left_roll=-0.0 left_gripper=0.999 right_x=0.45 right_y=0.0253 right_z=0.0155 right_yaw=0.1556 right_pitch=-0.6773 right_roll=-0.0582 right_gripper=0.0326\nstate[joint_eff]: [-0.1573, -1.2786, 7.0085, 1.7509, -0.0806, 0.0024, -0.0122, -0.3624, -11.3573, 7.9658, 1.199, -0.0024, -0.3101, 1.5556]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8143, 0.6067, -0.5667, -0.0189, -0.0387, 0.999, -0.0483, 1.969, 1.409, -0.6987, -0.0422, -0.255, 0.9945]\nstate[eef_state]: left_x=0.2674 left_y=0.0019 left_z=0.1399 left_yaw=0.0032 left_pitch=-0.1945 left_roll=-0.0001 left_gripper=0.999 right_x=0.4375 right_y=-0.0101 right_z=0.0415 right_yaw=0.1637 right_pitch=-0.6719 right_roll=-0.0469 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -1.306, 6.8718, 1.6532, -0.0562, -0.0708, -0.0073, -0.4581, -13.2855, 8.7726, 1.0672, -0.0806, 0.0708, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8143, 0.6067, -0.5751, -0.0189, -0.0387, 0.999, -0.0536, 2.0201, 1.3838, -0.6075, -0.0498, -0.2623, 0.9953]\nstate[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1384 left_yaw=0.0032 left_pitch=-0.2029 left_roll=0.0001 left_gripper=0.999 right_x=0.4465 right_y=-0.0116 right_z=0.0192 right_yaw=0.1688 right_pitch=-0.656 right_roll=-0.0449 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1829, 6.8581, 1.6532, -0.0611, -0.0415, -0.0122, 0.1299, -9.9487, 6.8581, 1.1697, -0.1392, 0.022, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8343e2118a2459d3aa658f326035e276d3b62bba173035416adffba0d23ebb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba399d528023cf913513dc65538e6f14e5b6ff66d3896d155b030293abcea0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd2f5210159e7a0623a6a6cabd83a1d35e783e415625b7a417a4927513567a39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013bcbfYZqrJVggvrXEwCZTg",
      "input": {
        "note": "Lemon is centred between the jaws at table level; closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013bcbfYZqrJVggvrXEwCZTg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.585, -0.0189, -0.0387, 0.999, -0.046, 2.0499, 1.3834, -0.569, -0.0711, -0.2638, 0.0298]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1364 left_yaw=0.0033 left_pitch=-0.214 left_roll=0.0004 left_gripper=0.999 right_x=0.4526 right_y=-0.0047 right_z=0.0096 right_yaw=0.1979 right_pitch=-0.6432 right_roll=-0.0233 right_gripper=0.0298\nstate[joint_eff]: [-0.0205, -1.265, 6.8581, 1.5995, -0.0464, -0.022, -0.0122, -0.3624, -10.5915, 6.7897, 1.2186, -0.1343, -0.149, 1.2967]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fdad03156886acecacb5410c75aebd9c7b5fc5e0f17c5dfdd0685485ed0d1e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28bbbc7d2493ee2cd049b146d7ca66d1d7591ccd5c725c200711485cec7e1c23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5efebcc58d8e564a00b26319f2d50afb62ce7e864601aa1121042023e274f97b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 13.54 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, 0.8143, 0.6067, -0.5667, -0.0189, -0.0387, 0.999, -0.0483, 1.969, 1.409, -0.6987, -0.0422, -0.255, 0.9945]\nstate[eef_state]: left_x=0.2674 left_y=0.0019 left_z=0.1399 left_yaw=0.0032 left_pitch=-0.1945 left_roll=-0.0001 left_gripper=0.999 right_x=0.4375 right_y=-0.0101 right_z=0.0415 right_yaw=0.1637 right_pitch=-0.6719 right_roll=-0.0469 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -1.306, 6.8718, 1.6532, -0.0562, -0.0708, -0.0073, -0.4581, -13.2855, 8.7726, 1.0672, -0.0806, 0.0708, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8143, 0.6067, -0.5751, -0.0189, -0.0387, 0.999, -0.0536, 2.0201, 1.3838, -0.6075, -0.0498, -0.2623, 0.9953]\nstate[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1384 left_yaw=0.0032 left_pitch=-0.2029 left_roll=0.0001 left_gripper=0.999 right_x=0.4465 right_y=-0.0116 right_z=0.0192 right_yaw=0.1688 right_pitch=-0.656 right_roll=-0.0449 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1829, 6.8581, 1.6532, -0.0611, -0.0415, -0.0122, 0.1299, -9.9487, 6.8581, 1.1697, -0.1392, 0.022, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8154, 0.6067, -0.585, -0.0189, -0.0387, 0.999, -0.046, 2.0499, 1.3834, -0.569, -0.0711, -0.2638, 0.0298]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1364 left_yaw=0.0033 left_pitch=-0.214 left_roll=0.0004 left_gripper=0.999 right_x=0.4526 right_y=-0.0047 right_z=0.0096 right_yaw=0.1979 right_pitch=-0.6432 right_roll=-0.0233 right_gripper=0.0298\nstate[joint_eff]: [-0.0205, -1.265, 6.8581, 1.5995, -0.0464, -0.022, -0.0122, -0.3624, -10.5915, 6.7897, 1.2186, -0.1343, -0.149, 1.2967]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fdad03156886acecacb5410c75aebd9c7b5fc5e0f17c5dfdd0685485ed0d1e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28bbbc7d2493ee2cd049b146d7ca66d1d7591ccd5c725c200711485cec7e1c23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5efebcc58d8e564a00b26319f2d50afb62ce7e864601aa1121042023e274f97b",
        "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_01SVqw9F5TjPiafiwWQe4KFo",
      "input": {
        "note": "Fourth empty close; with the jaws shut the lemon still shows to the right of them, so I open, shift 2 cm further right and pull back 2 cm to sit around the lemon rather than past it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.435,
          "right_y": -0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SVqw9F5TjPiafiwWQe4KFo",
      "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, 0.8162, 0.6067, -0.5869, -0.0189, -0.0383, 0.999, -0.1055, 1.9877, 1.2625, -0.4641, -0.1028, -0.3058, 0.9946]\nstate[eef_state]: left_x=0.264 left_y=0.0019 left_z=0.1359 left_yaw=0.0031 left_pitch=-0.2166 left_roll=0.0007 left_gripper=0.999 right_x=0.4413 right_y=-0.0249 right_z=0.0078 right_yaw=0.1895 right_pitch=-0.5912 right_roll=-0.0218 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -1.1145, 6.8444, 1.5116, -0.0317, -0.0366, -0.0122, -0.4034, -11.535, 4.9299, 0.8913, -0.1099, -0.1245, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fe8513ba1ce4657b411f1f651343aa39a7a2cdcad743ddac611fe0e8cb70d7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e60bd5ac70df3335f3d7d99c71cc5ab380e761e666c10d8044ef09c07dab8881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08489712dad290c191205bd5b278e1fb9af574b7f22ac63c9c4565609a1a2792",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.21 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, 0.8143, 0.6067, -0.5751, -0.0189, -0.0387, 0.999, -0.0536, 2.0201, 1.3838, -0.6075, -0.0498, -0.2623, 0.9953]\nstate[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1384 left_yaw=0.0032 left_pitch=-0.2029 left_roll=0.0001 left_gripper=0.999 right_x=0.4465 right_y=-0.0116 right_z=0.0192 right_yaw=0.1688 right_pitch=-0.656 right_roll=-0.0449 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1829, 6.8581, 1.6532, -0.0611, -0.0415, -0.0122, 0.1299, -9.9487, 6.8581, 1.1697, -0.1392, 0.022, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6067, -0.585, -0.0189, -0.0387, 0.999, -0.046, 2.0499, 1.3834, -0.569, -0.0711, -0.2638, 0.0298]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1364 left_yaw=0.0033 left_pitch=-0.214 left_roll=0.0004 left_gripper=0.999 right_x=0.4526 right_y=-0.0047 right_z=0.0096 right_yaw=0.1979 right_pitch=-0.6432 right_roll=-0.0233 right_gripper=0.0298\nstate[joint_eff]: [-0.0205, -1.265, 6.8581, 1.5995, -0.0464, -0.022, -0.0122, -0.3624, -10.5915, 6.7897, 1.2186, -0.1343, -0.149, 1.2967]",
      "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, 0.8162, 0.6067, -0.5869, -0.0189, -0.0383, 0.999, -0.1055, 1.9877, 1.2625, -0.4641, -0.1028, -0.3058, 0.9946]\nstate[eef_state]: left_x=0.264 left_y=0.0019 left_z=0.1359 left_yaw=0.0031 left_pitch=-0.2166 left_roll=0.0007 left_gripper=0.999 right_x=0.4413 right_y=-0.0249 right_z=0.0078 right_yaw=0.1895 right_pitch=-0.5912 right_roll=-0.0218 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -1.1145, 6.8444, 1.5116, -0.0317, -0.0366, -0.0122, -0.4034, -11.535, 4.9299, 0.8913, -0.1099, -0.1245, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fe8513ba1ce4657b411f1f651343aa39a7a2cdcad743ddac611fe0e8cb70d7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e60bd5ac70df3335f3d7d99c71cc5ab380e761e666c10d8044ef09c07dab8881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08489712dad290c191205bd5b278e1fb9af574b7f22ac63c9c4565609a1a2792",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017k5xJ44CMWAwPe1id1NuL6",
      "input": {
        "note": "The wrist has drifted to a strongly tilted pitch, putting the fingertips short of the lemon. Commanding pitch back to 0 (tool vertical) at 6 cm height over the lemon for a clean top-down grasp.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.45,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_017k5xJ44CMWAwPe1id1NuL6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5953, -0.0189, -0.0387, 0.999, -0.1738, 1.7836, 0.7643, 0.3016, -0.2764, -0.2573, 0.9953]\nstate[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.1338 left_yaw=0.0034 left_pitch=-0.2277 left_roll=0.0007 left_gripper=0.999 right_x=0.4385 right_y=-0.0244 right_z=0.0351 right_yaw=0.1893 right_pitch=-0.0998 right_roll=-0.0087 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -0.9915, 6.8718, 1.5849, -0.022, -0.0171, -0.0073, -0.5812, -10.0991, 5.6547, 1.9951, -0.2955, 0.1197, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7ce5a09b02c2912415f6663aeaeaffaa0381eb48a69d6ea6aee4221c2bdd0b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8ee38e45af21a1102636761f4fdde18bf4c8105f45986d1a16edd89cf621737",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b2c57d68613d7b2db922407825ac3b023b6e249dafe0b0eb2e5478f4c3934e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 3.357 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, 0.8154, 0.6067, -0.585, -0.0189, -0.0387, 0.999, -0.046, 2.0499, 1.3834, -0.569, -0.0711, -0.2638, 0.0298]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1364 left_yaw=0.0033 left_pitch=-0.214 left_roll=0.0004 left_gripper=0.999 right_x=0.4526 right_y=-0.0047 right_z=0.0096 right_yaw=0.1979 right_pitch=-0.6432 right_roll=-0.0233 right_gripper=0.0298\nstate[joint_eff]: [-0.0205, -1.265, 6.8581, 1.5995, -0.0464, -0.022, -0.0122, -0.3624, -10.5915, 6.7897, 1.2186, -0.1343, -0.149, 1.2967]",
      "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, 0.8162, 0.6067, -0.5869, -0.0189, -0.0383, 0.999, -0.1055, 1.9877, 1.2625, -0.4641, -0.1028, -0.3058, 0.9946]\nstate[eef_state]: left_x=0.264 left_y=0.0019 left_z=0.1359 left_yaw=0.0031 left_pitch=-0.2166 left_roll=0.0007 left_gripper=0.999 right_x=0.4413 right_y=-0.0249 right_z=0.0078 right_yaw=0.1895 right_pitch=-0.5912 right_roll=-0.0218 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -1.1145, 6.8444, 1.5116, -0.0317, -0.0366, -0.0122, -0.4034, -11.535, 4.9299, 0.8913, -0.1099, -0.1245, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5953, -0.0189, -0.0387, 0.999, -0.1738, 1.7836, 0.7643, 0.3016, -0.2764, -0.2573, 0.9953]\nstate[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.1338 left_yaw=0.0034 left_pitch=-0.2277 left_roll=0.0007 left_gripper=0.999 right_x=0.4385 right_y=-0.0244 right_z=0.0351 right_yaw=0.1893 right_pitch=-0.0998 right_roll=-0.0087 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -0.9915, 6.8718, 1.5849, -0.022, -0.0171, -0.0073, -0.5812, -10.0991, 5.6547, 1.9951, -0.2955, 0.1197, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7ce5a09b02c2912415f6663aeaeaffaa0381eb48a69d6ea6aee4221c2bdd0b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8ee38e45af21a1102636761f4fdde18bf4c8105f45986d1a16edd89cf621737",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b2c57d68613d7b2db922407825ac3b023b6e249dafe0b0eb2e5478f4c3934e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQQKjgEIEhgCKkCPVt/PCcPsgKzvwFT0exqcG/6BHE4Npqx2iXi7iD1z/epT7XMlu6fKJH1HgXGFSJ4wwKzgTPX+f8/4Q9xijSKlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAai3zNUGEgykPidrKC8W5itHFrAaDNQaedYKlblixmFo3CIwnVv7bvbHbXxG1qj6Vg/qHBoOJp2yMmBShI0bQZ8gT7J6Prf9cly5e8+IBZ74ymI3KscCjVVkUanH4ykzUTHGCSm2wbCFc6GJG1YaI68TdvgNELjhCopLu33zbZDQ0qEG3N/oVsIr/t1YEnmQIBHH4ig6JbceZdRajGFGn2+EDx4PwXEn+FD+6QPWunm9gMu+7VkaHrsrHHI3kXQrqo6nGfqkP9e7CyM6rDeOpI2k8vMi6TbJG5d15Xr41x4bAH0i6e/sSgNZrOMuPubMm6p7XH64Frj0oRDXweo8ibzdH8yv5EtZmBj5aY7JUwzpAAjmcXNKRkHuQVvu02rifS/OjSHvqUQ+40VXpwzaN1axtq6tKgNQi2hUO1QNDtdAUAiY7Qnq2ip4Qlg7uDjAtXuyUtRQlAvwLBxur0Lm1lLoPkonsezt7mRb6UgEHTJ7v9wT58ldm3jw7uZ0SX8TV3OP1mta+VAnk5ofLI3bUvLAxhgUdpLqgAJ5HMEdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LeRTezDEHPwpJnjtq6vdiu",
      "input": {
        "note": "With the tool vertical the lemon sits just ahead on the jaw column; advancing forward and down to put the jaws around it.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.48,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LeRTezDEHPwpJnjtq6vdiu",
      "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, 0.8204, 0.6067, -0.6079, -0.0189, -0.0387, 0.999, -0.168, 1.9427, 0.8204, 0.4576, -0.3008, -0.2337, 0.9954]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1313 left_yaw=0.0034 left_pitch=-0.2418 left_roll=0.001 left_gripper=0.999 right_x=0.4671 right_y=-0.0225 right_z=0.0161 right_yaw=0.2004 right_pitch=-0.0448 right_roll=0.0056 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.3197, 6.8171, 1.5556, -0.0464, -0.0269, -0.0122, 0.4171, -7.9521, 6.2564, 1.8242, -0.0415, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23e6b3228b65c38f8f7eede6a568d7fce9d7eb602ea4f1a52132bd03c51b1566",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a451542d714d720822942bebfc6f3a6d183d8ba9d154e78f4964686b14414d83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69a65368dc1c10014cd670298ca348b73a70b5bce2c06dad0fa4c6cb15cedba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 15.4 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, 0.8162, 0.6067, -0.5869, -0.0189, -0.0383, 0.999, -0.1055, 1.9877, 1.2625, -0.4641, -0.1028, -0.3058, 0.9946]\nstate[eef_state]: left_x=0.264 left_y=0.0019 left_z=0.1359 left_yaw=0.0031 left_pitch=-0.2166 left_roll=0.0007 left_gripper=0.999 right_x=0.4413 right_y=-0.0249 right_z=0.0078 right_yaw=0.1895 right_pitch=-0.5912 right_roll=-0.0218 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -1.1145, 6.8444, 1.5116, -0.0317, -0.0366, -0.0122, -0.4034, -11.535, 4.9299, 0.8913, -0.1099, -0.1245, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5953, -0.0189, -0.0387, 0.999, -0.1738, 1.7836, 0.7643, 0.3016, -0.2764, -0.2573, 0.9953]\nstate[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.1338 left_yaw=0.0034 left_pitch=-0.2277 left_roll=0.0007 left_gripper=0.999 right_x=0.4385 right_y=-0.0244 right_z=0.0351 right_yaw=0.1893 right_pitch=-0.0998 right_roll=-0.0087 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -0.9915, 6.8718, 1.5849, -0.022, -0.0171, -0.0073, -0.5812, -10.0991, 5.6547, 1.9951, -0.2955, 0.1197, 0.0562]",
      "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, 0.8204, 0.6067, -0.6079, -0.0189, -0.0387, 0.999, -0.168, 1.9427, 0.8204, 0.4576, -0.3008, -0.2337, 0.9954]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1313 left_yaw=0.0034 left_pitch=-0.2418 left_roll=0.001 left_gripper=0.999 right_x=0.4671 right_y=-0.0225 right_z=0.0161 right_yaw=0.2004 right_pitch=-0.0448 right_roll=0.0056 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.3197, 6.8171, 1.5556, -0.0464, -0.0269, -0.0122, 0.4171, -7.9521, 6.2564, 1.8242, -0.0415, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23e6b3228b65c38f8f7eede6a568d7fce9d7eb602ea4f1a52132bd03c51b1566",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a451542d714d720822942bebfc6f3a6d183d8ba9d154e78f4964686b14414d83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69a65368dc1c10014cd670298ca348b73a70b5bce2c06dad0fa4c6cb15cedba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AIKjgEIEhgCKkBfoDSx1ver2My4+ZLbhQgUWCpSyBCMfetLTEO4btAZoHfprJUd9MFciBdH0VCMyZrEjGZAQC4oyTaDm+s4o/4nMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAay3zNUGEgw5BT81FxWXfsZFdEEaDMVLYYPV5T37R0x0dyIwQxKcLb1COttgh6FjJLGWIsXX8XxdnNv2Ui9458PGeEXcOxNear8WgfRveL+rqqe0KoYBNneMBtBe3thYjde8MnSGoP9hCXX0a+/ybmxuFGCXq6I4cpa4oKc6gh8gBy/rrJIHuN6rmwL13ZnwDYM5+t3QHsWRU/YWh75R55JuPkWXFncE34xjgH8ZVgdYhJI806KYpKH55oR8sfF3CiVnq04lAsF4yoO2wKy/dJC6dXLuehbNoiPGSdgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ty7yKm14DBdLZmh9j4ERFR",
      "input": {
        "note": "Lemon is now large and centred between the vertical jaws; closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ty7yKm14DBdLZmh9j4ERFR",
      "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, -0.6121, -0.0189, -0.0383, 0.999, -0.1658, 1.9671, 0.8253, 0.458, -0.3195, -0.2317, 0.5075]\nstate[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1305 left_yaw=0.0032 left_pitch=-0.2464 left_roll=0.0014 left_gripper=0.999 right_x=0.4662 right_y=-0.0181 right_z=0.0076 right_yaw=0.2171 right_pitch=-0.0583 right_roll=0.025 right_gripper=0.5075\nstate[joint_eff]: [-0.0615, -1.2513, 6.8308, 1.4969, -0.0757, -0.0513, -0.0122, -0.3487, -11.1795, 4.5197, 1.6337, 0.0122, -0.0952, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f2ba189f65ad4e26746fc26eefe209ce23a597fa3022d3ef6f2a73d346979f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fa066ae91096f82406da7db234d0d08f3d93328cee782c4185e11edddfe6433",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a440b5e7e41c84afa5692747467e1c7d4e0f6faf13b7569c3aa362321df72b2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 9.519 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5953, -0.0189, -0.0387, 0.999, -0.1738, 1.7836, 0.7643, 0.3016, -0.2764, -0.2573, 0.9953]\nstate[eef_state]: left_x=0.2625 left_y=0.002 left_z=0.1338 left_yaw=0.0034 left_pitch=-0.2277 left_roll=0.0007 left_gripper=0.999 right_x=0.4385 right_y=-0.0244 right_z=0.0351 right_yaw=0.1893 right_pitch=-0.0998 right_roll=-0.0087 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -0.9915, 6.8718, 1.5849, -0.022, -0.0171, -0.0073, -0.5812, -10.0991, 5.6547, 1.9951, -0.2955, 0.1197, 0.0562]",
      "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, 0.8204, 0.6067, -0.6079, -0.0189, -0.0387, 0.999, -0.168, 1.9427, 0.8204, 0.4576, -0.3008, -0.2337, 0.9954]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1313 left_yaw=0.0034 left_pitch=-0.2418 left_roll=0.001 left_gripper=0.999 right_x=0.4671 right_y=-0.0225 right_z=0.0161 right_yaw=0.2004 right_pitch=-0.0448 right_roll=0.0056 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.3197, 6.8171, 1.5556, -0.0464, -0.0269, -0.0122, 0.4171, -7.9521, 6.2564, 1.8242, -0.0415, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6121, -0.0189, -0.0383, 0.999, -0.1658, 1.9671, 0.8253, 0.458, -0.3195, -0.2317, 0.5075]\nstate[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1305 left_yaw=0.0032 left_pitch=-0.2464 left_roll=0.0014 left_gripper=0.999 right_x=0.4662 right_y=-0.0181 right_z=0.0076 right_yaw=0.2171 right_pitch=-0.0583 right_roll=0.025 right_gripper=0.5075\nstate[joint_eff]: [-0.0615, -1.2513, 6.8308, 1.4969, -0.0757, -0.0513, -0.0122, -0.3487, -11.1795, 4.5197, 1.6337, 0.0122, -0.0952, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f2ba189f65ad4e26746fc26eefe209ce23a597fa3022d3ef6f2a73d346979f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fa066ae91096f82406da7db234d0d08f3d93328cee782c4185e11edddfe6433",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a440b5e7e41c84afa5692747467e1c7d4e0f6faf13b7569c3aa362321df72b2e",
        "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/gcKjgEIEhgCKkCRgxePBgfHM6jDgaRdgCBKN/BvZKiT62XMPwk6ALDNddJZUx+EU5R6ZL5raHvT3vb8dAeIO9uAR1zHD65Fb1m7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAby3zNUGEgwf7GUVEoaWm8Q0vecaDAPPf5ATcPfQOHic3iIw6HCqQCtNZ4Ee7OKvHA/pvMenUicG2kFzLrYeYv0wLs7FgV6N1zm4txDvtapPaSSyKpwGUANbjjiaaz/bgkKnbuljEX283YmMuDnEJEWIlKCQPvR2fJPF4Al2b/0VPsSHUWA6mFoLGyjPRg4JLUIe7peHZiqJV6XUTqQ3x6s/glu5bHEpeYOhPBZAFrtZPG+1PBloLbqC2OZAz8h3VbBC2Gu5gMjjdyveiLb3pEpZMx/DKGoJrieNrXFLxoiEW7KFpXHmaw4xETAGU1k3o2xW28Sofkm644yBbPlEY9K2Rf9xxZtv1LRWPkPiz11ZI622uHTqBjBeQ45hIKEwIOIi0rzjs5dXyYUJA7ULy9DEPouUGOEyzXbVKRjwhL+sJ2Mku29CeFEoeafSdFDVeF812n2PApbWnvWH3yrRT6jwHvsw5cnHTxFpLKBATbwOJWvXq+XAgaJWfJvMIzyu7RYcJ/MLpgwg/YqgoJmXzkyYkOxkpXkmtMXnNh1LWeEnynjHW+C0SAqjAXRKWNIm4AKgf6nlmqXBsbXE54RTyiDSIFqGx4670j/Tc1lOLLGsSwIHsYzAacqeqGTDBD9Y/S1LR0JKn5HCpmevEj7/kXsFPs8rWJUsQLZyjaE9LuQwoG3Kby5GE23HmxIJR/FeGdryLFcnNy9zFZrQrpdWtSXJ+iQGVqyjSUAdHCS7/NTD7O/+h3BzYN4VTSGXuyVDG8uskMnOaJTMY+RZ3RFJ/CvpaeaRVGrR4ub5jTjMNaM7BqVFmO4AQYUKzA0W49zuMNbBzQfFcU63p7y0nRaFkn0jOrNDB4Pysoq4m2O5DAu5BAfmOXfSb71l2PI4+GDX5h/PQt3p3MBJKiaCKU2iTYEa0EIEPCzEaWpkUFuZD+NCOcOeUx3sQHIyQhFbQ0BI2MvqneVsD0HiOGsJbOTFIe5lvBrBL9JjtBNtYhdq4GtEqtHWV4+91Sa2HbgtDzsBYFU3E4iyOW5VnT4St8cmzCf0R3PRm+Yb/M68x4I8rMXm78zA4js1hEh1j8hCZhKgSV8fBEV7WiDJIaTlPHnF2f7rrvZAyvgF5LRCcvbOJzucIMmw+SavpVrFzbXYKopdNWMMHyiVxOCYb2aj8dEYIkxmARgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A67n6jGF28v856XbMCeDtG",
      "input": {
        "note": "Grasp succeeded (gripper settled at 0.51 ≈ 4.8 cm lemon). Lifting and moving ~10 cm to the arm's left to hover over the open safe's red interior.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.082,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01A67n6jGF28v856XbMCeDtG",
      "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, 0.823, 0.6067, -0.6151, -0.0189, -0.0387, 0.999, 0.1356, 1.5612, 1.2015, -0.3519, -0.0967, -0.0723, 0.5091]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1294 left_yaw=0.0035 left_pitch=-0.2517 left_roll=0.0012 left_gripper=0.999 right_x=0.4473 right_y=0.0819 right_z=0.1855 right_yaw=0.2469 right_pitch=-0.1225 right_roll=0.0175 right_gripper=0.5091\nstate[joint_eff]: [-0.0752, -1.388, 6.7897, 1.5018, -0.0659, -0.0757, -0.0122, 0.1846, -9.7299, 9.306, 1.7802, 0.0317, 0.2906, 0.1538]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2cecba7865b7e0a17d0ce570c95df379fc250eb721aff3bba050446670b6395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f4a93f72b59cf93e7364389b45556ec97bb08781d02c074bb5944b3fb62630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb5429be35634fa83ff9534e068945e24896e4aed39297ad5fa151543c3ce6f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 9.331 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, 0.8204, 0.6067, -0.6079, -0.0189, -0.0387, 0.999, -0.168, 1.9427, 0.8204, 0.4576, -0.3008, -0.2337, 0.9954]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1313 left_yaw=0.0034 left_pitch=-0.2418 left_roll=0.001 left_gripper=0.999 right_x=0.4671 right_y=-0.0225 right_z=0.0161 right_yaw=0.2004 right_pitch=-0.0448 right_roll=0.0056 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.3197, 6.8171, 1.5556, -0.0464, -0.0269, -0.0122, 0.4171, -7.9521, 6.2564, 1.8242, -0.0415, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6121, -0.0189, -0.0383, 0.999, -0.1658, 1.9671, 0.8253, 0.458, -0.3195, -0.2317, 0.5075]\nstate[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1305 left_yaw=0.0032 left_pitch=-0.2464 left_roll=0.0014 left_gripper=0.999 right_x=0.4662 right_y=-0.0181 right_z=0.0076 right_yaw=0.2171 right_pitch=-0.0583 right_roll=0.025 right_gripper=0.5075\nstate[joint_eff]: [-0.0615, -1.2513, 6.8308, 1.4969, -0.0757, -0.0513, -0.0122, -0.3487, -11.1795, 4.5197, 1.6337, 0.0122, -0.0952, 1.0232]",
      "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, 0.823, 0.6067, -0.6151, -0.0189, -0.0387, 0.999, 0.1356, 1.5612, 1.2015, -0.3519, -0.0967, -0.0723, 0.5091]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1294 left_yaw=0.0035 left_pitch=-0.2517 left_roll=0.0012 left_gripper=0.999 right_x=0.4473 right_y=0.0819 right_z=0.1855 right_yaw=0.2469 right_pitch=-0.1225 right_roll=0.0175 right_gripper=0.5091\nstate[joint_eff]: [-0.0752, -1.388, 6.7897, 1.5018, -0.0659, -0.0757, -0.0122, 0.1846, -9.7299, 9.306, 1.7802, 0.0317, 0.2906, 0.1538]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2cecba7865b7e0a17d0ce570c95df379fc250eb721aff3bba050446670b6395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f4a93f72b59cf93e7364389b45556ec97bb08781d02c074bb5944b3fb62630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb5429be35634fa83ff9534e068945e24896e4aed39297ad5fa151543c3ce6f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAoKjgEIEhgCKkC2h1Gx5Z9wnk+9SDzhwu/sYlYnhqmsm18Ol8BFAYYCeU3ic5nUU6Wd2x3doNnVGdDfTzTaAO6qk4DuFKDcO19tMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAce3zNUGEgw5iHyUqE31FSiv080aDJ2sZ2cnX23pBsN07iIwX4aRtjobM5ii7NQR6BSTQMlO+F9sAy1OvTS33tm2orSHi7n/RvY42YgV7q9mgKeSKsYIURkk/jkqU2aAfaUxuXSTWH28Rs6+mVlJqhlTWC0kXabcOQD/qHNFxudD5YQYXJUhuXaJEIpO3ATWVlWLGErF9bQ8OHQgbBGmT7Zh7zbh8JTragx08eswPo9ZYKKhMcb9cU+8YYqC0rcUUQxbSdY5wGWNP1bmx1VBYQ/AHBnO4W1z6Q5zg5ronzZpec+n6A2zedhbV1mOE4iioxQ1KfVuRFkNfoLV/TNLOsRK7QSRAaKeuam8NtL7lGTcW9iGhU31qyAKeiiYrqWfpeI918njMxMZ7cx7FDglPXr6daFNr3ocG6ojVh58z6P8iMwOzGMOWSLFF24Odp+KgPwn3d5xQlcaidzqe4tvzU9Pk7q0MxrSfd2waZfoBYXg3P4Tvkr313rsVgupqcpsAyaY9YcesBT0z7yn7wj+pw5gfIYwl8cyrNGdFZJfBE8y15w2zxoxkX8OJ2T6JY0dLHyapiPBl84cA4EeUVncttQ6KkgyqqsfN7LgX3xt+UQ5PHG1p5kbEu7KsPDK+zWgCZq5Alcg345/sqbhR2XGzwKaVD5FM9pR+/NKezaj7gSgHYtJ9l46LQbsJG7Wt+S1IA+Fn6GKgflBMahxhFwgkOisoGhPu9iO1GOEonKLxI9AtElzZFk67EfdujoRrQqkgWKaUfT79dDOgkkEhkMyH9xXCzwZ+mq1dL8IYTm+s9sF2nQpkKJbIYN4OFk4Xj1epcPRGabiRnEL6I3AO0+qyuhFXKPAM+rCCdjUF8+rguPeJujRaH7ra021AcZh1+2AIZdZPJzARFebM0VDIEkZXdysR7zSHvYLR4eOSUn1V6Olfyf37hg/xAqpBjn/c+xKe7xDyalSsWBCTzR5utrZFRnmE00GcRLROaCf0GDhrZvRC71SZZEX4pmfFIB5D6oQmzYQaB6SMcH2TkHxFHnNnH00Obqp3ie3egOHq/ftBWy2CTKNmz+Iptwx7xHyRK4uLxldegcDiDquTnM4o6vd+Ns5agW1EAbrgb4Qkm6U4d1oD/9NFQCzgMabVs/huNTKpQwSekv7smxqxKHm+QsRFlkpeIhStCGXXn641OeLmAjbdciPlDLpeCfaI6qXcZO2lvFgIUkx4epVFS3R2WxkE9fJChIgi8RMFiMtU693MQN2bhtfU6KOzU95Sgq6OqBqRYZ78H49705MX3p1sao0qRnHZtrXowt7OBU0nUxxI+F6pXQLxweVHblCDQUQv1CovrH+kVOD/qm2lNi06mFNot1D0LEUM6f0bWtSEpo47jtUsR1uN2jIRgWBQbR7BtBb09ympP0cTGlJA+gF4mYxL1nSa7SZXhu1lB/V4DYLpKVCGramTX76+6qUwVYSjPGPZ8MH82VbB/LmqkBGQ2EAEX2qDT3TBZMttLa/hZwLo9wX9W10j/VI3vWTFL3SmvkxorAO09O7YBXcPNf1FiWASXL0ve9pC2S3n/ySmocYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011T5EkCvjCoFi2x44NWke1A",
      "input": {
        "note": "Carrying the lemon; the safe's red interior appears just left of the jaw column, so shifting 3 cm further left and lowering toward the opening.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.112,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011T5EkCvjCoFi2x44NWke1A",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.6304, -0.0189, -0.0387, 0.999, 0.215, 1.5635, 1.1229, -0.3111, -0.0471, -0.0338, 0.5093]\nstate[eef_state]: left_x=0.2562 left_y=0.0021 left_z=0.1265 left_yaw=0.0036 left_pitch=-0.2689 left_roll=0.0016 left_gripper=0.999 right_x=0.4327 right_y=0.1066 right_z=0.1576 right_yaw=0.2635 right_pitch=-0.1656 right_roll=0.0164 right_gripper=0.5093\nstate[joint_eff]: [0.0889, -1.306, 6.7897, 1.5653, -0.0562, -0.0317, -0.0122, 0.1026, -7.5282, 7.8154, 2.2882, 0.0269, 0.0659, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d2da42c6fc38100e36100f9c0e0d8bf1378cf0148dd0b56ac1600f2afa6cfbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:090a329cc3bf9e472992d1ceed86c87aabe91a346c1669e7bfb91ca57ad3f927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61444c61db819c8df007ade57e47de69deb2afa7d7c82895982ae5807d1f21e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 11.5 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, 0.8207, 0.6067, -0.6121, -0.0189, -0.0383, 0.999, -0.1658, 1.9671, 0.8253, 0.458, -0.3195, -0.2317, 0.5075]\nstate[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1305 left_yaw=0.0032 left_pitch=-0.2464 left_roll=0.0014 left_gripper=0.999 right_x=0.4662 right_y=-0.0181 right_z=0.0076 right_yaw=0.2171 right_pitch=-0.0583 right_roll=0.025 right_gripper=0.5075\nstate[joint_eff]: [-0.0615, -1.2513, 6.8308, 1.4969, -0.0757, -0.0513, -0.0122, -0.3487, -11.1795, 4.5197, 1.6337, 0.0122, -0.0952, 1.0232]",
      "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, 0.823, 0.6067, -0.6151, -0.0189, -0.0387, 0.999, 0.1356, 1.5612, 1.2015, -0.3519, -0.0967, -0.0723, 0.5091]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1294 left_yaw=0.0035 left_pitch=-0.2517 left_roll=0.0012 left_gripper=0.999 right_x=0.4473 right_y=0.0819 right_z=0.1855 right_yaw=0.2469 right_pitch=-0.1225 right_roll=0.0175 right_gripper=0.5091\nstate[joint_eff]: [-0.0752, -1.388, 6.7897, 1.5018, -0.0659, -0.0757, -0.0122, 0.1846, -9.7299, 9.306, 1.7802, 0.0317, 0.2906, 0.1538]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8249, 0.6067, -0.6304, -0.0189, -0.0387, 0.999, 0.215, 1.5635, 1.1229, -0.3111, -0.0471, -0.0338, 0.5093]\nstate[eef_state]: left_x=0.2562 left_y=0.0021 left_z=0.1265 left_yaw=0.0036 left_pitch=-0.2689 left_roll=0.0016 left_gripper=0.999 right_x=0.4327 right_y=0.1066 right_z=0.1576 right_yaw=0.2635 right_pitch=-0.1656 right_roll=0.0164 right_gripper=0.5093\nstate[joint_eff]: [0.0889, -1.306, 6.7897, 1.5653, -0.0562, -0.0317, -0.0122, 0.1026, -7.5282, 7.8154, 2.2882, 0.0269, 0.0659, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d2da42c6fc38100e36100f9c0e0d8bf1378cf0148dd0b56ac1600f2afa6cfbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:090a329cc3bf9e472992d1ceed86c87aabe91a346c1669e7bfb91ca57ad3f927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61444c61db819c8df007ade57e47de69deb2afa7d7c82895982ae5807d1f21e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AkKjgEIEhgCKkAIZvLGmpLDp0X/y+cAGopfqUfgwny/hUIM2qv8yN1EWXBzdqvohX+6TJX2KHUw0+B2Qsrjn2/adWkQlMd6ynzWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdC3zNUGEgyc1tf5YoKZA2yOb2QaDPnVx7s3mPyOtrUttSIwJUHJb/4KHEChdQC1rZPzdNEM3pZxzM9BqmAkvJCMSf6BY2joJOs1cHUvDeDQXSWgKu4H2H+kOczf/laMPfcg3a5O53et1b6yU6eo0JoJMQX+18DZCnU3HtbRKazhUmg4qWy9m0usy0RBk6ARxjRMW8FT3xyzi/rZFon5cQny0z4Tg5F67c1jwo64dnWUQAxN2agWc6o1TpWAuIuPXZFBYJuUvQO5rXT+nxR8cuEdH7l7A+6exK49pl4fgXML3LP9tLNn6AGzTzCt8Y6If9COTMK5vp1P53XbjBePSWGsExbsqUUHZF/j+8W3OhZy+txDq0e7ZIclRb3kDTM+i2Q4oQKQS2Cq9r36wqGyD5v22YuFqioaBSkkMlI50wJQByw6CANHHUqlJBPr6ZXzHb3k4+7GncwUsBAmD2qixetJhqZRNwgVKvCtMhQcNT8MFTlL9aXyyxE0D/L/kQ/jBeB535Pe3QGPEqtbDyUT6JtLkwoBae65Gy4i7zxhcoRFwL3qv8JOGhANtNXpw2yEwTfG995Rb/aFYukMNYoTVd8/uXOXlRxo7ilZitn3sKNS8QMtS4I88q1Wg+N7feK2BM+4qNpWe5YBSycXQeKANIrWvJcWJYBLLauEEazwMG6Gh8Z+Q4h9No3BhvqSDJvr80tPoyfsz7T2fm3GuyrQA5jidNV3tqduGsEr5oTtph6MpYd3SxPWOvq6f5bBFCF5UXWWdwtSpXh3SPauvkH2nni8dun+8w85csa9x4JveZFLu1zDCIF0dRaJoxgRt9VDXeRu8gARQ9aisJQ6A/i6uFHvktBAIOBOAi6QOIBhqSblIkq8iF/qJKFpMwzW4HEk6oNQos8NMngJmZbDnlu9hjIW7/Y1ivuzhL+OLh0yKdudc9RVME9TcmffryM2ogSm0mks0G8FcQix9PtKUYgjclrfBeqEizF1+ExsN8jqEpT/0O8Up6KYp685COhZppxzFtJ45aVumwXSjto46c1DfBdrF5pd57QfFz9uU/zwxvgeaC/2shDPJ5+okUr9RXkT1NmTOAbkHRpmKrfQ3nDzrRC3viaVU0Pk1C/8j4Ae2LcdmPvzdL9JOtTELOGjHFAf9pwvjp6d0laZ/+4XKHbYKHkzT9fGvyLNJRnYg4JE/94uE993D2EhRKAX9hapVlghsu3UeNaiHOb9HaEeIQJ2/6bqsZToz+9IW0mY7b+fzZeyPrCjvpVOaH92rM3lJDyh86VUEMMvvEAOcuHN6GnYJZfyPxBxIuj/wHGgVGvuico9D0VZRS/82UTqsLGA7ElRk06QI/MqOcRH802mNHvPhaNOqpRhwx5rdyrZs5+V1NpVQgvS4tmUC1cKZfmt9d8DyrEtLwEFrvNjWDDLSOWsRSlSOdKB34f43wPfWHv5zNQtR5i9pRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S4G77imo8P3ZaNXYEDfC7u",
      "input": {
        "note": "The lemon is held slightly right of the jaw column while the safe's red interior is to the left; sliding 5 cm further left so the lemon itself is over the opening.",
        "targets": {
          "right_y": 0.157,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01S4G77imo8P3ZaNXYEDfC7u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.6369, -0.0189, -0.0383, 0.999, 0.3569, 1.5959, 1.2167, -0.4072, 0.0319, 0.0296, 0.5093]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1254 left_yaw=0.0034 left_pitch=-0.2754 left_roll=0.002 left_gripper=0.999 right_x=0.423 right_y=0.1555 right_z=0.1665 right_yaw=0.3029 right_pitch=-0.2007 right_roll=0.0068 right_gripper=0.5093\nstate[joint_eff]: [-0.0615, -1.1966, 7.0632, 1.5116, -0.0366, -0.0122, -0.0122, -0.0889, -6.7214, 9.2923, 1.7021, 0.1148, 0.2369, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6bc54a45f6a6d299bd7d6dda38f72b76781f703b09aadabe2806353a94b73ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b1b44945a8cdc215f9497bfdcbc5919948e8f6ef8cb524fb20fcd80569afa3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24778d8ee9500da925b7f900832b9706d07319684543cf6785f4292552836c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 10.99 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, 0.823, 0.6067, -0.6151, -0.0189, -0.0387, 0.999, 0.1356, 1.5612, 1.2015, -0.3519, -0.0967, -0.0723, 0.5091]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.1294 left_yaw=0.0035 left_pitch=-0.2517 left_roll=0.0012 left_gripper=0.999 right_x=0.4473 right_y=0.0819 right_z=0.1855 right_yaw=0.2469 right_pitch=-0.1225 right_roll=0.0175 right_gripper=0.5091\nstate[joint_eff]: [-0.0752, -1.388, 6.7897, 1.5018, -0.0659, -0.0757, -0.0122, 0.1846, -9.7299, 9.306, 1.7802, 0.0317, 0.2906, 0.1538]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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, 0.8249, 0.6067, -0.6304, -0.0189, -0.0387, 0.999, 0.215, 1.5635, 1.1229, -0.3111, -0.0471, -0.0338, 0.5093]\nstate[eef_state]: left_x=0.2562 left_y=0.0021 left_z=0.1265 left_yaw=0.0036 left_pitch=-0.2689 left_roll=0.0016 left_gripper=0.999 right_x=0.4327 right_y=0.1066 right_z=0.1576 right_yaw=0.2635 right_pitch=-0.1656 right_roll=0.0164 right_gripper=0.5093\nstate[joint_eff]: [0.0889, -1.306, 6.7897, 1.5653, -0.0562, -0.0317, -0.0122, 0.1026, -7.5282, 7.8154, 2.2882, 0.0269, 0.0659, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8249, 0.6067, -0.6369, -0.0189, -0.0383, 0.999, 0.3569, 1.5959, 1.2167, -0.4072, 0.0319, 0.0296, 0.5093]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1254 left_yaw=0.0034 left_pitch=-0.2754 left_roll=0.002 left_gripper=0.999 right_x=0.423 right_y=0.1555 right_z=0.1665 right_yaw=0.3029 right_pitch=-0.2007 right_roll=0.0068 right_gripper=0.5093\nstate[joint_eff]: [-0.0615, -1.1966, 7.0632, 1.5116, -0.0366, -0.0122, -0.0122, -0.0889, -6.7214, 9.2923, 1.7021, 0.1148, 0.2369, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6bc54a45f6a6d299bd7d6dda38f72b76781f703b09aadabe2806353a94b73ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b1b44945a8cdc215f9497bfdcbc5919948e8f6ef8cb524fb20fcd80569afa3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24778d8ee9500da925b7f900832b9706d07319684543cf6785f4292552836c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G8GsWHiJMzFJTDHtc9ZCyd",
      "input": {
        "note": "The safe's red interior now fills the wrist view just ahead of the jaws; nudging forward and left to centre the held lemon over the opening before releasing.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.175,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01G8GsWHiJMzFJTDHtc9ZCyd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.3771, 1.6997, 1.3186, -0.4534, 0.0452, 0.0422, 0.5093]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1242 left_yaw=0.0037 left_pitch=-0.2807 left_roll=0.0019 left_gripper=0.999 right_x=0.4379 right_y=0.1687 right_z=0.1558 right_yaw=0.3038 right_pitch=-0.2481 right_roll=0.0026 right_gripper=0.5093\nstate[joint_eff]: [-0.1983, -1.1556, 6.8991, 1.4725, -0.0659, -0.0659, -0.0122, 0.2393, -8.8274, 9.1145, 1.6972, 0.0464, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e328b318732de0c79f3045192dc3484630ca9d1d712fabf2b112c2b2be1ad227",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:979a4e59848f675e006b6176d11f286e41613d1812a5a3ddfd975a4156a9025a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e408475c027eba435231191de4f2c4470039b478d68bc3ac80206eada7df771d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.237 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, 0.8249, 0.6067, -0.6304, -0.0189, -0.0387, 0.999, 0.215, 1.5635, 1.1229, -0.3111, -0.0471, -0.0338, 0.5093]\nstate[eef_state]: left_x=0.2562 left_y=0.0021 left_z=0.1265 left_yaw=0.0036 left_pitch=-0.2689 left_roll=0.0016 left_gripper=0.999 right_x=0.4327 right_y=0.1066 right_z=0.1576 right_yaw=0.2635 right_pitch=-0.1656 right_roll=0.0164 right_gripper=0.5093\nstate[joint_eff]: [0.0889, -1.306, 6.7897, 1.5653, -0.0562, -0.0317, -0.0122, 0.1026, -7.5282, 7.8154, 2.2882, 0.0269, 0.0659, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.6369, -0.0189, -0.0383, 0.999, 0.3569, 1.5959, 1.2167, -0.4072, 0.0319, 0.0296, 0.5093]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1254 left_yaw=0.0034 left_pitch=-0.2754 left_roll=0.002 left_gripper=0.999 right_x=0.423 right_y=0.1555 right_z=0.1665 right_yaw=0.3029 right_pitch=-0.2007 right_roll=0.0068 right_gripper=0.5093\nstate[joint_eff]: [-0.0615, -1.1966, 7.0632, 1.5116, -0.0366, -0.0122, -0.0122, -0.0889, -6.7214, 9.2923, 1.7021, 0.1148, 0.2369, -0.0122]",
      "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, 0.8295, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.3771, 1.6997, 1.3186, -0.4534, 0.0452, 0.0422, 0.5093]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1242 left_yaw=0.0037 left_pitch=-0.2807 left_roll=0.0019 left_gripper=0.999 right_x=0.4379 right_y=0.1687 right_z=0.1558 right_yaw=0.3038 right_pitch=-0.2481 right_roll=0.0026 right_gripper=0.5093\nstate[joint_eff]: [-0.1983, -1.1556, 6.8991, 1.4725, -0.0659, -0.0659, -0.0122, 0.2393, -8.8274, 9.1145, 1.6972, 0.0464, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e328b318732de0c79f3045192dc3484630ca9d1d712fabf2b112c2b2be1ad227",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:979a4e59848f675e006b6176d11f286e41613d1812a5a3ddfd975a4156a9025a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e408475c027eba435231191de4f2c4470039b478d68bc3ac80206eada7df771d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrAgKjgEIEhgCKkDYioE9dFgUEWpEULFXh2hX3rCNXVChL/mQMThsNSdm/hW7qC7eOO4HvQ4fL5RQKglKmUkycSLgDdlGvu4IKOa5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAee3zNUGEgw5YeaDgxnDefhyePYaDKS+4tV9MUdjgaeR8CIw2KTf7oxDhsD6uFjbTvM3vu9dEgeSHdWrriXWIuhxybficK1nGkgngXk4gvRfjzKLKsoGQDhBs+lwNR92nPTs9+bR8v2vRmuokZX/IA6yrRQjghegZkOrXbWjMmly5UBP/nu8eIdOeWqLrsK0lyY+kCSK5MfD0OIYgueHl0wSu5CKCH+yKwuhtsSZC6BxoYgo0F5PTHA2nsXQq9UAGaj9GggB5ItD8NPC2wMsFRgLHWK5m0nXM1UBBGufsWPlxPCbSPLxFnPX3YiHW+/O6w7h19jzqRgcXl71QLJR6zJvrgnkQ1lq96WGsHDjTgniM9wPv/ZxwC0cF/zxUa9+ReK2c3DkxgbAVhYd0OjyjcvDrFne9qnvA0tKElQ58Ok1etRxD8ZKreSm92+N7nU6KOS9CqqifMs8Ea+hX6lketh0c3K0pOF2Tif6gkdWBzN/et+QRTmLum1IZz/GyPBuEdfYcl/J4NRr60cMIMTzkqYJNyH+rZkG/OYj1WibsOr4qlBuZOudrHhCn6EHHrrYFMJGZaFWnh51E/8sBsE/YxvLtWdO703+erLIf54QgmPh5tTQgPS0fPg5vUYV2GtCOFnrJZpuCC+UWQa9zZ90EETzSO3OCfkL8rCyyBeriIcuCmvbooaPc5DjW5SJv/4CC/3qfeCoY59qIIgtFNAv58At9o0aGRQNnCBwrFl2aI+K5hw//Y0Wi2WuBKsF+lhAov/7fACAUhXMh/FG9LPCZolLeQbHYSnaTUp9bFvCN8nazsBTPAgBFjYkGAL5kZE74D3P5jaeP0OGUUFhlxFVdoefud6WWL7b7j/pNw78WhS15GJqqyWNC7FkFinvn0zolyF2i6y1uWma/AW6QnoJckBL42OTuAB+1hI0iJzFsgCgKKgW0kcH+W793JL5RhkBgwXQh8ymLSrC/N3QDNyjYRV1XzNuwHUk2E9h5J9RfuZ/YpWb1AgCDNZl2zbjkSHDYYYdbPGbfh9H51JWVpRYz+Vrbu4lmjyHrS1i3nWyGj63MJlJl+/aYcwr83OnJrMIEmu4wHZQdEvHF89NjBP6zqTMRfw/vTN+5ncxOX/WA9okWav9lZAaUOgS0WXEGxx1JqChF5JaQkArj3gRT8VGm/WDfdJeywjGvzfuAPqqdqNpyOoEHSwmq79IL0RXehH2ldUoOFgMnPuHpKxRp7SPyQoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NeSMQoBnG7RHBP5ZD2bAgc",
      "input": {
        "note": "Jaws are over the red interior but the held lemon rides right of the jaw column, so I shift 4 cm further left to be sure the lemon is inside the safe before opening.",
        "targets": {
          "right_y": 0.215,
          "right_z": 0.165
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NeSMQoBnG7RHBP5ZD2bAgc",
      "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, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.4873, 1.7599, 1.401, -0.5182, 0.0952, 0.0917, 0.5093]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0037 left_pitch=-0.2815 left_roll=0.0019 left_gripper=0.999 right_x=0.428 right_y=0.2119 right_z=0.1524 right_yaw=0.3413 right_pitch=-0.2865 right_roll=-0.0073 right_gripper=0.5093\nstate[joint_eff]: [-0.0205, -1.1282, 6.7761, 1.4432, -0.0806, -0.0611, -0.0122, -0.759, -8.3897, 9.4564, 1.5897, 0.3004, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1487a58f700062237d69994f05263f8b1ef3fbf8ef3b50feebb6dd6c05d8cc11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:875cdc9db3dbdcc2337e1bd67b23dc92854492afefe3426ed69762090b87512f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47b6b32672b2f7b11f12910603f292428fa8cc43c61b34fa74e159af01694578",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 12.2 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.6369, -0.0189, -0.0383, 0.999, 0.3569, 1.5959, 1.2167, -0.4072, 0.0319, 0.0296, 0.5093]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1254 left_yaw=0.0034 left_pitch=-0.2754 left_roll=0.002 left_gripper=0.999 right_x=0.423 right_y=0.1555 right_z=0.1665 right_yaw=0.3029 right_pitch=-0.2007 right_roll=0.0068 right_gripper=0.5093\nstate[joint_eff]: [-0.0615, -1.1966, 7.0632, 1.5116, -0.0366, -0.0122, -0.0122, -0.0889, -6.7214, 9.2923, 1.7021, 0.1148, 0.2369, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.3771, 1.6997, 1.3186, -0.4534, 0.0452, 0.0422, 0.5093]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1242 left_yaw=0.0037 left_pitch=-0.2807 left_roll=0.0019 left_gripper=0.999 right_x=0.4379 right_y=0.1687 right_z=0.1558 right_yaw=0.3038 right_pitch=-0.2481 right_roll=0.0026 right_gripper=0.5093\nstate[joint_eff]: [-0.1983, -1.1556, 6.8991, 1.4725, -0.0659, -0.0659, -0.0122, 0.2393, -8.8274, 9.1145, 1.6972, 0.0464, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.4873, 1.7599, 1.401, -0.5182, 0.0952, 0.0917, 0.5093]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0037 left_pitch=-0.2815 left_roll=0.0019 left_gripper=0.999 right_x=0.428 right_y=0.2119 right_z=0.1524 right_yaw=0.3413 right_pitch=-0.2865 right_roll=-0.0073 right_gripper=0.5093\nstate[joint_eff]: [-0.0205, -1.1282, 6.7761, 1.4432, -0.0806, -0.0611, -0.0122, -0.759, -8.3897, 9.4564, 1.5897, 0.3004, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1487a58f700062237d69994f05263f8b1ef3fbf8ef3b50feebb6dd6c05d8cc11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:875cdc9db3dbdcc2337e1bd67b23dc92854492afefe3426ed69762090b87512f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47b6b32672b2f7b11f12910603f292428fa8cc43c61b34fa74e159af01694578",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqgUKjgEIEhgCKkADKZC3iohHwmqP2ApDdaG/Zy7u4MRzZiiVkJMPhcu8pK6Bd9rb92TRScKJJQUFvDcnFkGC9dssgnfiLnvrulFLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe23zNUGEgzqyfkAxP9zWXxjIbgaDCBpxBKdMn6mLruDjiIwq1/eIl4ywGavTJTpmPbqTKOEKDJKT9IyLHIfw/WqXxetUx1qsvpetmNSEYtHofCtKsgDrjR6d2pHdhBBAYrl969U6qrgpVbX/aug5ZfWa6+53KkZyKfN1XRu5N0zEY2dVyLST+KKyDKy1p+BnR3CPm1/RQ6VH1S3tB98NnpYklNHSZGmUAtHIu5jWE7SQNWfg3eM6C6liabw/4yPAdvbN4xxm9l/ELFkDIr7R2K+X4Wu7CYx5SD00Jt7BGJ4H6R7pC5xU7hDzvkItudu1XXpRi3M2Ajlm0u8Y+2qZe5LjqEKBB66Lqgk3BHaJ8vyGmUMjzmv+QmPFDLeNlI2fMTPM+5NbM9OdyoZqlPhGr6BH/6+tP0DvQzuwXKUDKAT1rAu2WyGgYqkzI6pcEqRMILKBfKuqfYvE3CxXm3K4sNUtorZ7R1U+Hm4tTflx8aLt0Ka8TE5lPTds210EJTkfbQR6w9GDZpBCo0IfsO56VV1PL6N51A2Jae9WTlmM/U9snnRP7dkoyWkpg1jHHV+41FPGHPPqXX2BWyriR0X4B9zZKuJAhfwtFv3GU6YMUEYsd8iXIuWgcQfhtPLOLpEjyMj7yOOgwn7pLNFuvaDp+QStlCDqRfiw/JQfJTyCftQfrVfjBM37qvhBNXaE48o5be2bPCsLBCfcEHoJFiwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0187xZ8vi922NKHTbig58nGT",
      "input": {
        "note": "Jaws with the lemon are over the safe's red interior; opening to drop the lemon in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0187xZ8vi922NKHTbig58nGT",
      "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, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.4942, 1.766, 1.412, -0.5453, 0.1162, 0.1165, 0.995]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0037 left_pitch=-0.2815 left_roll=0.0019 left_gripper=0.999 right_x=0.4258 right_y=0.2103 right_z=0.1502 right_yaw=0.3147 right_pitch=-0.3057 right_roll=-0.0113 right_gripper=0.995\nstate[joint_eff]: [0.0342, -1.0598, 6.7761, 1.4139, -0.0611, -0.0024, -0.0122, -0.253, -8.7179, 9.1009, 1.7363, 0.0611, 0.0708, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69b0cd0ab6a60cd1b111a86063d261a03cecb245fbf6ecd31edac3302fadfcb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c03572dbe4e785249264a632df503b975bbacc4bb5dfa319fc7257790e6c86f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b24b9f9251d0d85bc8794df53eee38588a009480345aa32fbe7cc45edef7568a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 9.198 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.3771, 1.6997, 1.3186, -0.4534, 0.0452, 0.0422, 0.5093]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1242 left_yaw=0.0037 left_pitch=-0.2807 left_roll=0.0019 left_gripper=0.999 right_x=0.4379 right_y=0.1687 right_z=0.1558 right_yaw=0.3038 right_pitch=-0.2481 right_roll=0.0026 right_gripper=0.5093\nstate[joint_eff]: [-0.1983, -1.1556, 6.8991, 1.4725, -0.0659, -0.0659, -0.0122, 0.2393, -8.8274, 9.1145, 1.6972, 0.0464, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.4873, 1.7599, 1.401, -0.5182, 0.0952, 0.0917, 0.5093]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0037 left_pitch=-0.2815 left_roll=0.0019 left_gripper=0.999 right_x=0.428 right_y=0.2119 right_z=0.1524 right_yaw=0.3413 right_pitch=-0.2865 right_roll=-0.0073 right_gripper=0.5093\nstate[joint_eff]: [-0.0205, -1.1282, 6.7761, 1.4432, -0.0806, -0.0611, -0.0122, -0.759, -8.3897, 9.4564, 1.5897, 0.3004, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.4942, 1.766, 1.412, -0.5453, 0.1162, 0.1165, 0.995]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0037 left_pitch=-0.2815 left_roll=0.0019 left_gripper=0.999 right_x=0.4258 right_y=0.2103 right_z=0.1502 right_yaw=0.3147 right_pitch=-0.3057 right_roll=-0.0113 right_gripper=0.995\nstate[joint_eff]: [0.0342, -1.0598, 6.7761, 1.4139, -0.0611, -0.0024, -0.0122, -0.253, -8.7179, 9.1009, 1.7363, 0.0611, 0.0708, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69b0cd0ab6a60cd1b111a86063d261a03cecb245fbf6ecd31edac3302fadfcb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c03572dbe4e785249264a632df503b975bbacc4bb5dfa319fc7257790e6c86f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b24b9f9251d0d85bc8794df53eee38588a009480345aa32fbe7cc45edef7568a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4goKjgEIEhgCKkDsC+32K/JHSG/LrcbBJVddQa6ABRIUwKHwuTR95TvQTkaFtkzeZk+XZLKICVHi/pmzjkzgqyl3IiMsK4KsEGxsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfq3zNUGEgwgr34tIctZjYsap/saDHWdyd/qQ02hiP6+fiIwDchMeBCT+nHSQboFiQ9nxCAh3thy4Gt5k4uuSTWW7cK+9erIlfMKc+ia0fhvr/FaKoAJx8FTGjfPesCD4mNSl8pwC5HPHvCUJg5z0nxsSfqy4oQJZXMqYp/0GNCB3t9QsNSaDcS6qZjyjZZVlyFIUoG6Z+lIfBiuBpZQStdq40zk4+CEe0K7728jHiYXILpezNVqi+ZR8aghx1JSvV055b7MOsb8bBD0Bx8Tb+lzu+Xx7NmHmfSSM2alzVHmFgkQOX1dxw9zO7pID+dZd1VOlvQVxTX+kuNbIxveNqURn+A76eMvRyspuJ8ZwXnT4eWhwu5Si+HfIFFVmwyNntEBGe27gZAAlASoxgPTXCodpTdLg+zG5/BB/LoA+dcEBizeh03EpZUMKOwPb8opCI1PbPacjmK4jKZHCzsqJMps5gkNTdHq9MXbWEKyvwKLwrEuBpMVfB2phgtptMOs9HzB6S7YFyJz4YA5DbWhNn0dpZIXBmk89IKUjH/y1DGvpS4/WR5uO2F7tlP8zqV6JuJIu6R1mJm2MbWpQ4TXwtI1MqafmBWp/80Okrl1naY99tOfKgWmEJ7h1bpP+C2IkMT3MFZ+idKLWGATMnaicNj38lvOS9AIqnfyL8sOvfjPDW4kOz6E33cIpPeZjTo7hUh+t6eIfiFzdvId+d6YP1p+KkiqtaTd6l/waFV7fmMclgiRpK2bX1JApDOwQxWWZ2X+rg/vwFHIbY3NZaOdvdZVO90R+qsuDY+ij18epffeznv9eVzJlFLOHKM4Q6feAjKTqc/QKdqBPdsbYRQgyZdF460fyP6IWPYu6BDmQQCxItsHAUNxAg4hMqXwlo6YY2xNaRiU+2t6zj/BTud5usPJ/+TMM/vkl8hnlnUfXuEVODTZRqxjcvNkBSpcPMrGWOg1+Dam47qLg/EPygUBwtNiNOCZf6F4DhIAPBkTKgnle8k0G7xe+0S6z3TbMZfy1HO2OkAJESPBS7KCWFUjzqIN8BRm3yLGXEM7BI+vXla4fczH8Lmh+Cy3n5meY1gWJnO8Y+386QyWJgbIIloBLDgPG1y9gFGCQkg/1JiksR1XxxbnHB8xVcyRcodiW+1CPZfZPjx0zGwMGFbyhiTY2eOfbipjka/bJQz/SMYHwCGxxOCNCyeIEKFpZoObqQAzrf8kW6gMTTEi7it+2rdBHgWCpKGl/m9Nm6kDIHRgS0l7eTDGTxQFIYW9Y/X/QDmMRiSCg1fwYttKWBlwwV2lUVa3bKUYtjrs7MjfL4TpAFsoZCoJQQaKmGEVAgJ6ia3PdcFKVePzxdwgOm092iufVzzJ3Bu3WCJ5l7ZfDaylpeFdTe+8H/GyLPrcTGM0kkAuZ0QCE5FGnI9RLBN8mobTFDIxtQ55GpK0sym+4uN8JKQfey05o08c3kGX/oLDJ/KpXKGH9ItqO+3r/xwkzbTikeDArvUYeLQoxOMMeGoCmn7T2r1h6sUQz5TsTgUESwM97/KXv7uuRck1mcNmboqJv/Tj7agL4NmNA1Bl/6o7mq2mklhMwG3K9Q/eHPe7R0BCBuYOUUA2Ary2Ok6QnsIyh4FtpCIgYBO7k+O/AFidRu1kuJ0sEM28GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uo7Z4q9SAESVAs9Fz1e3kn",
      "input": {
        "note": "Lemon released over the safe; retracting the right arm to clear the overhead view and sending the left arm to hover over the small light-coloured teddy left of the safe.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.32,
          "left_y": -0.23,
          "left_z": 0.15,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01Uo7Z4q9SAESVAs9Fz1e3kn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8482, 1.5738, 1.1786, -0.7116, -0.4919, -0.7383, 0.9991, 0.0784, 1.2278, 1.3972, -1.1149, -0.1215, -0.1905, 0.9967]\nstate[eef_state]: left_x=0.3106 left_y=-0.2207 left_z=0.1353 left_yaw=0.0001 left_pitch=-0.3288 left_roll=0.0243 left_gripper=0.9991 right_x=0.3034 right_y=0.0489 right_z=0.2622 right_yaw=0.2876 right_pitch=-0.3501 right_roll=-0.0085 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -6.9265, 8.7316, 1.1111, -0.5592, 0.0513, -0.105, -0.212, -4.7795, 9.0598, 1.5849, -0.2466, -0.0611, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a0b0875f3504390b6e1a7d42a1d182667cba289e4035c71e4637d2f0ccbd72a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2df2259eeb514cf9c6206ca239e3cd596f3c6a2c693f43ab0db5ff80b11e1415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98e7ceb173548d1ec5ddc9b8e84cc294aece43e2f71220286ee6e13c511dc233",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 5.137 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.4873, 1.7599, 1.401, -0.5182, 0.0952, 0.0917, 0.5093]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0037 left_pitch=-0.2815 left_roll=0.0019 left_gripper=0.999 right_x=0.428 right_y=0.2119 right_z=0.1524 right_yaw=0.3413 right_pitch=-0.2865 right_roll=-0.0073 right_gripper=0.5093\nstate[joint_eff]: [-0.0205, -1.1282, 6.7761, 1.4432, -0.0806, -0.0611, -0.0122, -0.759, -8.3897, 9.4564, 1.5897, 0.3004, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.4942, 1.766, 1.412, -0.5453, 0.1162, 0.1165, 0.995]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0037 left_pitch=-0.2815 left_roll=0.0019 left_gripper=0.999 right_x=0.4258 right_y=0.2103 right_z=0.1502 right_yaw=0.3147 right_pitch=-0.3057 right_roll=-0.0113 right_gripper=0.995\nstate[joint_eff]: [0.0342, -1.0598, 6.7761, 1.4139, -0.0611, -0.0024, -0.0122, -0.253, -8.7179, 9.1009, 1.7363, 0.0611, 0.0708, -0.2222]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8482, 1.5738, 1.1786, -0.7116, -0.4919, -0.7383, 0.9991, 0.0784, 1.2278, 1.3972, -1.1149, -0.1215, -0.1905, 0.9967]\nstate[eef_state]: left_x=0.3106 left_y=-0.2207 left_z=0.1353 left_yaw=0.0001 left_pitch=-0.3288 left_roll=0.0243 left_gripper=0.9991 right_x=0.3034 right_y=0.0489 right_z=0.2622 right_yaw=0.2876 right_pitch=-0.3501 right_roll=-0.0085 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -6.9265, 8.7316, 1.1111, -0.5592, 0.0513, -0.105, -0.212, -4.7795, 9.0598, 1.5849, -0.2466, -0.0611, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a0b0875f3504390b6e1a7d42a1d182667cba289e4035c71e4637d2f0ccbd72a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2df2259eeb514cf9c6206ca239e3cd596f3c6a2c693f43ab0db5ff80b11e1415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98e7ceb173548d1ec5ddc9b8e84cc294aece43e2f71220286ee6e13c511dc233",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AkKjgEIEhgCKkBhNk5N3m7MoYymN1pYbnYzq2PK+8BhABMgcZ4Qbor55eh5E092g8vGoXAnsE2cllb4nwlfyVwz+PlhnqcDzS2NMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYW4zNUGEgyJY9htlvE1Lag8mbYaDPVJcSZJ3MkyOLDsESIwKqyWoxWcCxPJARuT2KH88pX+39FLWVagQbn9XeVLg7N2BdlAwFhrAwcHCxAuTMjkKoYIIyx0m20zpO6R0c8QJufzWKSlc8Zhngz/Ukns/mbDWBwstIWrVmFptZps5hzSovrdW1TcihvsyE4ETwZD6SSVqKp1kfhnseUVsH08pNifUW9IsQ/KBKp/ulEbCRiO133Lvg4MIYkzBmFsz8V5oDKFIe9wLv7dRZM1SPmbwHBJU5rWeOu1x/8HIlXUwh0K28+baOjSKZQgVfJ3K6Pg4tenwTZSSS32LSCdvKG92jxPsCK787PpmgmdGAM9Y9wwtvsv0ajdaufgF7PukxMnfz+vyr9/qrFffPFKFNXu8VEjAXARz3tufU+ZMt/+nnYyXlJVvShaPVoFi6fygca+owLXmbhFHfg3tcmUMIeRcpyIZNPEGE47pvykkx3ceuGXR5Irnll8/8aF4ibbOcl48vHbh6vss2Ohmj0JIVRj2mLMZCHAV0SkBYL0zOnumYM9+txq8zB1aUsWedDrQlVZ740CoYT/bqEZkDdYTKWXaoCMeuDlXnP1dhX8HTQbWd06T0nrAWn+rzhI57PAp0A9z7SB+GYFn7im7GPnPzU+zwrwAUagtB1oqRXQO0DSJx+FDmkXpiIDqo7hbB2MYEndVdMm44gJZvZjSqE7aSArGGPpZSk44xKQPsRLPBe7gzxmlKEjUNPsyR7/Xp0hYSZ3D99dZDYdcabUO99kmoCgvaQTiuJv5Frw1bzZT4vFMgnRfXaDIyv6b46JGi7DNQRvyIKhJ/R46UvbizLUb08yjqSbDoi96KOQmtzIBBYRTx/gDdpcCIkZ0tB2/E6pS5Eo3adssAMhA1LzdiKkWcgm7QAcwRlgQAsmNxxWSayYuqEifxLxns7PhuNA092VDfXxFiHXPPlx48h8LYWo7HC+enVT4dRBNGBaZyI95d7L/Alte177UW1k57soKsCpaBmwy6FCMSdq7nrq4Kw9yen9Uw1fWeBxsiUeTlf9fsORW1eU8CJnGzqsofrR+jUI7DmtupBJSUfIE83jA5+goD3htv0tRhOWGe+Qq33LsbZyfJT8URcHYu6kfIYQq9EzWDiWK1PmaPOAEkj7B1Bwk4zU8qQ+A83H5ubhJPjUEriykGJXrikL7C423XfPTCXa4rSp61kD7xYoXkGwtp6z/LedS6aOq9LalgXf9n4GIA9apZctgBjmVF/fNSBjeLQ0d+pAxyxmEvkOEukqhmuRuIds7erzEy2iOlSvy9B4NF3Z/3IMsD1+KzDoc5f/WQ+No5j0jsaGojDAAMV0P/ZzQqlz+1Zno9NF3zaD1hW5TU2zJsZINu0q6R4SbmiUJ6rF+Ee7ILMnXK5obkSKA3dY83Ivf2hf4n045QdqgFlEKoSTwBZ0dSiRJvksGPLT8SSAuX18zyyHGa8po7RvcBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uu3VK2s1b2va19R1GRJmH7",
      "input": {
        "note": "The lemon unfortunately landed on the table right of the safe rather than inside. Meanwhile the left wrist sees the small teddy just ahead and slightly left; advancing and descending onto it.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.205,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Uu3VK2s1b2va19R1GRJmH7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7113, 1.7657, 1.0035, -0.3573, -0.4309, -0.6277, 0.999, 0.0734, 1.2304, 1.4002, -1.15, -0.1246, -0.2089, 0.9968]\nstate[eef_state]: left_x=0.3462 left_y=-0.1962 left_z=0.0379 left_yaw=0.0347 left_pitch=-0.3798 left_roll=0.0633 left_gripper=0.999 right_x=0.2972 right_y=0.0475 right_z=0.2577 right_yaw=0.299 right_pitch=-0.3835 right_roll=-0.0092 right_gripper=0.9968\nstate[joint_eff]: [0.2667, -7.9521, 5.9009, 1.3944, -0.2418, 0.2076, -0.0171, 0.335, -3.8769, 5.9282, 1.6435, -0.0708, 0.1783, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:272ed39e189308360f519a04932856ce26279bb82b6e5524179e0d148216caa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff0e4c6ddbbdcd8df80d2198441356fb291b68721d0daafdaaa10732a0217050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ddd43fdf8e024eed8e73df0074f9f97d787cfe7af6c239f27b166398ca9abe62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 5.453 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.999, 0.4942, 1.766, 1.412, -0.5453, 0.1162, 0.1165, 0.995]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0037 left_pitch=-0.2815 left_roll=0.0019 left_gripper=0.999 right_x=0.4258 right_y=0.2103 right_z=0.1502 right_yaw=0.3147 right_pitch=-0.3057 right_roll=-0.0113 right_gripper=0.995\nstate[joint_eff]: [0.0342, -1.0598, 6.7761, 1.4139, -0.0611, -0.0024, -0.0122, -0.253, -8.7179, 9.1009, 1.7363, 0.0611, 0.0708, -0.2222]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8482, 1.5738, 1.1786, -0.7116, -0.4919, -0.7383, 0.9991, 0.0784, 1.2278, 1.3972, -1.1149, -0.1215, -0.1905, 0.9967]\nstate[eef_state]: left_x=0.3106 left_y=-0.2207 left_z=0.1353 left_yaw=0.0001 left_pitch=-0.3288 left_roll=0.0243 left_gripper=0.9991 right_x=0.3034 right_y=0.0489 right_z=0.2622 right_yaw=0.2876 right_pitch=-0.3501 right_roll=-0.0085 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -6.9265, 8.7316, 1.1111, -0.5592, 0.0513, -0.105, -0.212, -4.7795, 9.0598, 1.5849, -0.2466, -0.0611, 0.1587]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7113, 1.7657, 1.0035, -0.3573, -0.4309, -0.6277, 0.999, 0.0734, 1.2304, 1.4002, -1.15, -0.1246, -0.2089, 0.9968]\nstate[eef_state]: left_x=0.3462 left_y=-0.1962 left_z=0.0379 left_yaw=0.0347 left_pitch=-0.3798 left_roll=0.0633 left_gripper=0.999 right_x=0.2972 right_y=0.0475 right_z=0.2577 right_yaw=0.299 right_pitch=-0.3835 right_roll=-0.0092 right_gripper=0.9968\nstate[joint_eff]: [0.2667, -7.9521, 5.9009, 1.3944, -0.2418, 0.2076, -0.0171, 0.335, -3.8769, 5.9282, 1.6435, -0.0708, 0.1783, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:272ed39e189308360f519a04932856ce26279bb82b6e5524179e0d148216caa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff0e4c6ddbbdcd8df80d2198441356fb291b68721d0daafdaaa10732a0217050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddd43fdf8e024eed8e73df0074f9f97d787cfe7af6c239f27b166398ca9abe62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwQKjgEIEhgCKkCQvVSmNvPoJuSJBQZiM7o0lUP145imQePEUUJTlSjlwLJ8yRzOhF92DP7D7+cbF9MqW/8pR7l1Yw4FpzDC/ExPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYu4zNUGEgwXxAV8DNveDPLkYS0aDEi/5nlPqSGoATGYcCIwAP8eXmB2PBu5c6aVB0jMAobqPTIfv/y1fMS8Q9/p+uVNEaG1SNNtUPk2zRVardAhKskCF/HhJ2/h72xaKSzpDyrCqAAX50sDrIn5kQeGeWTdlJRSKv4CKFxIF3cF4W3KylI76SzkS2Ud72AHv+b4HuqvygKRl/Bs6oUuQveWIZNwxnzn4o7DCyxcsa0OyFvUqTpkubELX7OebH6xKkrDU0I/3FdW3iVwEls8KnUeXIHUhqACDZKeCZGashgckiJNSD/Gt4TpKYf5ut+HMOI7QISotguyme9ckL6hCnQsptLWuJgO5wpzUUGZGHgo3jJqE3/spXVJl/GU2DDwgWaNBJnoGh5ZZnH/0FiamwIpI3s1kztub5N2ft54nCWBkJLLpR5dzXBm9v5Cfw5K1Jt0JDBFWpTth+VexTS5rpYte2sjr/6x/Iwl92snuJsvO2enEfDz5MhA7szawHyG+arH374mITWGM5glPkqOYME2BprJIHMSoCxSLpI1vL8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ExmwWNevMaZp6AubNA9exY",
      "input": {
        "note": "The teddy fills the left wrist view slightly left of the jaw column; nudging 2 cm left and 1 cm forward to centre the jaws on its body.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.185,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01ExmwWNevMaZp6AubNA9exY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6712, 1.7931, 1.0088, -0.3138, -0.4114, -0.5961, 0.999, 0.0723, 1.2304, 1.4002, -1.1545, -0.1249, -0.2077, 0.9968]\nstate[eef_state]: left_x=0.3591 left_y=-0.1904 left_z=0.0325 left_yaw=0.0366 left_pitch=-0.3765 left_roll=0.0536 left_gripper=0.999 right_x=0.2963 right_y=0.0471 right_z=0.2571 right_yaw=0.298 right_pitch=-0.3879 right_roll=-0.0071 right_gripper=0.9968\nstate[joint_eff]: [0.9368, -7.3504, 7.9658, 1.243, -0.232, 0.232, -0.0122, -0.1983, -3.6308, 6.0239, 1.3797, -0.149, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ffb113b357705cf5f51fbf1b59f95fa5f4023f8755b890095b1b29ba482724f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:731660a4acb52eb118f2ceec7da38f78f04a9fef631a37ddbaed08149a71374a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2ec1e3af3add06994ef8702ef2dbf30cb606d125065e1a9fa25def32519935d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 5.829 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8482, 1.5738, 1.1786, -0.7116, -0.4919, -0.7383, 0.9991, 0.0784, 1.2278, 1.3972, -1.1149, -0.1215, -0.1905, 0.9967]\nstate[eef_state]: left_x=0.3106 left_y=-0.2207 left_z=0.1353 left_yaw=0.0001 left_pitch=-0.3288 left_roll=0.0243 left_gripper=0.9991 right_x=0.3034 right_y=0.0489 right_z=0.2622 right_yaw=0.2876 right_pitch=-0.3501 right_roll=-0.0085 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -6.9265, 8.7316, 1.1111, -0.5592, 0.0513, -0.105, -0.212, -4.7795, 9.0598, 1.5849, -0.2466, -0.0611, 0.1587]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7113, 1.7657, 1.0035, -0.3573, -0.4309, -0.6277, 0.999, 0.0734, 1.2304, 1.4002, -1.15, -0.1246, -0.2089, 0.9968]\nstate[eef_state]: left_x=0.3462 left_y=-0.1962 left_z=0.0379 left_yaw=0.0347 left_pitch=-0.3798 left_roll=0.0633 left_gripper=0.999 right_x=0.2972 right_y=0.0475 right_z=0.2577 right_yaw=0.299 right_pitch=-0.3835 right_roll=-0.0092 right_gripper=0.9968\nstate[joint_eff]: [0.2667, -7.9521, 5.9009, 1.3944, -0.2418, 0.2076, -0.0171, 0.335, -3.8769, 5.9282, 1.6435, -0.0708, 0.1783, 0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6712, 1.7931, 1.0088, -0.3138, -0.4114, -0.5961, 0.999, 0.0723, 1.2304, 1.4002, -1.1545, -0.1249, -0.2077, 0.9968]\nstate[eef_state]: left_x=0.3591 left_y=-0.1904 left_z=0.0325 left_yaw=0.0366 left_pitch=-0.3765 left_roll=0.0536 left_gripper=0.999 right_x=0.2963 right_y=0.0471 right_z=0.2571 right_yaw=0.298 right_pitch=-0.3879 right_roll=-0.0071 right_gripper=0.9968\nstate[joint_eff]: [0.9368, -7.3504, 7.9658, 1.243, -0.232, 0.232, -0.0122, -0.1983, -3.6308, 6.0239, 1.3797, -0.149, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ffb113b357705cf5f51fbf1b59f95fa5f4023f8755b890095b1b29ba482724f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:731660a4acb52eb118f2ceec7da38f78f04a9fef631a37ddbaed08149a71374a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2ec1e3af3add06994ef8702ef2dbf30cb606d125065e1a9fa25def32519935d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P94bFQdA8mkby5Xm7qGRCX",
      "input": {
        "note": "Teddy is between the jaws in the left wrist view; closing to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01P94bFQdA8mkby5Xm7qGRCX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6727, 1.803, 1.0142, -0.3286, -0.408, -0.6033, 0.0101, 0.0723, 1.2304, 1.4002, -1.174, -0.1249, -0.21, 0.9968]\nstate[eef_state]: left_x=0.3569 left_y=-0.1901 left_z=0.0287 left_yaw=0.0421 left_pitch=-0.393 left_roll=0.0604 left_gripper=0.0101 right_x=0.2923 right_y=0.0468 right_z=0.2545 right_yaw=0.3012 right_pitch=-0.4068 right_roll=-0.0037 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -9.1419, 5.3949, 1.2088, -0.2466, 0.0317, 0.7985, -0.0889, -3.494, 6.0376, 1.4481, -0.1294, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:147317c0dfe52021cd1883eb89cdaded66a2f7ab63927c9231b78a3e0c4db414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6e7837f6856ec6802f6d920db17cb9c1310813070fb583a31f021be041ae896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32df60fa6596f2a2354cbf86f36a3c1814079ab24e7515a1fb5f2a3301bfb9f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 4.674 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7113, 1.7657, 1.0035, -0.3573, -0.4309, -0.6277, 0.999, 0.0734, 1.2304, 1.4002, -1.15, -0.1246, -0.2089, 0.9968]\nstate[eef_state]: left_x=0.3462 left_y=-0.1962 left_z=0.0379 left_yaw=0.0347 left_pitch=-0.3798 left_roll=0.0633 left_gripper=0.999 right_x=0.2972 right_y=0.0475 right_z=0.2577 right_yaw=0.299 right_pitch=-0.3835 right_roll=-0.0092 right_gripper=0.9968\nstate[joint_eff]: [0.2667, -7.9521, 5.9009, 1.3944, -0.2418, 0.2076, -0.0171, 0.335, -3.8769, 5.9282, 1.6435, -0.0708, 0.1783, 0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6712, 1.7931, 1.0088, -0.3138, -0.4114, -0.5961, 0.999, 0.0723, 1.2304, 1.4002, -1.1545, -0.1249, -0.2077, 0.9968]\nstate[eef_state]: left_x=0.3591 left_y=-0.1904 left_z=0.0325 left_yaw=0.0366 left_pitch=-0.3765 left_roll=0.0536 left_gripper=0.999 right_x=0.2963 right_y=0.0471 right_z=0.2571 right_yaw=0.298 right_pitch=-0.3879 right_roll=-0.0071 right_gripper=0.9968\nstate[joint_eff]: [0.9368, -7.3504, 7.9658, 1.243, -0.232, 0.232, -0.0122, -0.1983, -3.6308, 6.0239, 1.3797, -0.149, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6727, 1.803, 1.0142, -0.3286, -0.408, -0.6033, 0.0101, 0.0723, 1.2304, 1.4002, -1.174, -0.1249, -0.21, 0.9968]\nstate[eef_state]: left_x=0.3569 left_y=-0.1901 left_z=0.0287 left_yaw=0.0421 left_pitch=-0.393 left_roll=0.0604 left_gripper=0.0101 right_x=0.2923 right_y=0.0468 right_z=0.2545 right_yaw=0.3012 right_pitch=-0.4068 right_roll=-0.0037 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -9.1419, 5.3949, 1.2088, -0.2466, 0.0317, 0.7985, -0.0889, -3.494, 6.0376, 1.4481, -0.1294, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:147317c0dfe52021cd1883eb89cdaded66a2f7ab63927c9231b78a3e0c4db414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6e7837f6856ec6802f6d920db17cb9c1310813070fb583a31f021be041ae896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32df60fa6596f2a2354cbf86f36a3c1814079ab24e7515a1fb5f2a3301bfb9f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoQQKjgEIEhgCKkAskT42XMcv5NF6+6nQXPVreFPYejtLLNrjQPAQRSbuHSkkEQ84Hrpal92lL5CF+IoM+AKQmn02LAnAUBHGVuOyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZe4zNUGEgy/ccjcHWR9qi1WkLMaDM0TlrQvO3L3XvewdyIwRraOzk4mV6Ggt9nGrAkzMx5Y6BKlUh3mesNAe/jGaZgW+i+FcAzjDd/nsamp4K1vKr8C+5V0OGNlUZ4ufXtb2+cpQU/CVp/EmJxC+sWemi8y6HjoONLYDcFX7uzdca+fpes/141U8v7kXKH8XEBIcnSR58vlFn+DknmL7Szl5jN8sBjDCeJpAjiuj/suvabvFRirL/0Ii5hj2pNKoOolvhxNckNaXodYO9oTlbhCl1Qg40Ast5aX5j3kCurW8HgUFRzWAuAu8+o7ajfM96oYhS342H3Eif+UOSuea8L19SNR6tpRijEX+VWtUyYBut0e6NAyMKTxf5s4UFneWRqG6RwapPeC4q17yYjfA4TQ7TyL4Dy+rWbdk644etWutNlSH3Cy1GH/1WpmUTYsKiCsVKeqMzjFFUtMD9lO2LLQGwJwWglwwf+kt+wEP19/+vsrhln5vxGH9ps43vKwPsPJMBDIs6OXtPEvKhWhhJnslOyTghgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0194dM6RUaPxmdQssiBENqM4",
      "input": {
        "note": "Close came up empty — the teddy is about 3 cm to the arm's left of the jaws. Opening and shifting left to line up on its body.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.158,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0194dM6RUaPxmdQssiBENqM4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5976, 1.7672, 0.9352, -0.3061, -0.3779, -0.5423, 0.9957, 0.0723, 1.2304, 1.4002, -1.1965, -0.1249, -0.21, 0.9969]\nstate[eef_state]: left_x=0.352 left_y=-0.1564 left_z=0.0177 left_yaw=0.0645 left_pitch=-0.4289 left_roll=0.0883 left_gripper=0.9957 right_x=0.2876 right_y=0.0465 right_z=0.2516 right_yaw=0.3034 right_pitch=-0.4288 right_roll=0.0019 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -10.5915, 5.1214, 1.243, -0.188, 0.0757, -0.149, -0.0342, -3.6308, 5.9829, 1.4481, -0.0952, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50943475c7a2dab775f4b44a966bb7061268ed5f68ddf063a5c02bd22d6dfaf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:773d86ab599db3b3fd8aed105c41009dc0b2ff35107a70e0c4d37c792d0ea272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c47e7ade5ad573790da3eb37dfb4fe4a59fc7bb6b85b15b740f5e5e62b43ec6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 13.67 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6712, 1.7931, 1.0088, -0.3138, -0.4114, -0.5961, 0.999, 0.0723, 1.2304, 1.4002, -1.1545, -0.1249, -0.2077, 0.9968]\nstate[eef_state]: left_x=0.3591 left_y=-0.1904 left_z=0.0325 left_yaw=0.0366 left_pitch=-0.3765 left_roll=0.0536 left_gripper=0.999 right_x=0.2963 right_y=0.0471 right_z=0.2571 right_yaw=0.298 right_pitch=-0.3879 right_roll=-0.0071 right_gripper=0.9968\nstate[joint_eff]: [0.9368, -7.3504, 7.9658, 1.243, -0.232, 0.232, -0.0122, -0.1983, -3.6308, 6.0239, 1.3797, -0.149, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6727, 1.803, 1.0142, -0.3286, -0.408, -0.6033, 0.0101, 0.0723, 1.2304, 1.4002, -1.174, -0.1249, -0.21, 0.9968]\nstate[eef_state]: left_x=0.3569 left_y=-0.1901 left_z=0.0287 left_yaw=0.0421 left_pitch=-0.393 left_roll=0.0604 left_gripper=0.0101 right_x=0.2923 right_y=0.0468 right_z=0.2545 right_yaw=0.3012 right_pitch=-0.4068 right_roll=-0.0037 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -9.1419, 5.3949, 1.2088, -0.2466, 0.0317, 0.7985, -0.0889, -3.494, 6.0376, 1.4481, -0.1294, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5976, 1.7672, 0.9352, -0.3061, -0.3779, -0.5423, 0.9957, 0.0723, 1.2304, 1.4002, -1.1965, -0.1249, -0.21, 0.9969]\nstate[eef_state]: left_x=0.352 left_y=-0.1564 left_z=0.0177 left_yaw=0.0645 left_pitch=-0.4289 left_roll=0.0883 left_gripper=0.9957 right_x=0.2876 right_y=0.0465 right_z=0.2516 right_yaw=0.3034 right_pitch=-0.4288 right_roll=0.0019 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -10.5915, 5.1214, 1.243, -0.188, 0.0757, -0.149, -0.0342, -3.6308, 5.9829, 1.4481, -0.0952, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50943475c7a2dab775f4b44a966bb7061268ed5f68ddf063a5c02bd22d6dfaf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:773d86ab599db3b3fd8aed105c41009dc0b2ff35107a70e0c4d37c792d0ea272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c47e7ade5ad573790da3eb37dfb4fe4a59fc7bb6b85b15b740f5e5e62b43ec6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgQKjgEIEhgCKkCUDh5/qZksr13IDJ/sfs97+Ljvwi13/O3PzMmiQrb1D+iLn0F0q4ONHLZSCj+sS/HIdxidw/YTRt6PNG+66K6HMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ24zNUGEgxSdEdt3Z+xE8goMWYaDD+PtNl0RYB7saYyTyIwgZqNZkwT7uhKLloJr68gtacNBki7MnqgS2P7BCgX4bYfkqSa/NNYKYwLCAcsE36WKrgCSIGHqOufZjHCcnyZTMsz7LW2//Hf5PD3oLH/FnGAj8AmYst11Pw3QTzwMNlEQ2+HhcXyZI3R44NRmMg2mO75NI+sINCMA8oW4oFg026UFQn6WLqWArCffpBW7LQRRrKYMgjtvZMS+GNTqu2K1n0ZyKXPYPDMsHVlU5p3WLQ1MqE2Jg4kTn+7pFo6Nfn36AeURQjuGDJN0ToLFCFGKUrlcWaD7cjOlLGgUBTn6xHEyE59Bx6q5RozZw9sT0+ZZsJEqCmMXzFYrH+r/KHFojcdFjAHZ6F3uBPMnw06kKyWzbKNGZlBjrnm8xSbasn7M6uYXgEr7PRXA+K/IA3VlYrkk0AhtusbbHRzQz55tIEa2dOaa50Onx4X3qy+y7cU4cpZquk9Do4mUb5LpMzdXDL5Z9b2NDyeORZqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016HMRH1jU5dxhn4EYJbgLA7",
      "input": {
        "note": "Teddy now spans the jaw column in the wrist view; easing forward and closing on its body.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.375
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016HMRH1jU5dxhn4EYJbgLA7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.564, 1.8198, 0.9829, -0.3225, -0.3695, -0.5228, 0.0167, 0.0723, 1.2304, 1.4002, -1.2163, -0.1249, -0.21, 0.9969]\nstate[eef_state]: left_x=0.3635 left_y=-0.1502 left_z=0.011 left_yaw=0.0862 left_pitch=-0.4516 left_roll=0.1073 left_gripper=0.0167 right_x=0.2834 right_y=0.0462 right_z=0.2491 right_yaw=0.3056 right_pitch=-0.4481 right_roll=0.007 right_gripper=0.9969\nstate[joint_eff]: [0.3487, -7.2957, 8.3761, 1.1062, -0.1099, 0.1441, 0.735, -0.0615, -3.6171, 6.147, 1.3553, -0.1245, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d1c351ac0928bf7cb936a2ad000ee2569140ed53d98ab1aa872d4111e28404b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f368eb87dfbf9fc7c09978afbf16dbaa7ae56da00a5f42e99026e0f3e155fb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a831088d96a8f134b9e34ef3b77b37d89bd4436f64b40323de666fc0962c6dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /messages · status 200 · 7.053 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6727, 1.803, 1.0142, -0.3286, -0.408, -0.6033, 0.0101, 0.0723, 1.2304, 1.4002, -1.174, -0.1249, -0.21, 0.9968]\nstate[eef_state]: left_x=0.3569 left_y=-0.1901 left_z=0.0287 left_yaw=0.0421 left_pitch=-0.393 left_roll=0.0604 left_gripper=0.0101 right_x=0.2923 right_y=0.0468 right_z=0.2545 right_yaw=0.3012 right_pitch=-0.4068 right_roll=-0.0037 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -9.1419, 5.3949, 1.2088, -0.2466, 0.0317, 0.7985, -0.0889, -3.494, 6.0376, 1.4481, -0.1294, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5976, 1.7672, 0.9352, -0.3061, -0.3779, -0.5423, 0.9957, 0.0723, 1.2304, 1.4002, -1.1965, -0.1249, -0.21, 0.9969]\nstate[eef_state]: left_x=0.352 left_y=-0.1564 left_z=0.0177 left_yaw=0.0645 left_pitch=-0.4289 left_roll=0.0883 left_gripper=0.9957 right_x=0.2876 right_y=0.0465 right_z=0.2516 right_yaw=0.3034 right_pitch=-0.4288 right_roll=0.0019 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -10.5915, 5.1214, 1.243, -0.188, 0.0757, -0.149, -0.0342, -3.6308, 5.9829, 1.4481, -0.0952, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.564, 1.8198, 0.9829, -0.3225, -0.3695, -0.5228, 0.0167, 0.0723, 1.2304, 1.4002, -1.2163, -0.1249, -0.21, 0.9969]\nstate[eef_state]: left_x=0.3635 left_y=-0.1502 left_z=0.011 left_yaw=0.0862 left_pitch=-0.4516 left_roll=0.1073 left_gripper=0.0167 right_x=0.2834 right_y=0.0462 right_z=0.2491 right_yaw=0.3056 right_pitch=-0.4481 right_roll=0.007 right_gripper=0.9969\nstate[joint_eff]: [0.3487, -7.2957, 8.3761, 1.1062, -0.1099, 0.1441, 0.735, -0.0615, -3.6171, 6.147, 1.3553, -0.1245, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d1c351ac0928bf7cb936a2ad000ee2569140ed53d98ab1aa872d4111e28404b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f368eb87dfbf9fc7c09978afbf16dbaa7ae56da00a5f42e99026e0f3e155fb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a831088d96a8f134b9e34ef3b77b37d89bd4436f64b40323de666fc0962c6dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D8oNvcMyECkqdxkdFHJ2Xg",
      "input": {
        "note": "Still an empty close — the teddy is further forward than the fingertips. Opening and reaching 4 cm further out onto its body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.41,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01D8oNvcMyECkqdxkdFHJ2Xg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5014, 1.9156, 1.1393, -0.3943, -0.3473, -0.4805, 0.9959, 0.0723, 1.2343, 1.3937, -1.2407, -0.1246, -0.2104, 0.9969]\nstate[eef_state]: left_x=0.3972 left_y=-0.1451 left_z=0.0142 left_yaw=0.1093 left_pitch=-0.4753 left_roll=0.1201 left_gripper=0.9959 right_x=0.2779 right_y=0.0457 right_z=0.2429 right_yaw=0.3095 right_pitch=-0.4819 right_roll=0.0154 right_gripper=0.9969\nstate[joint_eff]: [0.5265, -7.9385, 8.3077, 1.116, -0.188, 0.1636, -0.149, -0.0889, -3.9316, 6.4615, 1.3553, -0.0904, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:106141e680fdfccb8fb88abf6f8934d69d97ec33e14a26f5cf4682c1e6b20901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90c65e651d3d868db0ade3878a58e56dd441cfab8e3fea41566a886de8c7a65b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e697724783bb194e38fb1ecd45958fc2ad73b036028e9f1a13ad16f31bb001a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 10.37 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5976, 1.7672, 0.9352, -0.3061, -0.3779, -0.5423, 0.9957, 0.0723, 1.2304, 1.4002, -1.1965, -0.1249, -0.21, 0.9969]\nstate[eef_state]: left_x=0.352 left_y=-0.1564 left_z=0.0177 left_yaw=0.0645 left_pitch=-0.4289 left_roll=0.0883 left_gripper=0.9957 right_x=0.2876 right_y=0.0465 right_z=0.2516 right_yaw=0.3034 right_pitch=-0.4288 right_roll=0.0019 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -10.5915, 5.1214, 1.243, -0.188, 0.0757, -0.149, -0.0342, -3.6308, 5.9829, 1.4481, -0.0952, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.564, 1.8198, 0.9829, -0.3225, -0.3695, -0.5228, 0.0167, 0.0723, 1.2304, 1.4002, -1.2163, -0.1249, -0.21, 0.9969]\nstate[eef_state]: left_x=0.3635 left_y=-0.1502 left_z=0.011 left_yaw=0.0862 left_pitch=-0.4516 left_roll=0.1073 left_gripper=0.0167 right_x=0.2834 right_y=0.0462 right_z=0.2491 right_yaw=0.3056 right_pitch=-0.4481 right_roll=0.007 right_gripper=0.9969\nstate[joint_eff]: [0.3487, -7.2957, 8.3761, 1.1062, -0.1099, 0.1441, 0.735, -0.0615, -3.6171, 6.147, 1.3553, -0.1245, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5014, 1.9156, 1.1393, -0.3943, -0.3473, -0.4805, 0.9959, 0.0723, 1.2343, 1.3937, -1.2407, -0.1246, -0.2104, 0.9969]\nstate[eef_state]: left_x=0.3972 left_y=-0.1451 left_z=0.0142 left_yaw=0.1093 left_pitch=-0.4753 left_roll=0.1201 left_gripper=0.9959 right_x=0.2779 right_y=0.0457 right_z=0.2429 right_yaw=0.3095 right_pitch=-0.4819 right_roll=0.0154 right_gripper=0.9969\nstate[joint_eff]: [0.5265, -7.9385, 8.3077, 1.116, -0.188, 0.1636, -0.149, -0.0889, -3.9316, 6.4615, 1.3553, -0.0904, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:106141e680fdfccb8fb88abf6f8934d69d97ec33e14a26f5cf4682c1e6b20901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90c65e651d3d868db0ade3878a58e56dd441cfab8e3fea41566a886de8c7a65b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e697724783bb194e38fb1ecd45958fc2ad73b036028e9f1a13ad16f31bb001a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS1wYKjgEIEhgCKkBC59WbCBYklJSLHTBiwDrv6MFLLOaUMqhkgMNZf0NUNUTk+8IvN3bTBH42WaxYteqsU4YrXcyx8Nengv3IZvF9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbO4zNUGEgyZfs895mFm+YhAJ3caDDH4B6uaMBZtraiIoiIwilNQxehHf/BAcqTfK0B9bfFjgsEsnEF+AzFLJXfZg1F2IBg/AfpgYFuD1yY+WllFKvUEgSn7j6K/OxJAZGHJMDf3hSXfesTXTVUiLhWKCTdAaLSTyQD61NnbHEdUTvkdBrg9MpDgYZVHXaVgONjytvSjyujvEpn2KCBcS69I1iU/nnacCfZtYOv2vj1CYL4O+kDKuO+mkiNbFQlDzgnUU/1m+G5F6nHpx4v9zNceEt6CixMv5hr5VwQcFfxBXCeBNA6Rdmi09R7Z85eEabmOdq/9AAIOGPfngemtHIhWx4m5pz6P+mKWPwZbHEuMWoP7dkOjO5v4jQ+pAXcCAwNjIPOnGUQ+fClJaB+tlv+ydX4bwJ0n/KQ2KwWNzjMsROzqg6qkm4A0VxrzB4PnoQIdCjIXrPQwLjPw7oYn0lr9uZyuyuuIUYklfoiDTLPrNCPRgFfH9Hw8lLb+DrqWF55TSg/yzjHP+p/YzSG6HtU9bbD5kjtsdOxeMI0E3LmAX2NFqBSo65GPZWO/jaOacZ5p2kMzcDK49Iy6f0lJEnIR7y9W4OExJ6rSC6sXQTxzMdj0FE7+dFjvSyYYltSf+eXEIXBtPZbji02yYRJwROHIL9QwbAxmDctdOLjcckBRsL9hNJG1Kd9cgXb09wSE6skFF8nDb8xWA7TRhOToI/Nf1C6zYrVG9B+i1doRY5+bViSwW3I+MaHUgFn7nzjZKQfKZeUuud2LkzLEj4jBMbgIFILVYMxz/rmOoAghxOhsIJGoW1YVU2fL9YbUKOrh0tMba667pUtodXHjVxi0mrjhLbOjol4pEJXxpTEYsrUlurFcjR/iMttF7wDGoYaTLcQmx863x/eVbMob6I36GUjmtwTsdjL2EqqfPYsko5iIVLnEkBfvTiKXh94YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013iRtpJgzcoTSVyrYpS5CDX",
      "input": {
        "note": "Teddy sits a few cm to the arm's left of the jaws; sliding left onto it and closing in the same motion to save steps.",
        "targets": {
          "left_gripper": 0.0,
          "left_y": -0.115
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013iRtpJgzcoTSVyrYpS5CDX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4305, 1.9022, 1.076, -0.3668, -0.3252, -0.4217, 0.0378, 0.0723, 1.2343, 1.393, -1.2598, -0.1249, -0.21, 0.9969]\nstate[eef_state]: left_x=0.3918 left_y=-0.1139 left_z=0.0015 left_yaw=0.1333 left_pitch=-0.5099 left_roll=0.147 left_gripper=0.0378 right_x=0.2737 right_y=0.0455 right_z=0.2405 right_yaw=0.3122 right_pitch=-0.5011 right_roll=0.0213 right_gripper=0.9969\nstate[joint_eff]: [0.4855, -11.535, 5.3812, 1.0916, -0.0757, 0.1978, 1.1648, -0.0479, -3.4393, 5.9692, 1.2625, -0.1001, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5e524e03b2499a560440a96c83961b784e7fa6faaf215cbc89a92896c47bf63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f581b8f074ba10c2c8105a9d39b1cd45fb66a5a96ddb0c8f857cd6dffa709078",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9193f086331344d744e40e284951ba404f4a5c1e7493e3dd357e77981fec1342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 17.56 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.564, 1.8198, 0.9829, -0.3225, -0.3695, -0.5228, 0.0167, 0.0723, 1.2304, 1.4002, -1.2163, -0.1249, -0.21, 0.9969]\nstate[eef_state]: left_x=0.3635 left_y=-0.1502 left_z=0.011 left_yaw=0.0862 left_pitch=-0.4516 left_roll=0.1073 left_gripper=0.0167 right_x=0.2834 right_y=0.0462 right_z=0.2491 right_yaw=0.3056 right_pitch=-0.4481 right_roll=0.007 right_gripper=0.9969\nstate[joint_eff]: [0.3487, -7.2957, 8.3761, 1.1062, -0.1099, 0.1441, 0.735, -0.0615, -3.6171, 6.147, 1.3553, -0.1245, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5014, 1.9156, 1.1393, -0.3943, -0.3473, -0.4805, 0.9959, 0.0723, 1.2343, 1.3937, -1.2407, -0.1246, -0.2104, 0.9969]\nstate[eef_state]: left_x=0.3972 left_y=-0.1451 left_z=0.0142 left_yaw=0.1093 left_pitch=-0.4753 left_roll=0.1201 left_gripper=0.9959 right_x=0.2779 right_y=0.0457 right_z=0.2429 right_yaw=0.3095 right_pitch=-0.4819 right_roll=0.0154 right_gripper=0.9969\nstate[joint_eff]: [0.5265, -7.9385, 8.3077, 1.116, -0.188, 0.1636, -0.149, -0.0889, -3.9316, 6.4615, 1.3553, -0.0904, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4305, 1.9022, 1.076, -0.3668, -0.3252, -0.4217, 0.0378, 0.0723, 1.2343, 1.393, -1.2598, -0.1249, -0.21, 0.9969]\nstate[eef_state]: left_x=0.3918 left_y=-0.1139 left_z=0.0015 left_yaw=0.1333 left_pitch=-0.5099 left_roll=0.147 left_gripper=0.0378 right_x=0.2737 right_y=0.0455 right_z=0.2405 right_yaw=0.3122 right_pitch=-0.5011 right_roll=0.0213 right_gripper=0.9969\nstate[joint_eff]: [0.4855, -11.535, 5.3812, 1.0916, -0.0757, 0.1978, 1.1648, -0.0479, -3.4393, 5.9692, 1.2625, -0.1001, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5e524e03b2499a560440a96c83961b784e7fa6faaf215cbc89a92896c47bf63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f581b8f074ba10c2c8105a9d39b1cd45fb66a5a96ddb0c8f857cd6dffa709078",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9193f086331344d744e40e284951ba404f4a5c1e7493e3dd357e77981fec1342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS9AoKjgEIEhgCKkAWhRNXorhoOp+R6r0wJiBQbF19W/kGH/pOPZ0Gawx0FZTIh/23xvaq1lGJpLaSuZXl6GpGcnaz59wKsgHTzr08Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb+4zNUGEgywU3xC/nB6iLFOKgwaDJ8X5Hypr0G4FwMfwSIwTBiQ3UShbVMZXGyUuC0P2NSg9BoVcZqxtLBKxUyFwFlWbwTGQwf5Wj5Ohc8CjojcKpIJZ1R5FIo7EXiju/jflCrIHdvnive8ZNUBELMnHmFo/OAffJbMoyY+IszsjLufd1lTo8P9GJGnfUmml60fVpn1HW2iIbdRiAgtDP1Tucph/0NZx8SBpG8tP/1bEAG7AEKC1NshEwLEjkbiKxXCcC9jvdYbzlBqoA30hSHDH6VIOUSMKxzZOGL9EZi2cMTbAevhWY9CeiX4PLN4a3Gd5Wk2y2I+6MGHNFkVr6IwAuAzAbqlD+Ubmz4O+RvzTQJtnX2MtgxOP4ObjlD5L/VWnSNMwOIDLqiF0scq7geI5oJ87eXcdHbKNwoo5F/t7nySQ3CPfaTtudPoh0bfDnrddiz33mWF3QihkdSn7i0AZQecPR0AxNGWfv6FyAArMZzItFtD4AGXgW+jx3D0hGxWBfO6oRFXs/tqJp1zWwc7O9IcBlFCDSuZVKnp4upAtORWQw+JV/cEo+iatmmM7t34Zov/jMr5M9DSMObqA04zHG5E3zpqpvldXNEKS2X/Xi4JmukXclyy3+B9AN6qKUSosYqFdd/eRSdIA4L/7A1SsquSjjpyH5dDqdop3Ytp13zDK+J5BLPaJl+LFXi3za/w9ap+JEH8BXopS+N0tGSREh1+kBCLfRe3QUCeURaBK9/3IoGSvPetPxJnTob/qwMjfIjIH32UFATHRS5NtAw+5LbleVuJRy1jtJDgHJMPUgu30nUG+IIODsnpgqO6Sojiu/cU2IhsQndODoT+VnBqUd9qcyEKHK171oLYCiR9QH0GngFEH54PDoQ99FKchYwy5tSqwZV9L7takPFRuN8Ny6c56mKPo5hqgSp5YrRTMalwLy4gemikGP/y48KakiONJdU425dYGxNsc2I9etlkYs0t8QBVo/lXMLSJcKhjThxUBCpOMiq6Xc2NeJ0zjpfSNPRKBBS6kIMwGYRc48/VT//8gXoUxxR6DziBL/zr5aUQaFgAZhZPduf570XAV3s2Upu1HnxVKXpiLjoVQMWJ+3jt+ejekdPjHfOpsp9H7DTKTEZL+AYiLx2sG9gCunSIWaZOOv7bsbsXXBULtqP8gNNVe2bFuO1O6MrWFsDBxHPhpp8yDcgpe/E8soI5Rf3LK1Ibnzm+G3UPx0c0/Yf7K8F1s3VaMr8je/WoZu8Wy2frcB8u3akoxUDu2YgicXFuf6yT0szW+mxRjH/JjnSBvE6wLIBUUxudlpVCa1B5KkQoNx4hp5XfmgmLaAE/cZsO293txthEmUVzdfyWjKEmLIos5D9Xr+wObmQuPRv6y3Ph9bEL2QJ5bV8Jj2ww/LFRYxPyZOZL7HYirdxnh2x/aQLGtHbgVfRI7ILWWPwzEbXU76BnOMuC0iv7EKarhe1FjV5QDmlNh6K2EnSDidF0pOKteIFvO+x9NptCu5Poa6PWZ+OCP4DoY8npVVUnj4LMAnpFE4TnaBs/OEfpOO2yS8/B1mNh7bNF9caKfu0BFbl8tajpg+E1t8uXTkemNDHlYxPqw9ufESP0i2MciKvO8jwnakUqGMtAVO4QmJ3AQknla+Sebg6ABso08RMpqV/XaW6OaGhUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016NUmkiG5XLZWkibvPe1XtB",
      "input": {
        "note": "Jaws closed on the teddy's fur; lifting and carrying toward the open safe on the right side of the table.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.36,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_016NUmkiG5XLZWkibvPe1XtB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7994, 2.5042, 2.7228, -1.5684, -0.4244, -0.7952, 0.0382, 0.0723, 1.2346, 1.3911, -1.2716, -0.1246, -0.21, 0.9969]\nstate[eef_state]: left_x=0.4094 left_y=-0.3116 left_z=0.1555 left_yaw=0.1286 left_pitch=-0.5292 left_roll=0.1538 left_gripper=0.0382 right_x=0.2709 right_y=0.0452 right_z=0.2385 right_yaw=0.3137 right_pitch=-0.5149 right_roll=0.0248 right_gripper=0.9969\nstate[joint_eff]: [-0.9778, -16.4308, 5.2034, 0.7204, -0.4469, -0.1148, 1.0281, -0.1162, -3.453, 6.0513, 1.1795, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c490e51ff8d60a0cd55f086b7855bec37758cf850a7d302f413e8f891074a14a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9362ed28b5647da3d5fa64f630f6348570e8c6ccf796ef60eec267c06178a7b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d0a29b9064a435ce0e2f983b9c71f9939d8ae1f8ac45a5b772d4328d8e3455b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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