adhoc

completed
2026-09-22T23:04:19.497398+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
431.2 s
total steps
354
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows an open red-lined safe in the middle, a yellow lemon to its right, and two tan objects to its left/below. I'm moving the right arm out over the lemon to line it up in the wrist camera.
move_to
right_x0.4000right_y0.1200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7921, 0.6041, -0.3904, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6067, -0.4042, -0.02, -0.0196, 0.9995] state[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1783 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.0009 right_z=0.1763 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995 state[joint_eff]: [-0.4171, -1.4017, 10.2085, 2.0098, -0.0659, 0.149, -0.0855, -0.2803, -1.4154, 9.7299, 2.083, -0.0171, 0.022, -0.0611] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.12, "right_z": 0.15, "right_gripper": 1}, "note": "Top view shows an open red-lined safe in the middle, a yellow lemon to its right, and two tan objects to its left/below. I'm moving the right arm out over the lemon to line it up in the wrist camera."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe lemon is now centered on the jaw column in the right wrist view; advancing 3 cm radially and descending to lemon-grasp height.
move_to
right_x0.4100right_y0.1150right_z0.0400right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0189, -0.0383, 0.9992, 0.4213, 1.4216, 0.8207, -0.1249, 0.3103, 0.2035, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0024 left_pitch=-0.0183 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3811 right_y=0.1156 right_z=0.126 right_yaw=0.0441 right_pitch=-0.0937 right_roll=-0.043 right_gripper=0.9996 state[joint_eff]: [-0.2256, -1.5795, 6.8034, 1.8926, -0.0855, -0.022, -0.0171, 0.1026, -6.612, 8.841, 1.9267, 0.2466, 0.2271, -0.0611] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.115, "right_z": 0.04, "right_pitch": 0}, "note": "The lemon is now centered on the jaw column in the right wrist view; advancing 3 cm radially and descending to lemon-grasp height."})
tool
executing move_to over 6 steps (0.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteLemon fills the lower wrist view centered on the jaw column but the last move was clamped short; nudging 2 cm further out before closing.
move_to
right_x0.4150right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4133, -0.0189, -0.0387, 0.9992, 0.3965, 1.7191, 0.6456, 0.3325, 0.3069, 0.1673, 0.9995] state[eef_state]: left_x=0.2909 left_y=0.0014 left_z=0.1729 left_yaw=0.0026 left_pitch=-0.0282 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3925 right_y=0.1104 right_z=0.0256 right_yaw=0.0417 right_pitch=-0.1099 right_roll=-0.0744 right_gripper=0.9995 state[joint_eff]: [-0.0068, -1.4427, 7.0222, 1.7509, -0.0073, -0.0513, -0.0073, -0.5812, -6.6803, 4.6974, 1.619, 0.0659, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_z": 0.03}, "note": "Lemon fills the lower wrist view centered on the jaw column but the last move was clamped short; nudging 2 cm further out before closing."})
tool
executing move_to over 2 steps (0.2s)
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 noteLemon sits between the jaws at table level; 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, 0.7994, 0.6067, -0.4168, -0.0189, -0.0383, 0.9992, 0.3817, 1.7569, 0.6796, 0.3618, 0.2897, 0.1474, 0.9995] state[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1722 left_yaw=0.0024 left_pitch=-0.0317 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4059 right_y=0.1124 right_z=0.0272 right_yaw=0.0527 right_pitch=-0.0904 right_roll=-0.0703 right_gripper=0.9995 state[joint_eff]: [-0.335, -1.2239, 7.3915, 1.7607, -0.0171, -0.0366, -0.0122, -0.7726, -7.0222, 7.6103, 1.9512, 0.0464, 0.0073, -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_gripper": 0}, "note": "Lemon sits between the jaws at table level; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
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 close settled at 0.009 = empty, so the lemon is a couple of cm beyond the fingertips; reopening and advancing 3.5 cm.
move_to
right_gripper1.0000right_x0.4350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0189, -0.0383, 0.9992, 0.3801, 1.7657, 0.6804, 0.3202, 0.2871, 0.139, 0.009] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0024 left_pitch=-0.0431 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3992 right_y=0.1095 right_z=0.0166 right_yaw=0.0562 right_pitch=-0.1383 right_roll=-0.091 right_gripper=0.009 state[joint_eff]: [-0.1983, -1.1966, 7.3778, 1.7802, -0.0513, -0.0317, -0.0122, -0.0342, -8.335, 5.1077, 2.0, 0.1441, 0.0708, 0.6764] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.435}, "note": "The close settled at 0.009 = empty, so the lemon is a couple of cm beyond the fingertips; reopening and advancing 3.5 cm."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe lemon now sits between both visible jaw tips; closing to ~1.4 cm gap to grip it.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3405, 1.8557, 0.7887, 0.2611, 0.2573, 0.104, 0.9946] state[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0026 left_pitch=-0.0503 left_roll=-0.003 left_gripper=0.9992 right_x=0.4209 right_y=0.1052 right_z=0.0061 right_yaw=0.0586 right_pitch=-0.1854 right_roll=-0.109 right_gripper=0.9946 state[joint_eff]: [-0.0615, -1.2376, 7.0085, 1.7656, -0.0464, -0.0366, -0.0122, -0.1162, -7.3641, 7.706, 1.8095, 0.105, -0.022, -0.1245] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "The lemon now sits between both visible jaw tips; closing to ~1.4 cm gap to grip it."})
tool
executing move_to over 9 steps (0.9s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteGripper closed onto the lemon, which visibly tilted up; lifting 12 cm to confirm the grasp in the top view.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.3408, 1.8648, 0.7929, 0.252, 0.2474, 0.1005, 0.1548] state[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1643 left_yaw=0.0026 left_pitch=-0.0698 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4196 right_y=0.1067 right_z=0.0019 right_yaw=0.0683 right_pitch=-0.2011 right_roll=-0.1083 right_gripper=0.1548 state[joint_eff]: [-0.0068, -1.4427, 7.1726, 1.8486, -0.0562, -0.0513, -0.0122, -0.3897, -9.1282, 4.7795, 1.5751, 0.1929, -0.0024, 0.022] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper closed onto the lemon, which visibly tilted up; lifting 12 cm to confirm the grasp in the top view."})
tool
executing move_to over 8 steps (0.8s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteLemon appears held in the jaws; raising to 22 cm to clear the safe walls before traversing left over the safe.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.458, -0.0189, -0.0387, 0.9992, 0.3408, 1.631, 0.9939, -0.2241, 0.2428, 0.0929, 0.1529] state[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0026 left_pitch=-0.0767 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4144 right_y=0.1057 right_z=0.0949 right_yaw=0.074 right_pitch=-0.2422 right_roll=-0.1216 right_gripper=0.1529 state[joint_eff]: [-0.0068, -1.265, 7.4051, 1.7118, -0.0708, -0.0757, -0.0073, -0.3624, -9.3607, 8.7453, 1.7363, 0.1636, 0.0073, -0.2076] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Lemon appears held in the jaws; raising to 22 cm to clear the safe walls before traversing left over the safe."})
tool
executing move_to over 9 steps (0.9s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteCarrying the lemon leftward over the open safe (about 19 cm across) at 22 cm height, then I'll fine-align over the red interior in the wrist view.
move_to
right_x0.4000right_y0.2900right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4656, -0.0189, -0.0387, 0.9992, 0.3408, 1.5803, 1.38, -0.7059, 0.2428, 0.0856, 0.1528] state[eef_state]: left_x=0.2835 left_y=0.0016 left_z=0.1615 left_yaw=0.0026 left_pitch=-0.0843 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4122 right_y=0.1049 right_z=0.196 right_yaw=0.0749 right_pitch=-0.2861 right_roll=-0.1388 right_gripper=0.1528 state[joint_eff]: [-0.0342, -1.1419, 6.9675, 1.7607, -0.0659, -0.0611, -0.0122, -0.3487, -8.7316, 8.8274, 1.5556, 0.1197, 0.0415, -0.0317] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.29, "right_z": 0.22}, "note": "Carrying the lemon leftward over the open safe (about 19 cm across) at 22 cm height, then I'll fine-align over the red interior in the wrist view."})
tool
executing move_to over 16 steps (1.6s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe wrist view reveals the lemon is still on the table right of the safe — the earlier close was empty. Returning over the lemon, 4 cm further out this time, since the fingertips reach beyond what the wrist image suggests.
move_to
right_x0.4500right_y0.1000right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4797, -0.0189, -0.0387, 0.9992, 0.7837, 1.9888, 1.9797, -1.0641, 0.4652, 0.4419, 0.1527] state[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1588 left_yaw=0.0027 left_pitch=-0.0984 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3944 right_y=0.2863 right_z=0.2108 right_yaw=0.1115 right_pitch=-0.3225 right_roll=-0.1582 right_gripper=0.1527 state[joint_eff]: [-0.2256, -1.2239, 7.1726, 1.8242, -0.0806, -0.0659, -0.0122, 0.1846, -9.9487, 8.5538, 1.1502, 0.5055, 0.2271, -0.022] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.1, "right_z": 0.12, "right_gripper": 1}, "note": "The wrist view reveals the lemon is still on the table right of the safe \u2014 the earlier close was empty. Returning over the lemon, 4 cm further out this time, since the fingertips reach beyond what the wrist image suggests."})
tool
executing move_to over 16 steps (1.6s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteLemon is large and nearly centered in the wrist view just below the jaw column; descending to table level right over it.
move_to
right_x0.4500right_y0.1050right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 0.2966, 1.7779, 1.2896, -0.5312, 0.2108, 0.0284, 0.9973] state[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1556 left_yaw=0.0027 left_pitch=-0.1148 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4363 right_y=0.0984 right_z=0.1017 right_yaw=0.0821 right_pitch=-0.4073 right_roll=-0.1764 right_gripper=0.9973 state[joint_eff]: [-0.0342, -1.0462, 6.9812, 1.7949, -0.0513, -0.0659, -0.0122, -0.2256, -10.988, 6.9812, 1.663, 0.0269, -0.0708, -0.0513] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.105, "right_z": 0.02}, "note": "Lemon is large and nearly centered in the wrist view just below the jaw column; descending to table level right over it."})
tool
executing move_to over 6 steps (0.6s)
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 noteLemon is right between the open jaws at table level; closing to ~2.8 cm to squeeze it.
move_to
right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.511, -0.0189, -0.0387, 0.9992, 0.3, 1.9335, 1.1709, -0.3237, 0.1997, 0.0185, 0.9987] state[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1528 left_yaw=0.0027 left_pitch=-0.1297 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4349 right_y=0.1016 right_z=0.0179 right_yaw=0.0949 right_pitch=-0.4756 right_roll=-0.1871 right_gripper=0.9987 state[joint_eff]: [-0.0615, -1.1966, 7.2274, 1.7705, -0.0122, -0.0464, -0.0122, 0.0342, -9.0598, 5.7641, 1.4823, 0.1783, 0.1099, 0.1392] 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": 0.3}, "note": "Lemon is right between the open jaws at table level; closing to ~2.8 cm to squeeze it."})
tool
executing move_to over 7 steps (0.7s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteJaws are pinched on the lemon's sides; lifting to 15 cm to verify the lemon comes with them.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5182, -0.0189, -0.0387, 0.9992, 0.3, 1.9507, 1.1625, -0.3279, 0.1967, 0.0113, 0.3049] state[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1515 left_yaw=0.0028 left_pitch=-0.1369 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4295 right_y=0.1005 right_z=0.0073 right_yaw=0.099 right_pitch=-0.506 right_roll=-0.1947 right_gripper=0.3049 state[joint_eff]: [-0.0752, -1.2103, 6.9265, 1.6679, -0.0708, -0.0659, -0.0122, -0.212, -11.1385, 6.3932, 1.0965, 0.1245, 0.0708, 0.2076] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15}, "note": "Jaws are pinched on the lemon's sides; lifting to 15 cm to verify the lemon comes with them."})
tool
executing move_to over 10 steps (1.0s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteTwo closes came back empty, and in the top view the jaws appear a few cm to the right of the lemon, so I'm shifting 5 cm toward the lemon (+y) and dropping to table level with the gripper open.
move_to
right_x0.4400right_y0.1500right_z0.0100right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5255, -0.0189, -0.0383, 0.9992, 0.3, 1.8362, 1.5204, -0.8371, 0.1936, 0.0067, 0.3041] state[eef_state]: left_x=0.274 left_y=0.0017 left_z=0.1501 left_yaw=0.0026 left_pitch=-0.1442 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4288 right_y=0.1008 right_z=0.1253 right_yaw=0.1005 right_pitch=-0.5433 right_roll=-0.2025 right_gripper=0.3041 state[joint_eff]: [-0.1709, -1.0735, 6.9128, 1.6386, -0.0855, -0.0415, -0.0122, -0.2667, -11.9453, 8.1983, 1.1404, 0.1001, 0.0122, -0.1001] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.15, "right_z": 0.01, "right_gripper": 1}, "note": "Two closes came back empty, and in the top view the jaws appear a few cm to the right of the lemon, so I'm shifting 5 cm toward the lemon (+y) and dropping to table level with the gripper open."})
tool
executing move_to over 8 steps (0.8s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe lemon now fills the wrist view right at the jaws; closing to check whether the reading settles high (object held) or near zero (empty).
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5381, -0.0189, -0.0387, 0.9992, 0.403, 2.0335, 1.3685, -0.5568, 0.2291, 0.0814, 0.9948] state[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1478 left_yaw=0.0028 left_pitch=-0.1567 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4286 right_y=0.143 right_z=0.0169 right_yaw=0.1107 right_pitch=-0.5933 right_roll=-0.2241 right_gripper=0.9948 state[joint_eff]: [-0.335, -1.1419, 6.9128, 1.6777, -0.0611, -0.0513, -0.0122, 0.7726, -9.4701, 5.2444, 1.3309, 0.1929, 0.1832, -0.2515] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.2}, "note": "The lemon now fills the wrist view right at the jaws; closing to check whether the reading settles high (object held) or near zero (empty)."})
tool
executing move_to over 8 steps (0.8s)
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 noteRepeated closes read empty even though the lemon fills the wrist view — per the rig notes the fingertips reach past what the image shows, so I've likely been overshooting. Pulling back 4 cm toward the base at table level and reopening.
move_to
right_x0.3800right_y0.1300right_z0.0100right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5407, -0.0189, -0.0383, 0.9992, 0.4046, 2.0502, 1.3628, -0.5652, 0.2272, 0.0788, 0.2053] state[eef_state]: left_x=0.2715 left_y=0.0018 left_z=0.1473 left_yaw=0.0026 left_pitch=-0.1594 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4232 right_y=0.1418 right_z=0.0073 right_yaw=0.1096 right_pitch=-0.6238 right_roll=-0.2341 right_gripper=0.2053 state[joint_eff]: [-0.2256, -1.1829, 7.0906, 1.58, -0.0855, -0.0366, -0.0122, -0.3897, -12.1231, 6.2427, 0.9304, 0.1538, -0.0073, 0.0122] approver: 8 step(s) modified (delta_clamped ×8). 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_x": 0.38, "right_y": 0.13, "right_z": 0.01, "right_gripper": 1}, "note": "Repeated closes read empty even though the lemon fills the wrist view \u2014 per the rig notes the fingertips reach past what the image shows, so I've likely been overshooting. Pulling back 4 cm toward the base at table level and reopening."})
tool
executing move_to over 8 steps (0.8s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe lemon keeps slipping past the jaws, so I'll switch to the large teddy bear sitting in front of the safe: moving the right arm over it (about 27 cm left, 27 cm out) to line it up in the wrist view.
move_to
right_x0.2700right_y0.2700right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5556, -0.0189, -0.0387, 0.9992, 0.4198, 1.9011, 1.1404, -0.4698, 0.2424, 0.0898, 0.9946] state[eef_state]: left_x=0.269 left_y=0.0018 left_z=0.1444 left_yaw=0.0029 left_pitch=-0.1751 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3857 right_y=0.1296 right_z=0.0087 right_yaw=0.1076 right_pitch=-0.5969 right_roll=-0.2379 right_gripper=0.9946 state[joint_eff]: [-0.0889, -1.2239, 6.9538, 1.7363, -0.0806, -0.0562, -0.0122, 0.2803, -10.2632, 5.2718, 0.8913, 0.0611, 0.0073, -0.2222] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.27, "right_z": 0.13, "right_gripper": 1}, "note": "The lemon keeps slipping past the jaws, so I'll switch to the large teddy bear sitting in front of the safe: moving the right arm over it (about 27 cm left, 27 cm out) to line it up in the wrist view."})
tool
executing move_to over 12 steps (1.2s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe big teddy bear is right under the jaws in the wrist view with the safe's red interior just beyond; descending onto it, pulled 2 cm toward the base since objects at the image bottom sit slightly short of the fingertips.
move_to
right_x0.2550right_y0.2750right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5629, -0.0189, -0.0387, 0.9992, 0.9329, 1.8095, 1.5089, -1.0668, 0.3561, 0.5598, 0.999] state[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1431 left_yaw=0.0029 left_pitch=-0.1823 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2739 right_y=0.2721 right_z=0.1227 right_yaw=0.1673 right_pitch=-0.6001 right_roll=-0.2218 right_gripper=0.999 state[joint_eff]: [-0.0342, -0.9094, 7.0906, 1.6874, -0.0562, -0.0415, -0.0122, 0.1573, -7.6923, 7.4051, 0.569, 0.2955, 0.1734, -0.1245] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.255, "right_y": 0.275, "right_z": 0.03}, "note": "The big teddy bear is right under the jaws in the wrist view with the safe's red interior just beyond; descending onto it, pulled 2 cm toward the base since objects at the image bottom sit slightly short of the fingertips."})
tool
executing move_to over 6 steps (0.6s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteBear body lies between the jaws; closing to grip its torso.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5755, -0.0189, -0.0383, 0.9992, 0.9775, 1.8473, 1.2182, -0.8047, 0.3553, 0.5949, 0.9989] state[eef_state]: left_x=0.2656 left_y=0.0019 left_z=0.1409 left_yaw=0.0028 left_pitch=-0.1949 left_roll=0.0005 left_gripper=0.9992 right_x=0.2479 right_y=0.2641 right_z=0.037 right_yaw=0.1552 right_pitch=-0.6426 right_roll=-0.2638 right_gripper=0.9989 state[joint_eff]: [-0.0615, -1.1282, 6.8581, 1.6679, -0.0806, -0.0171, -0.0122, 0.5265, -7.6786, 5.9009, 0.7302, 0.2662, 0.0611, -0.022] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Bear body lies between the jaws; closing to grip its torso."})
tool
executing move_to over 10 steps (1.0s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteClosed on the brown bear (reading 0.05, likely fur pinched); lifting to 18 cm to see if it comes along and to clear the safe wall.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 0.9882, 1.8534, 1.1851, -0.765, 0.3706, 0.5957, 0.0545] state[eef_state]: left_x=0.264 left_y=0.0019 left_z=0.1392 left_yaw=0.0028 left_pitch=-0.2044 left_roll=0.0007 left_gripper=0.9992 right_x=0.2458 right_y=0.2633 right_z=0.0284 right_yaw=0.1559 right_pitch=-0.6311 right_roll=-0.2758 right_gripper=0.0545 state[joint_eff]: [-0.2667, -0.9641, 6.8581, 1.5995, -0.0415, -0.0171, -0.0122, 0.294, -10.6051, 5.2855, 0.5543, 0.3687, 0.0952, -0.0171] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "Closed on the brown bear (reading 0.05, likely fur pinched); lifting to 18 cm to see if it comes along and to clear the safe wall."})
tool
executing move_to over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe bear stayed on the table — the close was empty and it now sits at the bottom-left of the wrist view, so I'm shifting 2 cm further left and 2 cm toward the base, back down to table level with jaws open.
move_to
right_x0.2250right_y0.2900right_z0.0200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5873, -0.0189, -0.0383, 0.9992, 0.9958, 1.7679, 1.6276, -1.2739, 0.3798, 0.5953, 0.0541] state[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1388 left_yaw=0.0028 left_pitch=-0.2067 left_roll=0.0007 left_gripper=0.9992 right_x=0.2472 right_y=0.2676 right_z=0.1649 right_yaw=0.1681 right_pitch=-0.6116 right_roll=-0.2662 right_gripper=0.0541 state[joint_eff]: [-0.0479, -0.8, 6.8444, 1.5751, -0.0611, -0.022, -0.0122, 0.0068, -9.0735, 7.4051, 0.6276, 0.3053, 0.0562, -0.0513] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.225, "right_y": 0.29, "right_z": 0.02, "right_gripper": 1}, "note": "The bear stayed on the table \u2014 the close was empty and it now sits at the bottom-left of the wrist view, so I'm shifting 2 cm further left and 2 cm toward the base, back down to table level with jaws open."})
tool
executing move_to over 10 steps (1.0s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe bear now fills the space between both jaw tips; closing on it.
move_to
right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 1.0832, 1.8805, 1.2175, -0.8192, 0.3931, 0.6743, 0.9946] state[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1374 left_yaw=0.0031 left_pitch=-0.214 left_roll=0.0006 left_gripper=0.9992 right_x=0.221 right_y=0.28 right_z=0.0278 right_yaw=0.1583 right_pitch=-0.6327 right_roll=-0.3056 right_gripper=0.9946 state[joint_eff]: [0.0068, -1.2376, 6.8991, 1.58, -0.0317, -0.0415, -0.0122, 0.4855, -7.7607, 5.2034, 0.5446, 0.2271, 0.1197, 0.022] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "The bear now fills the space between both jaw tips; closing on it."})
tool
executing move_to over 9 steps (0.9s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteJaws appear clamped into the bear's fur; lifting to 20 cm to check if the bear comes up and to clear the safe wall.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 1.0927, 1.8908, 1.195, -0.7868, 0.4049, 0.6815, 0.1049] state[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1374 left_yaw=0.0028 left_pitch=-0.214 left_roll=0.0009 left_gripper=0.9992 right_x=0.2196 right_y=0.2803 right_z=0.0202 right_yaw=0.1567 right_pitch=-0.6222 right_roll=-0.3115 right_gripper=0.1049 state[joint_eff]: [-0.1846, -1.1419, 6.8718, 1.4921, -0.0708, -0.0122, -0.0073, 0.0342, -10.5231, 5.2444, 0.4176, 0.3394, 0.022, 0.1392] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Jaws appear clamped into the bear's fur; lifting to 20 cm to check if the bear comes up and to clear the safe wall."})
tool
executing move_to over 12 steps (1.2s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteThe bear still isn't being gripped; I notice the wrist has drifted to pitch -0.6 (tool tipped back 34°), so the fingers aren't pointing straight down. Commanding pitch and roll back to 0 to get a clean top-down grasp orientation.
move_to
right_pitch0.0000right_roll0.0000right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.5934, -0.0189, -0.0387, 0.9992, 1.0985, 1.8057, 1.7672, -1.4151, 0.408, 0.6815, 0.1053] state[eef_state]: left_x=0.2626 left_y=0.002 left_z=0.1373 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9992 right_x=0.221 right_y=0.2864 right_z=0.1888 right_yaw=0.1771 right_pitch=-0.6024 right_roll=-0.2853 right_gripper=0.1053 state[joint_eff]: [-0.253, -1.0462, 7.1453, 1.5067, -0.0855, -0.0562, -0.0122, 0.0479, -7.8427, 7.2684, 0.3883, 0.3883, 0.0269, 0.022] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_pitch": 0, "right_roll": 0, "right_z": 0.14}, "note": "The bear still isn't being gripped; I notice the wrist has drifted to pitch -0.6 (tool tipped back 34\u00b0), so the fingers aren't pointing straight down. Commanding pitch and roll back to 0 to get a clean top-down grasp orientation."})
tool
executing move_to over 21 steps (2.1s)
step 233
top_cam
camera top_cam step 233
assistant
agent noteWith the tool now vertical, the bear sits right at the bottom of the wrist view under the jaws; opening the gripper and descending to table level.
move_to
right_gripper1.0000right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.6079, -0.0189, -0.0387, 0.9992, 1.2644, 1.4853, 0.9188, -0.5026, 0.7856, 0.8127, 0.1053] state[eef_state]: left_x=0.26 left_y=0.002 left_z=0.1343 left_yaw=0.0031 left_pitch=-0.2311 left_roll=0.001 left_gripper=0.9992 right_x=0.2153 right_y=0.2781 right_z=0.1234 right_yaw=0.1902 right_pitch=-0.0792 right_roll=-0.0728 right_gripper=0.1053 state[joint_eff]: [-0.0342, -1.1282, 6.8308, 1.6386, -0.0513, -0.0415, -0.0122, 0.5675, -7.5692, 6.694, 1.409, 0.5104, -0.0171, -0.0122] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.02}, "note": "With the tool now vertical, the bear sits right at the bottom of the wrist view under the jaws; opening the gripper and descending to table level."})
tool
executing move_to over 9 steps (0.9s)
step 242
assistant
agent noteOrange bear fur fills the space between both jaws at table level; closing on it.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.6125, -0.0189, -0.0383, 0.9992, 1.2659, 1.7081, 0.693, -0.0982, 0.7788, 0.8131, 0.9947] state[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1335 left_yaw=0.003 left_pitch=-0.2357 left_roll=0.0014 left_gripper=0.9992 right_x=0.2118 right_y=0.2717 right_z=0.0215 right_yaw=0.1914 right_pitch=-0.1056 right_roll=-0.1086 right_gripper=0.9947 state[joint_eff]: [-0.0068, -1.1419, 6.9402, 1.5458, -0.0415, -0.0317, -0.0122, -0.1436, -5.9692, 4.6154, 1.0965, 0.3932, -0.0415, -0.1929] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "Orange bear fur fills the space between both jaws at table level; closing on it."})
tool
executing move_to over 9 steps (0.9s)
step 251
assistant
agent noteJaws have pinched the bear's fur; lifting to 22 cm to confirm the lift and clear the safe's front wall.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.6151, -0.0189, -0.0383, 0.9992, 1.2659, 1.7168, 0.688, -0.0811, 0.7738, 0.8124, 0.1552] state[eef_state]: left_x=0.2587 left_y=0.002 left_z=0.1331 left_yaw=0.003 left_pitch=-0.2384 left_roll=0.0014 left_gripper=0.9992 right_x=0.2114 right_y=0.2726 right_z=0.0185 right_yaw=0.1945 right_pitch=-0.1079 right_roll=-0.1041 right_gripper=0.1552 state[joint_eff]: [-0.0479, -1.1419, 6.8308, 1.5116, -0.0708, -0.0171, -0.0122, -0.212, -7.6103, 5.6957, 0.8767, 0.3639, -0.0464, 0.1392] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Jaws have pinched the bear's fur; lifting to 22 cm to confirm the lift and clear the safe's front wall."})
tool
executing move_to over 14 steps (1.4s)
step 265
assistant
agent noteThe bear is hanging from the jaws — the lift worked. Moving up and over the safe's red interior (about 7 cm left and 12 cm further out) before releasing.
move_to
right_x0.3300right_y0.3500right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.6308, -0.0189, -0.0387, 0.9992, 1.2659, 1.4548, 1.2415, -0.9108, 0.7639, 0.812, 0.1543] state[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1304 left_yaw=0.0033 left_pitch=-0.2544 left_roll=0.0015 left_gripper=0.9992 right_x=0.2113 right_y=0.2763 right_z=0.2029 right_yaw=0.1982 right_pitch=-0.1225 right_roll=-0.1125 right_gripper=0.1543 state[joint_eff]: [-0.1709, -0.9504, 6.8718, 1.6239, -0.0415, -0.0708, -0.0122, -0.1299, -6.9812, 8.0889, 1.0525, 0.3932, -0.0317, -0.1001] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.35, "right_z": 0.25}, "note": "The bear is hanging from the jaws \u2014 the lift worked. Moving up and over the safe's red interior (about 7 cm left and 12 cm further out) before releasing."})
tool
executing move_to over 10 steps (1.0s)
step 275
assistant
agent noteThe safe's red interior sits ahead of the jaws in the wrist view; advancing 7 cm so the (apparently held) bear is over the middle of the safe before opening the gripper.
move_to
right_x0.3900right_y0.3600right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8101, 0.6067, -0.6376, -0.0189, -0.0383, 0.9992, 1.0382, 1.8641, 1.8271, -0.963, 0.6415, 0.5598, 0.1542] state[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1288 left_yaw=0.0031 left_pitch=-0.2632 left_roll=0.002 left_gripper=0.9992 right_x=0.3204 right_y=0.3424 right_z=0.2377 right_yaw=0.1942 right_pitch=-0.1556 right_roll=-0.1378 right_gripper=0.1542 state[joint_eff]: [-0.1573, -1.2376, 6.8034, 1.5556, -0.0708, -0.0122, -0.0122, -0.4308, -9.5111, 8.1026, 1.2869, 0.2808, 0.0269, -0.0171] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.36, "right_z": 0.25}, "note": "The safe's red interior sits ahead of the jaws in the wrist view; advancing 7 cm so the (apparently held) bear is over the middle of the safe before opening the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 281
assistant
agent noteThe orange bear was not actually held (it stayed put while the arm moved). Switching to the light bear on the left side: moving the left arm over it with the tool held vertical.
move_to
left_x0.3000left_y-0.1600left_z0.1200left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.638, -0.0189, -0.0383, 0.9992, 0.9272, 2.0914, 2.1693, -1.0569, 0.5777, 0.4572, 0.1542] state[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1277 left_yaw=0.0031 left_pitch=-0.2677 left_roll=0.0021 left_gripper=0.9992 right_x=0.3819 right_y=0.3543 right_z=0.239 right_yaw=0.1847 right_pitch=-0.1871 right_roll=-0.1601 right_gripper=0.1542 state[joint_eff]: [-0.0889, -1.2923, 6.8034, 1.5116, -0.0855, -0.0122, -0.0122, -0.4444, -11.0838, 7.9932, 1.3455, 0.2222, -0.0659, -0.0122] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.16, "left_z": 0.12, "left_pitch": 0, "left_gripper": 1}, "note": "The orange bear was not actually held (it stayed put while the arm moved). Switching to the light bear on the left side: moving the left arm over it with the tool held vertical."})
tool
executing move_to over 15 steps (1.5s)
step 296
assistant
agent noteIn the left wrist view the light bear sits up-left of the jaw column, so it is a few cm further out and to the arm's left; stepping there before descending.
move_to
left_x0.3200left_y-0.1000left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8192, 1.248, 0.5835, -0.2024, -0.6212, -0.5499, 0.9993, 0.9234, 2.1056, 2.167, -1.0798, 0.5636, 0.4446, 0.1542] state[eef_state]: left_x=0.2856 left_y=-0.1498 left_z=0.0957 left_yaw=-0.0271 left_pitch=-0.0923 left_roll=0.0569 left_gripper=0.9993 right_x=0.3803 right_y=0.3525 right_z=0.2274 right_yaw=0.1919 right_pitch=-0.2253 right_roll=-0.1872 right_gripper=0.1542 state[joint_eff]: [-0.2256, -4.465, 9.1966, 1.5849, -0.5348, -0.0269, -0.0904, 0.2667, -12.7795, 6.6256, 1.4286, 0.3297, 0.0513, -0.0122] camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.1, "left_z": 0.1}, "note": "In the left wrist view the light bear sits up-left of the jaw column, so it is a few cm further out and to the arm's left; stepping there before descending."})
tool
executing move_to over 5 steps (0.5s)
step 301
assistant
agent noteThe light bear is just left of the jaw column and low in the wrist view; advancing 3 cm out, 2 cm left and descending to table level around it.
move_to
left_x0.3300left_y-0.1100left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7052, 1.2339, 0.5674, -0.1642, -0.5568, -0.4706, 0.9992, 0.9234, 2.1059, 2.167, -1.084, 0.5594, 0.4442, 0.1542] state[eef_state]: left_x=0.2995 left_y=-0.1277 left_z=0.0945 left_yaw=-0.005 left_pitch=-0.1013 left_roll=0.0588 left_gripper=0.9992 right_x=0.3795 right_y=0.3524 right_z=0.2264 right_yaw=0.1942 right_pitch=-0.2312 right_roll=-0.1878 right_gripper=0.1542 state[joint_eff]: [-0.1026, -5.053, 5.9009, 1.4969, -0.1685, 0.1832, -0.0171, -0.1299, -11.4393, 6.3795, 1.1893, 0.2222, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.11, "left_z": 0.02}, "note": "The light bear is just left of the jaw column and low in the wrist view; advancing 3 cm out, 2 cm left and descending to table level around it."})
tool
executing move_to over 5 steps (0.5s)
step 306
assistant
agent noteThe left arm didn't track the last target (readback unchanged), so I'm issuing a smaller step: descend to 4 cm with a slight nudge out and left toward the bear.
move_to
left_z0.0400left_x0.3150left_y-0.1150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7052, 1.2335, 0.5671, -0.1642, -0.5529, -0.4644, 0.9992, 0.9234, 2.1059, 2.167, -1.0874, 0.5591, 0.4442, 0.1542] state[eef_state]: left_x=0.2993 left_y=-0.1282 left_z=0.0942 left_yaw=-0.0111 left_pitch=-0.1034 left_roll=0.0614 left_gripper=0.9992 right_x=0.3791 right_y=0.3519 right_z=0.226 right_yaw=0.1939 right_pitch=-0.2339 right_roll=-0.1899 right_gripper=0.1542 state[joint_eff]: [-0.212, -4.9162, 5.9145, 1.4872, -0.1978, 0.0855, -0.0122, -0.0752, -11.4803, 6.2427, 1.2381, 0.2271, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_x": 0.315, "left_y": -0.115}, "note": "The left arm didn't track the last target (readback unchanged), so I'm issuing a smaller step: descend to 4 cm with a slight nudge out and left toward the bear."})
tool
executing move_to over 4 steps (0.4s)
step 310
assistant
agent noteBear is just to the arm's left of the jaws; dropping to table level and nudging 1.5 cm left so the jaws straddle its body.
move_to
left_z0.0000left_y-0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6479, 1.3262, 0.5041, -0.0265, -0.5247, -0.4324, 0.9992, 0.9234, 2.1059, 2.167, -1.0908, 0.5556, 0.4442, 0.1542] state[eef_state]: left_x=0.3061 left_y=-0.1162 left_z=0.0623 left_yaw=0.0091 left_pitch=-0.1318 left_roll=0.0809 left_gripper=0.9992 right_x=0.3784 right_y=0.3519 right_z=0.2253 right_yaw=0.1956 right_pitch=-0.2385 right_roll=-0.19 right_gripper=0.1542 state[joint_eff]: [-0.0889, -2.6598, 3.3709, 0.9353, -0.149, 0.0513, -0.0122, -0.1573, -11.6444, 6.2154, 1.2088, 0.2515, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0, "left_y": -0.1}, "note": "Bear is just to the arm's left of the jaws; dropping to table level and nudging 1.5 cm left so the jaws straddle its body."})
tool
executing move_to over 5 steps (0.5s)
step 315
assistant
agent noteThe bear is large but centred above the jaw wedges, meaning it is still a few cm beyond the fingertips; advancing ~4 cm radially at table level so it slips between the jaws.
move_to
left_x0.3550left_y-0.0950
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5907, 1.5135, 0.3717, 0.3664, -0.5087, -0.4149, 0.9985, 0.9234, 2.1071, 2.1658, -1.1057, 0.5552, 0.4442, 0.1542] state[eef_state]: left_x=0.3171 left_y=-0.1047 left_z=0.0208 left_yaw=0.04 left_pitch=-0.0809 left_roll=0.0411 left_gripper=0.9985 right_x=0.3766 right_y=0.3497 right_z=0.2227 right_yaw=0.193 right_pitch=-0.2515 right_roll=-0.2016 right_gripper=0.1542 state[joint_eff]: [0.2667, -2.9333, 2.2222, 0.4762, 0.0171, 0.3443, -0.0855, -0.1162, -11.7128, 6.2427, 1.2821, 0.2173, -0.0269, -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
move_to({"targets": {"left_x": 0.355, "left_y": -0.095}, "note": "The bear is large but centred above the jaw wedges, meaning it is still a few cm beyond the fingertips; advancing ~4 cm radially at table level so it slips between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 318
assistant
agent noteBear fur fills the jaw area; closing fully to grip 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]: [-0.5858, 1.5375, 0.3531, 0.4488, -0.5049, -0.4046, 0.9985, 0.9234, 2.1071, 2.1658, -1.1069, 0.5552, 0.4442, 0.1542] state[eef_state]: left_x=0.3207 left_y=-0.1059 left_z=0.0209 left_yaw=0.0348 left_pitch=-0.0505 left_roll=0.0239 left_gripper=0.9985 right_x=0.3765 right_y=0.3495 right_z=0.2226 right_yaw=0.1928 right_pitch=-0.2523 right_roll=-0.2023 right_gripper=0.1542 state[joint_eff]: [-0.253, -3.1385, 3.1248, 1.0379, -0.0366, 0.2222, -0.022, -0.0752, -11.5897, 6.1607, 1.116, 0.188, -0.0366, -0.0122] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Bear fur fills the jaw area; closing fully to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 328
assistant
agent noteThe gripper stalled at 0.20 on the bear's fur — a real grasp. Lifting and carrying it over the open safe's red interior to my left.
move_to
left_x0.3600left_y-0.2900left_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5903, 1.5368, 0.3515, 0.4538, -0.5014, -0.3763, 0.2013, 0.9234, 2.1071, 2.1658, -1.1282, 0.5518, 0.4442, 0.1542] state[eef_state]: left_x=0.3203 left_y=-0.1081 left_z=0.0213 left_yaw=0.0121 left_pitch=-0.0489 left_roll=0.0425 left_gripper=0.2013 right_x=0.3737 right_y=0.3466 right_z=0.22 right_yaw=0.1913 right_pitch=-0.2702 right_roll=-0.2148 right_gripper=0.1542 state[joint_eff]: [0.1026, -4.8889, 4.7932, 1.5214, -0.2857, -0.3492, 0.7888, -0.1162, -11.6308, 6.1333, 1.3114, 0.2369, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.29, "left_z": 0.25}, "note": "The gripper stalled at 0.20 on the bear's fur \u2014 a real grasp. Lifting and carrying it over the open safe's red interior to my left."})
tool
executing move_to over 17 steps (1.7s)
step 345
assistant
agent noteThe left arm is stalled against the safe lid edge with the bear held over the safe's red interior (visible lower-right in the wrist view); nudging a bit further over the opening and releasing the bear into the safe.
move_to
left_gripper1.0000left_y-0.2800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8951, 1.7939, 1.5368, -1.037, -0.6872, -0.7921, 0.2017, 0.8425, 2.0521, 2.1845, -1.1946, 0.7204, 0.4152, 0.1543] state[eef_state]: left_x=0.3322 left_y=-0.2296 left_z=0.1666 left_yaw=0.1381 left_pitch=-0.2888 left_roll=0.2602 left_gripper=0.2017 right_x=0.4011 right_y=0.28 right_z=0.2608 right_yaw=0.0224 right_pitch=-0.166 right_roll=-0.338 right_gripper=0.1543 state[joint_eff]: [-4.465, -11.0154, 16.1162, 3.7289, -0.906, 1.1306, 0.0269, 6.6803, -6.0239, 4.9162, 1.6923, -1.6239, 0.232, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_y": -0.28}, "note": "The left arm is stalled against the safe lid edge with the bear held over the safe's red interior (visible lower-right in the wrist view); nudging a bit further over the opening and releasing the bear into the safe."})
tool
executing move_to over 8 steps (0.8s)
step 353
assistant
agent noteOut of call budget with nothing placed in the safe. I could not reliably grasp any object: repeated closes on the lemon and the orange bear settled at the commanded gap (empty), and the one real grasp (light bear, gripper stalled at 0.20) was released next to the safe rather than inside it because the arm stalled against the safe lid.
give_up
hindsightKey lessons for this rig/task: (1) The wrist pitch drifts to its -0.6 bound as the IK extends the arm, which tips the tool ~34 deg back so the fingers no longer point down — explicitly command right_pitch=0/left_pitch=0 on every approach; my first grasp only worked after doing this. (2) The only trustworthy grasp signal is the settled gripper reading vs. the command: if the reading equals the command, nothing is between the jaws; a real grasp stalls the close (e.g. 0.20 on a plush bear). Never trust 'object fills the wrist view' — with the tilted wrist cam an object can look centred between the jaw wedges while being 3-6 cm beyond the fingertips. (3) Radial error is the usual failure; a pure x step of 4 cm moved a table object ~60 px vertically in the wrist image near the frame centre, so use that (~12-15 px/cm vertical near mid-frame) to solve for x instead of guessing. (4) Top-cam calibration that worked: horizontal ~2.46 px/cm, image x=115 is the table centre line (left_y=-0.32 / right_y=+0.33), left_y=0 maps to image x≈36 and right_y=0 to x≈195; objects raised above the table read shifted/larger by ~H/(H-h), H≈0.72. (5) Around the safe (a metal case in the middle, roughly right_y 0.30-0.40 / left_y -0.25 to -0.40) the arms hit the raised lid: joint efforts jump to 5-11 N·m and the pose stalls 5-10 cm short. Approach the opening from directly above at z>=0.30, and budget calls: one object took me ~15 calls.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9413, 1.9434, 1.7092, -1.2095, -0.6846, -0.9272, 0.9947, 0.7895, 2.0605, 2.1849, -1.272, 0.7403, 0.3916, 0.1542] state[eef_state]: left_x=0.3254 left_y=-0.2509 left_z=0.1543 left_yaw=0.2087 left_pitch=-0.3391 left_roll=0.3083 left_gripper=0.9947 right_x=0.4075 right_y=0.2467 right_z=0.2522 right_yaw=-0.0415 right_pitch=-0.2158 right_roll=-0.4315 right_gripper=0.1542 state[joint_eff]: [-3.0427, -7.7607, 11.0427, 1.1795, -0.6081, 0.442, 0.1538, 4.3145, -11.6171, 5.9009, 1.8681, 0.1978, 0.1538, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Out of call budget with nothing placed in the safe. I could not reliably grasp any object: repeated closes on the lemon and the orange bear settled at the commanded gap (empty), and the one real grasp (light bear, gripper stalled at 0.20) was released next to the safe rather than inside it because the arm stalled against the safe lid.", "hindsight": "Key lessons for this rig/task: (1) The wrist pitch drifts to its -0.6 bound as the IK extends the arm, which tips the tool ~34 deg back so the fingers no longer point down \u2014 explicitly command right_pitch=0/left_pitch=0 on every approach; my first grasp only worked after doing this. (2) The only trustworthy grasp signal is the settled gripper reading vs. the command: if the reading equals the command, nothing is between the jaws; a real grasp stalls the close (e.g. 0.20 on a plush bear). Never trust 'object fills the wrist view' \u2014 with the tilted wrist cam an object can look centred between the jaw wedges while being 3-6 cm beyond the fingertips. (3) Radial error is the usual failure; a pure x step of 4 cm moved a table object ~60 px vertically in the wrist image near the frame centre, so use that (~12-15 px/cm vertical near mid-frame) to solve for x instead of guessing. (4) Top-cam calibration that worked: horizontal ~2.46 px/cm, image x=115 is the table centre line (left_y=-0.32 / right_y=+0.33), left_y=0 maps to image x\u224836 and right_y=0 to x\u2248195; objects raised above the table read shifted/larger by ~H/(H-h), H\u22480.72. (5) Around the safe (a metal case in the middle, roughly right_y 0.30-0.40 / left_y -0.25 to -0.40) the arms hit the raised lid: joint efforts jump to 5-11 N\u00b7m and the pose stalls 5-10 cm short. Approach the opening from directly above at z>=0.30, and budget calls: one object took me ~15 calls."})
tool
give_up: Out of call budget with nothing placed in the safe. I could not reliably grasp any object: repeated closes on the lemon and the orange bear settled at the commanded gap (empty), and the one real grasp (light bear, gripper stalled at 0.20) was released next to the safe rather than inside it because the arm stalled against the safe lid.
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 · 25.94 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6041, -0.3904, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6067, -0.4042, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1783 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.0009 right_z=0.1763 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4171, -1.4017, 10.2085, 2.0098, -0.0659, 0.149, -0.0855, -0.2803, -1.4154, 9.7299, 2.083, -0.0171, 0.022, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da76c62d4d80696e5cbda8cde39bb3e6da23a951b78c3a8e53910ddc2bad6b38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f6f4cd26cbae4db6761a17f5bfa00febbcb161e653feba3c67d1acf2b6a5b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4fba932805d9b7ec62ae90c5135395dffe4dc556472150e953ccfe5b5ae7162",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 5.971 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6041, -0.3904, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6067, -0.4042, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1783 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.0009 right_z=0.1763 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4171, -1.4017, 10.2085, 2.0098, -0.0659, 0.149, -0.0855, -0.2803, -1.4154, 9.7299, 2.083, -0.0171, 0.022, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da76c62d4d80696e5cbda8cde39bb3e6da23a951b78c3a8e53910ddc2bad6b38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f6f4cd26cbae4db6761a17f5bfa00febbcb161e653feba3c67d1acf2b6a5b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4fba932805d9b7ec62ae90c5135395dffe4dc556472150e953ccfe5b5ae7162",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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rwSLfe9ymOrdQqJgxq+QHMqKT7KzkLcs+Tk7ZH8H05rNJQ6mGY1YWF5hItceplBQXe8ihX1+XOzqie3Wtdm6Xo9oDM+QH4AV1GjODDBG1Z7tCc3+OyWreXpCkehnItvXITRRPU18q1SntuzVehm+qXcFOnc6rgS0G+RMTktkLQLMTM1dUvTVsTGS9VlrjldANidSkNTV/NcSY/WR/W0+jg+qUOREhdXziCrhSZFfaCBQwOGmbq6i0GQsuOpRXx3LzRTyojH3VX60jnRVILZqqR5gae7zePdV3i/DpXo0JkPhU8BWim4m/scy4gybx3Uq45v2FyoDdO3jaIvCwS2A8VqhPxiFizgloFw3n4N7HGRA/s/6e3s17MJ/L3fhcD1t+juw+Ccm/fYrBf59VoRG8URrhFAD+lVMH6BAk7kHfWjXynMXH9SeCktqqLrGvjH7uprnnR1E7G3SXin209apJn/xintGwMrjM/RdQpfJTVmptgT1bFH+FeK3U8HyeSAHEjaS5xAoaKNyQ7Zn3Z/kdaTKUMQS4O7BmphOWP6xm3O6K3QMtuNHw/Igyy2HlU/6wHLmG7F6d3Gt1/UiZJlD015xFO/AU/dN8Sq0jdeVbFifluy8OePybJhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0192vm9qThtkCYWtKGpoUFNd",
      "input": {
        "note": "Top view shows an open red-lined safe in the middle, a yellow lemon to its right, and two tan objects to its left/below. I'm moving the right arm out over the lemon to line it up in the wrist camera.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.4,
          "right_y": 0.12,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0192vm9qThtkCYWtKGpoUFNd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0189, -0.0383, 0.9992, 0.4213, 1.4216, 0.8207, -0.1249, 0.3103, 0.2035, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0024 left_pitch=-0.0183 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3811 right_y=0.1156 right_z=0.126 right_yaw=0.0441 right_pitch=-0.0937 right_roll=-0.043 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.5795, 6.8034, 1.8926, -0.0855, -0.022, -0.0171, 0.1026, -6.612, 8.841, 1.9267, 0.2466, 0.2271, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a826e33171ed4760de50850e060074c215ec25c0f412dbe624a76107b18d01e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c03e7ea0df5f4345ef2bbf98cdc328fc89f004c015f714ab0eb1cad4185a88d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f0967584089dfb389a0b357235edddf7dc16ee93d761a5215b6a87b026d13bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 5.062 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6041, -0.3904, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6067, -0.4042, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1783 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.0009 right_z=0.1763 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4171, -1.4017, 10.2085, 2.0098, -0.0659, 0.149, -0.0855, -0.2803, -1.4154, 9.7299, 2.083, -0.0171, 0.022, -0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0189, -0.0383, 0.9992, 0.4213, 1.4216, 0.8207, -0.1249, 0.3103, 0.2035, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0024 left_pitch=-0.0183 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3811 right_y=0.1156 right_z=0.126 right_yaw=0.0441 right_pitch=-0.0937 right_roll=-0.043 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.5795, 6.8034, 1.8926, -0.0855, -0.022, -0.0171, 0.1026, -6.612, 8.841, 1.9267, 0.2466, 0.2271, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a826e33171ed4760de50850e060074c215ec25c0f412dbe624a76107b18d01e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c03e7ea0df5f4345ef2bbf98cdc328fc89f004c015f714ab0eb1cad4185a88d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f0967584089dfb389a0b357235edddf7dc16ee93d761a5215b6a87b026d13bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuQUKjgEIEhgCKkCMHEa1CHkD306IzdiH4QwKDtCUIwyCWDxi5WvV4lJ2VYqH58lh1WzVl+e1b38CkoHeEAKBTx3MWa2Fy+rURHtSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZqTzNUGEgyY/TxX+lA2uhZNesAaDOR7LjplGZDlT40wlSIw/WjfAGXSkRuL7+5xUXg5Ltmw2N6QnzAoZ6tKOzHteg+5BI9gdSGfVpkAyCGb4ydQKtcDattvHRmozfeIOPxzjARzdsGNbRWV2LUeyX6axHritQ5ZjNVu5gXPUyPF5vqXDN8gMM6qvA6Q/QrlEsY3YFwPvpz/v3uaZFyrh1k/mg7Kk5nMafc4PBvLciLT6R9ghOuSDUhThCNX2VHkAtXEb6Lx4dPrasgj5WhfePOp8Sn4UpemnqnSO5UTD1r3ujivR0y6fa3nRldiPiuV0q426OTHI4FMooS1ZdUFMMow7Cp64hgV/ww3S1zxUJNNZ5JyjonVLDBhWC0TugXCvOG6IBqIJ/UD89ZHMyulZDndNoyghygKH9/I2TuzG6x2qWkywnZxxZKgCcpdrgo04DTaWOFfG1MJ7J7/PSd0i9thK6v53azdc5nWiDC+VhAmguU61iA8iCWCBNXNaE2BwIzTaMYlFyk/kwBGMRdGmmGtnf663WOZB1XBouMFPueSKXgvx5PleejtHMXvwzm+6orWlNuqbt5MctJCxaSQAEsmRl7WKk45tD1uFPltu3J+ntdZbUvij2SAg71BnJ7s12X7ofSHQTylCcTwxvtDvaA3AF8LPeyAMRjGq6wLvSd9UIFrqDH7sXjD46314gLzT6SCPnNQmkxMgLTMnSZoT401Sb5//I+Lor2zxYWQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014qPxVchNQK2haQ3S6kgURt",
      "input": {
        "note": "The lemon is now centered on the jaw column in the right wrist view; advancing 3 cm radially and descending to lemon-grasp height.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.41,
          "right_y": 0.115,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014qPxVchNQK2haQ3S6kgURt",
      "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, -0.4133, -0.0189, -0.0387, 0.9992, 0.3965, 1.7191, 0.6456, 0.3325, 0.3069, 0.1673, 0.9995]\nstate[eef_state]: left_x=0.2909 left_y=0.0014 left_z=0.1729 left_yaw=0.0026 left_pitch=-0.0282 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3925 right_y=0.1104 right_z=0.0256 right_yaw=0.0417 right_pitch=-0.1099 right_roll=-0.0744 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -1.4427, 7.0222, 1.7509, -0.0073, -0.0513, -0.0073, -0.5812, -6.6803, 4.6974, 1.619, 0.0659, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e0d4e4375de7e12231b5cf72bf4efd484a84a1348447adbbc584a874bdea50c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f25be8f8b075f1c2e6814c8ddf2586d099d6be7b281089812b02a54c6ae2e4f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:941aef83e5a2e87c1eb0a2861ff4610590ce59fad5983762de5dcc424483eb70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /messages · status 200 · 3.172 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6041, -0.3904, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6067, -0.4042, -0.02, -0.0196, 0.9995]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1783 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2918 right_y=0.0009 right_z=0.1763 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4171, -1.4017, 10.2085, 2.0098, -0.0659, 0.149, -0.0855, -0.2803, -1.4154, 9.7299, 2.083, -0.0171, 0.022, -0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0189, -0.0383, 0.9992, 0.4213, 1.4216, 0.8207, -0.1249, 0.3103, 0.2035, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0024 left_pitch=-0.0183 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3811 right_y=0.1156 right_z=0.126 right_yaw=0.0441 right_pitch=-0.0937 right_roll=-0.043 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.5795, 6.8034, 1.8926, -0.0855, -0.022, -0.0171, 0.1026, -6.612, 8.841, 1.9267, 0.2466, 0.2271, -0.0611]",
      "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, -0.4133, -0.0189, -0.0387, 0.9992, 0.3965, 1.7191, 0.6456, 0.3325, 0.3069, 0.1673, 0.9995]\nstate[eef_state]: left_x=0.2909 left_y=0.0014 left_z=0.1729 left_yaw=0.0026 left_pitch=-0.0282 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3925 right_y=0.1104 right_z=0.0256 right_yaw=0.0417 right_pitch=-0.1099 right_roll=-0.0744 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -1.4427, 7.0222, 1.7509, -0.0073, -0.0513, -0.0073, -0.5812, -6.6803, 4.6974, 1.619, 0.0659, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e0d4e4375de7e12231b5cf72bf4efd484a84a1348447adbbc584a874bdea50c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f25be8f8b075f1c2e6814c8ddf2586d099d6be7b281089812b02a54c6ae2e4f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:941aef83e5a2e87c1eb0a2861ff4610590ce59fad5983762de5dcc424483eb70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgQKjgEIEhgCKkDLXLbYEY5Dm+z0M1gYCVnyRRnFxLG/z//JzwA+F5lGr6UySCRJTtCLIPGC+6a8uOeQRi//bYCk4YpmtakN0qjhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaCTzNUGEgx11IoPm7h3rCPj48oaDKvSk5a6ok05vVoRDiIwGU1TRqpFvZ8Hjzo8qWeEOM1w4ujYQs/HG9EXB8D5U3d2s/d8grCZp6A8ddQVTVyIKrgCR87cTClPpQ8xtUFP3DaeXzUBLt7M0eFt31faOyHPjRvV3r63c7pwtKZJbaQr7XEwSx1xG/mVFCARReTnL/rPOtRxwYkhXmCu+nrmzxo+Xv4nzQ27YuuF76SZMJwIuII5herco4NOLeRJzfgdkgGWbgn3N3lKcnSI233nad/ngo4zNNjsc+csH+HBsaMiK7Eu248nBAGshd0pPOQg2g/bothZawekc0BUGdspxFiMe26cDHsugy9MwrIPA9FDLVi1DutFQdERGpNOauBF9VGuntSgBKe9nDhUrJtREQodcBLAw+QZ1cxLCAxSK08ddvr6XKpJOUQatNlMXiMMM63Z6SHfDJNpXZzSLW3q/4G6FQb4YrjcJWvRxSySUcnkCEXurSAD2dt0aSO5Q2LNFCd4Owj8SrQQBHeJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013ALuLqqF3G1H8X2B5Bw3vJ",
      "input": {
        "note": "Lemon fills the lower wrist view centered on the jaw column but the last move was clamped short; nudging 2 cm further out before closing.",
        "targets": {
          "right_x": 0.415,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_013ALuLqqF3G1H8X2B5Bw3vJ",
      "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, -0.4168, -0.0189, -0.0383, 0.9992, 0.3817, 1.7569, 0.6796, 0.3618, 0.2897, 0.1474, 0.9995]\nstate[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1722 left_yaw=0.0024 left_pitch=-0.0317 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4059 right_y=0.1124 right_z=0.0272 right_yaw=0.0527 right_pitch=-0.0904 right_roll=-0.0703 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -1.2239, 7.3915, 1.7607, -0.0171, -0.0366, -0.0122, -0.7726, -7.0222, 7.6103, 1.9512, 0.0464, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:066ba0a3b80437c3f1e8c70d3066b2e34297149d7e948ad45ff98a980996eeac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f2b85c82fabcdc92c96b7dea289a2eea1fe536aa7263702abe05d82b339e3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29a51f8f4244127d76b55a85cb41bdc0550c726aa074b80b47ea933f85094db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 6.062 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0189, -0.0383, 0.9992, 0.4213, 1.4216, 0.8207, -0.1249, 0.3103, 0.2035, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0024 left_pitch=-0.0183 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3811 right_y=0.1156 right_z=0.126 right_yaw=0.0441 right_pitch=-0.0937 right_roll=-0.043 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.5795, 6.8034, 1.8926, -0.0855, -0.022, -0.0171, 0.1026, -6.612, 8.841, 1.9267, 0.2466, 0.2271, -0.0611]",
      "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, -0.4133, -0.0189, -0.0387, 0.9992, 0.3965, 1.7191, 0.6456, 0.3325, 0.3069, 0.1673, 0.9995]\nstate[eef_state]: left_x=0.2909 left_y=0.0014 left_z=0.1729 left_yaw=0.0026 left_pitch=-0.0282 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3925 right_y=0.1104 right_z=0.0256 right_yaw=0.0417 right_pitch=-0.1099 right_roll=-0.0744 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -1.4427, 7.0222, 1.7509, -0.0073, -0.0513, -0.0073, -0.5812, -6.6803, 4.6974, 1.619, 0.0659, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4168, -0.0189, -0.0383, 0.9992, 0.3817, 1.7569, 0.6796, 0.3618, 0.2897, 0.1474, 0.9995]\nstate[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1722 left_yaw=0.0024 left_pitch=-0.0317 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4059 right_y=0.1124 right_z=0.0272 right_yaw=0.0527 right_pitch=-0.0904 right_roll=-0.0703 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -1.2239, 7.3915, 1.7607, -0.0171, -0.0366, -0.0122, -0.7726, -7.0222, 7.6103, 1.9512, 0.0464, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:066ba0a3b80437c3f1e8c70d3066b2e34297149d7e948ad45ff98a980996eeac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f2b85c82fabcdc92c96b7dea289a2eea1fe536aa7263702abe05d82b339e3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29a51f8f4244127d76b55a85cb41bdc0550c726aa074b80b47ea933f85094db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W3KZTd1pSJyV2itmXx19rS",
      "input": {
        "note": "Lemon sits between the jaws at table level; closing the gripper on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01W3KZTd1pSJyV2itmXx19rS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0189, -0.0383, 0.9992, 0.3801, 1.7657, 0.6804, 0.3202, 0.2871, 0.139, 0.009]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0024 left_pitch=-0.0431 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3992 right_y=0.1095 right_z=0.0166 right_yaw=0.0562 right_pitch=-0.1383 right_roll=-0.091 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -1.1966, 7.3778, 1.7802, -0.0513, -0.0317, -0.0122, -0.0342, -8.335, 5.1077, 2.0, 0.1441, 0.0708, 0.6764]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b57a904b1cff8f52a5167d17e0360554f90ce4b712ebcd0e2474ed5822df4913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d75ddc82ca4df90023a1e8996fa4ae67e541c1b32d2c47f6bbfad786abb48f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46f4f09d628b4135e2759a32f124f3b2dada55d1b1861a18b258db9d63c1fc4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 3.765 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, -0.4133, -0.0189, -0.0387, 0.9992, 0.3965, 1.7191, 0.6456, 0.3325, 0.3069, 0.1673, 0.9995]\nstate[eef_state]: left_x=0.2909 left_y=0.0014 left_z=0.1729 left_yaw=0.0026 left_pitch=-0.0282 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3925 right_y=0.1104 right_z=0.0256 right_yaw=0.0417 right_pitch=-0.1099 right_roll=-0.0744 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -1.4427, 7.0222, 1.7509, -0.0073, -0.0513, -0.0073, -0.5812, -6.6803, 4.6974, 1.619, 0.0659, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4168, -0.0189, -0.0383, 0.9992, 0.3817, 1.7569, 0.6796, 0.3618, 0.2897, 0.1474, 0.9995]\nstate[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1722 left_yaw=0.0024 left_pitch=-0.0317 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4059 right_y=0.1124 right_z=0.0272 right_yaw=0.0527 right_pitch=-0.0904 right_roll=-0.0703 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -1.2239, 7.3915, 1.7607, -0.0171, -0.0366, -0.0122, -0.7726, -7.0222, 7.6103, 1.9512, 0.0464, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0189, -0.0383, 0.9992, 0.3801, 1.7657, 0.6804, 0.3202, 0.2871, 0.139, 0.009]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0024 left_pitch=-0.0431 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3992 right_y=0.1095 right_z=0.0166 right_yaw=0.0562 right_pitch=-0.1383 right_roll=-0.091 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -1.1966, 7.3778, 1.7802, -0.0513, -0.0317, -0.0122, -0.0342, -8.335, 5.1077, 2.0, 0.1441, 0.0708, 0.6764]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b57a904b1cff8f52a5167d17e0360554f90ce4b712ebcd0e2474ed5822df4913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d75ddc82ca4df90023a1e8996fa4ae67e541c1b32d2c47f6bbfad786abb48f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46f4f09d628b4135e2759a32f124f3b2dada55d1b1861a18b258db9d63c1fc4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIStgUKjgEIEhgCKkBlgK0qWokh2TRjDNA4eKMl+cf7ttAiZne4r1PVXLWq2GPg0gk/BR0ckWT1ngU/UNp6e8K6O3+wMyLH+qBF9Y8BMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAauTzNUGEgxVvQmhabP+ZGIRW+YaDC3s4xY2kdZPq2y3QCIwIyGAUoL2s+MQpcI3LNdZoK3KSq/2nuFiAmu7v0+3cGeZXPordAxsQct0FkRxn0HDKtQDJswwFI5qJOnZDVJWEYzvHkBerEHRGuhZbcJLCOtxBdlK0o+Nq9rKwW8WOrCazQcv1TW8Ys/L9LHmIrz6YRlOeMivKI7lX3pIcjI8kwmzVhiKTpV81Gxzd9hARY+q9j47YtpAi1nj6RC3fpFPv8E+5raqiCV4XaWlLif4PAXCasA3zD0/r94HJBnxx6Kihak9jcx2h/Poei55+ZmD/IXkoL1RbhAUL4WmNxesVMUMm5OTEcOmP1dZqy5tXbQUq95vZHcosjGIHLyVZOSI8vN4a8/VIuempYkzi8euuz6ZX2i02QktXn9nuF/zPDAg2hWCt3qt8MbJ9BQODQJ8vp4asnqnRTZ1BcFWqO1R7YalK70CgBSLnRBF1oXt7G/Mwa+ckrZDVwhrJml0/1ts0L9j9meunX4BuHmjAXsqK9JrRRVvd1S2BaweZLumduAlgyfH8j2HTjmtxF1uLTRfkGW/nHEmThN7p+qiy8RPs51pABcqZjAeYfJmZPljW3pVkFLgB8f0ZioLk5QTgB0p1CJ70NJtQeO/YryAqmjcTHdatpR9NN6XiSeYvP2Gd3XVx/2De/F1shxBJEApWjJq9MA9LSVTXsmszXNHZzBHhSd3QP/+K8iHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JPcVLX9RhTM7SnZxTRVNAE",
      "input": {
        "note": "The close settled at 0.009 = empty, so the lemon is a couple of cm beyond the fingertips; reopening and advancing 3.5 cm.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.435
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JPcVLX9RhTM7SnZxTRVNAE",
      "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, -0.4355, -0.0189, -0.0387, 0.9992, 0.3405, 1.8557, 0.7887, 0.2611, 0.2573, 0.104, 0.9946]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0026 left_pitch=-0.0503 left_roll=-0.003 left_gripper=0.9992 right_x=0.4209 right_y=0.1052 right_z=0.0061 right_yaw=0.0586 right_pitch=-0.1854 right_roll=-0.109 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -1.2376, 7.0085, 1.7656, -0.0464, -0.0366, -0.0122, -0.1162, -7.3641, 7.706, 1.8095, 0.105, -0.022, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d811b8bfa7581e529033af7428dc2b35cd93b0f81ae98b98ba869c8e310025a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:018391537ed5d731bc7dc16120324749a308cd2bf8a0046eb7862a54c0110a94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:720f0e18eb659f53b14c3aa0edfa2206d9c07f662fa4f63541ab31c22bd45e49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 6.373 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, -0.4168, -0.0189, -0.0383, 0.9992, 0.3817, 1.7569, 0.6796, 0.3618, 0.2897, 0.1474, 0.9995]\nstate[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1722 left_yaw=0.0024 left_pitch=-0.0317 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4059 right_y=0.1124 right_z=0.0272 right_yaw=0.0527 right_pitch=-0.0904 right_roll=-0.0703 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -1.2239, 7.3915, 1.7607, -0.0171, -0.0366, -0.0122, -0.7726, -7.0222, 7.6103, 1.9512, 0.0464, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0189, -0.0383, 0.9992, 0.3801, 1.7657, 0.6804, 0.3202, 0.2871, 0.139, 0.009]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0024 left_pitch=-0.0431 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3992 right_y=0.1095 right_z=0.0166 right_yaw=0.0562 right_pitch=-0.1383 right_roll=-0.091 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -1.1966, 7.3778, 1.7802, -0.0513, -0.0317, -0.0122, -0.0342, -8.335, 5.1077, 2.0, 0.1441, 0.0708, 0.6764]",
      "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, -0.4355, -0.0189, -0.0387, 0.9992, 0.3405, 1.8557, 0.7887, 0.2611, 0.2573, 0.104, 0.9946]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0026 left_pitch=-0.0503 left_roll=-0.003 left_gripper=0.9992 right_x=0.4209 right_y=0.1052 right_z=0.0061 right_yaw=0.0586 right_pitch=-0.1854 right_roll=-0.109 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -1.2376, 7.0085, 1.7656, -0.0464, -0.0366, -0.0122, -0.1162, -7.3641, 7.706, 1.8095, 0.105, -0.022, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d811b8bfa7581e529033af7428dc2b35cd93b0f81ae98b98ba869c8e310025a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:018391537ed5d731bc7dc16120324749a308cd2bf8a0046eb7862a54c0110a94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:720f0e18eb659f53b14c3aa0edfa2206d9c07f662fa4f63541ab31c22bd45e49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS5gIKjgEIEhgCKkCoZKXlnXPV3Sp8jEFlbumlPREZPd9yRqODhAPyrLgWYH0MKfV/oVo5rgZZu2hFNgSZNjfhD9gCmnQQP16WlQgdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbCTzNUGEgx85L6h2AumZc2/BtYaDJcudXHWRDYGxZEOeyIwk9cP4UI52iW3NpUqNnlUoOEUDBmZyGd4hpO+jwm78QphHJwJL3nr+KN0EJFqymbHKoQBU5dincnkYRGpUmL1GpJzbP6c6bYw77VNl6lBCdhKn91lCxp47EOZf2c8kGRY8gfAeEO5ggbBXIOJ+kWdUfE6iLdGPxdKfQejS/eVa+tzqT+Q8bq5LM7loRb8o0oFL1rNYp7gIgOqjsWB9GxTiKH65egcA5TJF0dBlMTWBa5k0dsTv75NGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019j21ipUZis776PRWs8PpNS",
      "input": {
        "note": "The lemon now sits between both visible jaw tips; closing to ~1.4 cm gap to grip it.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019j21ipUZis776PRWs8PpNS",
      "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, -0.4511, -0.0189, -0.0387, 0.9992, 0.3408, 1.8648, 0.7929, 0.252, 0.2474, 0.1005, 0.1548]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1643 left_yaw=0.0026 left_pitch=-0.0698 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4196 right_y=0.1067 right_z=0.0019 right_yaw=0.0683 right_pitch=-0.2011 right_roll=-0.1083 right_gripper=0.1548\nstate[joint_eff]: [-0.0068, -1.4427, 7.1726, 1.8486, -0.0562, -0.0513, -0.0122, -0.3897, -9.1282, 4.7795, 1.5751, 0.1929, -0.0024, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad5fd59fab125e0d66a416f366791994603b7510f05dc0a6a3406e024e43dfc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a027354ea141496c310e19d91d5e22e94d8f0ad5bb6786ae0806f23f0ce2dab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f385319653bcaf0b1312289629c1254476c411aa345d12ce3662779c9b9b6ed",
        "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 · 12.78 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, -0.4282, -0.0189, -0.0383, 0.9992, 0.3801, 1.7657, 0.6804, 0.3202, 0.2871, 0.139, 0.009]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0024 left_pitch=-0.0431 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3992 right_y=0.1095 right_z=0.0166 right_yaw=0.0562 right_pitch=-0.1383 right_roll=-0.091 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -1.1966, 7.3778, 1.7802, -0.0513, -0.0317, -0.0122, -0.0342, -8.335, 5.1077, 2.0, 0.1441, 0.0708, 0.6764]",
      "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, -0.4355, -0.0189, -0.0387, 0.9992, 0.3405, 1.8557, 0.7887, 0.2611, 0.2573, 0.104, 0.9946]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0026 left_pitch=-0.0503 left_roll=-0.003 left_gripper=0.9992 right_x=0.4209 right_y=0.1052 right_z=0.0061 right_yaw=0.0586 right_pitch=-0.1854 right_roll=-0.109 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -1.2376, 7.0085, 1.7656, -0.0464, -0.0366, -0.0122, -0.1162, -7.3641, 7.706, 1.8095, 0.105, -0.022, -0.1245]\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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.3408, 1.8648, 0.7929, 0.252, 0.2474, 0.1005, 0.1548]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1643 left_yaw=0.0026 left_pitch=-0.0698 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4196 right_y=0.1067 right_z=0.0019 right_yaw=0.0683 right_pitch=-0.2011 right_roll=-0.1083 right_gripper=0.1548\nstate[joint_eff]: [-0.0068, -1.4427, 7.1726, 1.8486, -0.0562, -0.0513, -0.0122, -0.3897, -9.1282, 4.7795, 1.5751, 0.1929, -0.0024, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad5fd59fab125e0d66a416f366791994603b7510f05dc0a6a3406e024e43dfc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a027354ea141496c310e19d91d5e22e94d8f0ad5bb6786ae0806f23f0ce2dab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f385319653bcaf0b1312289629c1254476c411aa345d12ce3662779c9b9b6ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISswUKjgEIEhgCKkDYNg122/cfJINRck7CLsRNGmnQfM77VV2lX9IahphSQcgrAoNDRyHsxhQOXBFXfhFMels16OlOXdz5t/u4+LJGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbeTzNUGEgxbDkDeTkw9E2AIKT8aDH3E0ozlzTOAM/0iRCIwlzgr/fq+3TgY9TiOR/vhgxPcfK2sO2N9/2fk+RWg+V0PuZ4YiZhiLAO+hnPKAzu4KtEDdgCBXaK/f7Ufz1Alh+bLNjtrY3hEW0Cbvh6S/j6ZLu6cz9rhUtVj6KB/+T6dIv7lYRgQtCqObKzoSijWzyFx/4Mmkla7hc/Q/ceR1XkVF3b0gjGuZPsSha9bpfqsHCncX+/TgIHEyiFyKvvAQvn7QxEHyexZlJE6LAQwG7p9ba9EuS42IO2K4cgGch7E5B2PMEJ9mG+58s4I4+VTf3SreRIINx+9hHCKbpaoG2Zl24xJnIpF3zF2tXh1o7eSibqSxkvFqQ4xqccTN3JuMvcpUxYl9P1dvn1axVrwc9n7Ant43mmxnQ8ZFsMJ23tP98qfDXXuhamOKVOi53QpqQDtLrFWh2cwRGhOF04H1+nXbzlQxbeHcsdXqolCHoKjQCZR7NVofaqX+dpdns0/TNWysY2MLnKSYy5LcU142S3hjEDnQwwO3O8lAPXqrYl89eal1SZtoftFiN1Ddy91TIytFJWd5lnjjtdhjGb1/1g0d3TVNDuoWOa9ANvtjdCB0WvzFqkiVhRf7W/jua7iSaWA/twrsKL3mrneknqxmGv331ZugU8Tgp9mFG9FFKd9ATG0zM9A69Q6ZdLuSnd9BR5spu95qAFhNzTTvCuVml+ass3IGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ETMpZYoduFt8kcQLX6XAKb",
      "input": {
        "note": "Gripper closed onto the lemon, which visibly tilted up; lifting 12 cm to confirm the grasp in the top view.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01ETMpZYoduFt8kcQLX6XAKb",
      "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, -0.458, -0.0189, -0.0387, 0.9992, 0.3408, 1.631, 0.9939, -0.2241, 0.2428, 0.0929, 0.1529]\nstate[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0026 left_pitch=-0.0767 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4144 right_y=0.1057 right_z=0.0949 right_yaw=0.074 right_pitch=-0.2422 right_roll=-0.1216 right_gripper=0.1529\nstate[joint_eff]: [-0.0068, -1.265, 7.4051, 1.7118, -0.0708, -0.0757, -0.0073, -0.3624, -9.3607, 8.7453, 1.7363, 0.1636, 0.0073, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82ff5ec060be14f85965feb90526fcdb0b6128f5fa7f2448465b8261ffa67e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcabfe8d2548f2d4a89b41a0539491bd3033c56a042c45a35abec35c785b932a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0be302ea88801a09221fd0b7c088feba7e0d4221d64f01a27b46e60e166de4fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 7.66 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, -0.4355, -0.0189, -0.0387, 0.9992, 0.3405, 1.8557, 0.7887, 0.2611, 0.2573, 0.104, 0.9946]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0026 left_pitch=-0.0503 left_roll=-0.003 left_gripper=0.9992 right_x=0.4209 right_y=0.1052 right_z=0.0061 right_yaw=0.0586 right_pitch=-0.1854 right_roll=-0.109 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -1.2376, 7.0085, 1.7656, -0.0464, -0.0366, -0.0122, -0.1162, -7.3641, 7.706, 1.8095, 0.105, -0.022, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.3408, 1.8648, 0.7929, 0.252, 0.2474, 0.1005, 0.1548]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1643 left_yaw=0.0026 left_pitch=-0.0698 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4196 right_y=0.1067 right_z=0.0019 right_yaw=0.0683 right_pitch=-0.2011 right_roll=-0.1083 right_gripper=0.1548\nstate[joint_eff]: [-0.0068, -1.4427, 7.1726, 1.8486, -0.0562, -0.0513, -0.0122, -0.3897, -9.1282, 4.7795, 1.5751, 0.1929, -0.0024, 0.022]",
      "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, -0.458, -0.0189, -0.0387, 0.9992, 0.3408, 1.631, 0.9939, -0.2241, 0.2428, 0.0929, 0.1529]\nstate[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0026 left_pitch=-0.0767 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4144 right_y=0.1057 right_z=0.0949 right_yaw=0.074 right_pitch=-0.2422 right_roll=-0.1216 right_gripper=0.1529\nstate[joint_eff]: [-0.0068, -1.265, 7.4051, 1.7118, -0.0708, -0.0757, -0.0073, -0.3624, -9.3607, 8.7453, 1.7363, 0.1636, 0.0073, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82ff5ec060be14f85965feb90526fcdb0b6128f5fa7f2448465b8261ffa67e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcabfe8d2548f2d4a89b41a0539491bd3033c56a042c45a35abec35c785b932a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0be302ea88801a09221fd0b7c088feba7e0d4221d64f01a27b46e60e166de4fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PY5ETV4Trjx2QqovXAUuPp",
      "input": {
        "note": "Lemon appears held in the jaws; raising to 22 cm to clear the safe walls before traversing left over the safe.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PY5ETV4Trjx2QqovXAUuPp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4656, -0.0189, -0.0387, 0.9992, 0.3408, 1.5803, 1.38, -0.7059, 0.2428, 0.0856, 0.1528]\nstate[eef_state]: left_x=0.2835 left_y=0.0016 left_z=0.1615 left_yaw=0.0026 left_pitch=-0.0843 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4122 right_y=0.1049 right_z=0.196 right_yaw=0.0749 right_pitch=-0.2861 right_roll=-0.1388 right_gripper=0.1528\nstate[joint_eff]: [-0.0342, -1.1419, 6.9675, 1.7607, -0.0659, -0.0611, -0.0122, -0.3487, -8.7316, 8.8274, 1.5556, 0.1197, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5b1e4991857acb29d255fd87932dbb6dd3d9a1a7862264aeab2fef5d2fccd0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2ffe65d5bcac400d9aaeed6eee7bc50e53cdff91b1b038596042d4ffb30055d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:235794b0779a94a7ca8e3713a4962855bd9ca3f993f6adf1fd4b6928ac67b089",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 15.12 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.3408, 1.8648, 0.7929, 0.252, 0.2474, 0.1005, 0.1548]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1643 left_yaw=0.0026 left_pitch=-0.0698 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4196 right_y=0.1067 right_z=0.0019 right_yaw=0.0683 right_pitch=-0.2011 right_roll=-0.1083 right_gripper=0.1548\nstate[joint_eff]: [-0.0068, -1.4427, 7.1726, 1.8486, -0.0562, -0.0513, -0.0122, -0.3897, -9.1282, 4.7795, 1.5751, 0.1929, -0.0024, 0.022]",
      "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, -0.458, -0.0189, -0.0387, 0.9992, 0.3408, 1.631, 0.9939, -0.2241, 0.2428, 0.0929, 0.1529]\nstate[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0026 left_pitch=-0.0767 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4144 right_y=0.1057 right_z=0.0949 right_yaw=0.074 right_pitch=-0.2422 right_roll=-0.1216 right_gripper=0.1529\nstate[joint_eff]: [-0.0068, -1.265, 7.4051, 1.7118, -0.0708, -0.0757, -0.0073, -0.3624, -9.3607, 8.7453, 1.7363, 0.1636, 0.0073, -0.2076]",
      "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, -0.4656, -0.0189, -0.0387, 0.9992, 0.3408, 1.5803, 1.38, -0.7059, 0.2428, 0.0856, 0.1528]\nstate[eef_state]: left_x=0.2835 left_y=0.0016 left_z=0.1615 left_yaw=0.0026 left_pitch=-0.0843 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4122 right_y=0.1049 right_z=0.196 right_yaw=0.0749 right_pitch=-0.2861 right_roll=-0.1388 right_gripper=0.1528\nstate[joint_eff]: [-0.0342, -1.1419, 6.9675, 1.7607, -0.0659, -0.0611, -0.0122, -0.3487, -8.7316, 8.8274, 1.5556, 0.1197, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5b1e4991857acb29d255fd87932dbb6dd3d9a1a7862264aeab2fef5d2fccd0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2ffe65d5bcac400d9aaeed6eee7bc50e53cdff91b1b038596042d4ffb30055d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:235794b0779a94a7ca8e3713a4962855bd9ca3f993f6adf1fd4b6928ac67b089",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywYKjgEIEhgCKkBZiqaJScx9PtJmd30tsWNxVosZOOEuIDjuC9OMgt4iPzd/yf+hZN2s4jWEDwBxpYWcdDFc5Zx+00jJkqcnsabDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcyTzNUGEgxDnWh1CbsB2+1GP2saDPdh/MnrEcvdUkApECIwOX4zILKHGLDw1QX1TYloFlHEwMyAGieV/vS3KBaCDnk1/D61dI77pEwCgQ8QXsP0KukE+7OhamAbz80vafdjg1xI9mO0+xX6LFj6V4d8tSo50Uh0SylX5jkQ5Tr/7OiY/s8TCeFXCrWlyD47FlZtn2j18ZRwG1g9WRtn024dra1UtpILPQH87xETlZEXHtvSdUvB5bUvTFVc6N0SPeOuMwIVWfun+VGxbCv/NyeNcq20LXmlyy/rMHNxaCLekMW8YATLSS+pWVfdVnVc395mas1itMZH1bLH0JDp0re9RVp7Ih901HCIpbg+sCHnLcccFvxX7fRU3FNKnSHG+2sqRD33iVwWoJYz0VtHGEaBOqT97UwZGtqAwORjkNddodWnnPpX3kDNCBKgw6FcvRkKBqfLDGcQUpkBka+JqvmlyqJoq0PopycDqPSZxDFTJD7ZOZyuMVvNUlXigpiyBo42V7gSD2HfqioeIXnySpLYf/mzO8IMEaTAf0aZOa74Nd620XGbodI3lGc7Zbq4fx/0IDmcvh3iNG0ozp7x5YAZFqstOhaXRQnr7r+O94eHquUttnJQKWtCAZ8LVex9lC8IMU1+mnDPislcjJ2qcWADsGXCXOIstTsqyAJQAYnKY0R2BEZu6/xxeyEEoSJRmsvy6aGCOHWRB3yKAdLXcQu3kIsX+yq5GKwQ0jjMbRFkQ7Pc32Jl/XNECOvyYzTiiiQ4f2voMolS9TPd3OIQLGmwC5J+7R/siunHHKODyuOUjHABLJCBL3EkT2samg4aKt7MKBk5qhZAQ6nNAGojV8tFzGcZ+a/T7ov7fdQ1Qfw4vyQ4UAyRmpw5UHI4eaZhj9B8bb+qc53hDmBGz3eQXZrOSQBvgcveEJ8343fjweQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016G7i94J9hxqCenhnGgzK6R",
      "input": {
        "note": "Carrying the lemon leftward over the open safe (about 19 cm across) at 22 cm height, then I'll fine-align over the red interior in the wrist view.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.29,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_016G7i94J9hxqCenhnGgzK6R",
      "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, -0.4797, -0.0189, -0.0387, 0.9992, 0.7837, 1.9888, 1.9797, -1.0641, 0.4652, 0.4419, 0.1527]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1588 left_yaw=0.0027 left_pitch=-0.0984 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3944 right_y=0.2863 right_z=0.2108 right_yaw=0.1115 right_pitch=-0.3225 right_roll=-0.1582 right_gripper=0.1527\nstate[joint_eff]: [-0.2256, -1.2239, 7.1726, 1.8242, -0.0806, -0.0659, -0.0122, 0.1846, -9.9487, 8.5538, 1.1502, 0.5055, 0.2271, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7681d6afd3464345a2c6579baf3df6b02ba07bef066dd627aa6c98e25134275",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8823f4cec63cd935c329edab4028389c1a50ee5bdfe04c597600058753c583f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ecc863cc88515f5df8d68cf404fa5036d2a46a9e63200a15a3a8c9f45c0d3ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 5.154 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, -0.458, -0.0189, -0.0387, 0.9992, 0.3408, 1.631, 0.9939, -0.2241, 0.2428, 0.0929, 0.1529]\nstate[eef_state]: left_x=0.2846 left_y=0.0015 left_z=0.163 left_yaw=0.0026 left_pitch=-0.0767 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4144 right_y=0.1057 right_z=0.0949 right_yaw=0.074 right_pitch=-0.2422 right_roll=-0.1216 right_gripper=0.1529\nstate[joint_eff]: [-0.0068, -1.265, 7.4051, 1.7118, -0.0708, -0.0757, -0.0073, -0.3624, -9.3607, 8.7453, 1.7363, 0.1636, 0.0073, -0.2076]",
      "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, -0.4656, -0.0189, -0.0387, 0.9992, 0.3408, 1.5803, 1.38, -0.7059, 0.2428, 0.0856, 0.1528]\nstate[eef_state]: left_x=0.2835 left_y=0.0016 left_z=0.1615 left_yaw=0.0026 left_pitch=-0.0843 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4122 right_y=0.1049 right_z=0.196 right_yaw=0.0749 right_pitch=-0.2861 right_roll=-0.1388 right_gripper=0.1528\nstate[joint_eff]: [-0.0342, -1.1419, 6.9675, 1.7607, -0.0659, -0.0611, -0.0122, -0.3487, -8.7316, 8.8274, 1.5556, 0.1197, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4797, -0.0189, -0.0387, 0.9992, 0.7837, 1.9888, 1.9797, -1.0641, 0.4652, 0.4419, 0.1527]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1588 left_yaw=0.0027 left_pitch=-0.0984 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3944 right_y=0.2863 right_z=0.2108 right_yaw=0.1115 right_pitch=-0.3225 right_roll=-0.1582 right_gripper=0.1527\nstate[joint_eff]: [-0.2256, -1.2239, 7.1726, 1.8242, -0.0806, -0.0659, -0.0122, 0.1846, -9.9487, 8.5538, 1.1502, 0.5055, 0.2271, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7681d6afd3464345a2c6579baf3df6b02ba07bef066dd627aa6c98e25134275",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8823f4cec63cd935c329edab4028389c1a50ee5bdfe04c597600058753c583f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ecc863cc88515f5df8d68cf404fa5036d2a46a9e63200a15a3a8c9f45c0d3ac",
        "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_01M7v3osnaVM5HDP2wJJ9aCx",
      "input": {
        "note": "The wrist view reveals the lemon is still on the table right of the safe — the earlier close was empty. Returning over the lemon, 4 cm further out this time, since the fingertips reach beyond what the wrist image suggests.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.45,
          "right_y": 0.1,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01M7v3osnaVM5HDP2wJJ9aCx",
      "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, -0.4961, -0.0189, -0.0387, 0.9992, 0.2966, 1.7779, 1.2896, -0.5312, 0.2108, 0.0284, 0.9973]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1556 left_yaw=0.0027 left_pitch=-0.1148 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4363 right_y=0.0984 right_z=0.1017 right_yaw=0.0821 right_pitch=-0.4073 right_roll=-0.1764 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.0462, 6.9812, 1.7949, -0.0513, -0.0659, -0.0122, -0.2256, -10.988, 6.9812, 1.663, 0.0269, -0.0708, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a91bccc66a1583d28c5a991f36c47879d5bf8957841fb10e89fd789eeb0b9ac9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0d1fce49d2e406afc2836eb947c873c4ebe924c2a631687704f2d54ab21cce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d79ac96802459e766e7a7f91f1cc2d9a915c1ed768bf7912835fded0c9408b57",
        "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 · 5.882 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, -0.4656, -0.0189, -0.0387, 0.9992, 0.3408, 1.5803, 1.38, -0.7059, 0.2428, 0.0856, 0.1528]\nstate[eef_state]: left_x=0.2835 left_y=0.0016 left_z=0.1615 left_yaw=0.0026 left_pitch=-0.0843 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4122 right_y=0.1049 right_z=0.196 right_yaw=0.0749 right_pitch=-0.2861 right_roll=-0.1388 right_gripper=0.1528\nstate[joint_eff]: [-0.0342, -1.1419, 6.9675, 1.7607, -0.0659, -0.0611, -0.0122, -0.3487, -8.7316, 8.8274, 1.5556, 0.1197, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4797, -0.0189, -0.0387, 0.9992, 0.7837, 1.9888, 1.9797, -1.0641, 0.4652, 0.4419, 0.1527]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1588 left_yaw=0.0027 left_pitch=-0.0984 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3944 right_y=0.2863 right_z=0.2108 right_yaw=0.1115 right_pitch=-0.3225 right_roll=-0.1582 right_gripper=0.1527\nstate[joint_eff]: [-0.2256, -1.2239, 7.1726, 1.8242, -0.0806, -0.0659, -0.0122, 0.1846, -9.9487, 8.5538, 1.1502, 0.5055, 0.2271, -0.022]",
      "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, 0.8032, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 0.2966, 1.7779, 1.2896, -0.5312, 0.2108, 0.0284, 0.9973]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1556 left_yaw=0.0027 left_pitch=-0.1148 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4363 right_y=0.0984 right_z=0.1017 right_yaw=0.0821 right_pitch=-0.4073 right_roll=-0.1764 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.0462, 6.9812, 1.7949, -0.0513, -0.0659, -0.0122, -0.2256, -10.988, 6.9812, 1.663, 0.0269, -0.0708, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a91bccc66a1583d28c5a991f36c47879d5bf8957841fb10e89fd789eeb0b9ac9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0d1fce49d2e406afc2836eb947c873c4ebe924c2a631687704f2d54ab21cce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d79ac96802459e766e7a7f91f1cc2d9a915c1ed768bf7912835fded0c9408b57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2QMKjgEIEhgCKkA2iNCnSPwYVK1tQwk3uxTOvLpWzfgkOIblMzTiGik9/t5eKy8Hy8fNAj85UB5TsktbxbE2Hd5pF5/ab11V7Zq2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSTzNUGEgxj1pH1se3mbxQtlFcaDGsvn6fi4HW+VPtUSCIwXrOW3i1cGhr99uzP24erWPxSREq4EJGyX8NfxNuwGrdwz+/iW4msFsZ/oNTNbOU3KvcBW3s6h1UWHbF4uhB0i7KTJtPKlNf3GLemUcmKjAzs/VNojEHkVpNuqEVjmGdz0guBuVYlgGTBGB598ecTw7WtedgM3+nwoiVGxhAr+S6hNgBESGirgVRS+Z1r6eFqsUmBfCv3NEDWfciC3Wr+dDhxFbcXr2HDvMn7O5BRr7IzuHbKX5xOV7O68r7jw3Tgaies8/GKcqgSL3VZTpXX/AqkUoLHbx2KUiHfp8YKC0gRNY5uGa23sBQGT4+Zjk//fq4FKcYPh136K1OYsmBYkfDoZ8U3lxgc8gjrUCJTjrZpkAiCJsLrm8P0keQs1ghtoObwgME8L4/8tRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EhzQkwCL3CPDDwvhfxZYR4",
      "input": {
        "note": "Lemon is large and nearly centered in the wrist view just below the jaw column; descending to table level right over it.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.105,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EhzQkwCL3CPDDwvhfxZYR4",
      "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, -0.511, -0.0189, -0.0387, 0.9992, 0.3, 1.9335, 1.1709, -0.3237, 0.1997, 0.0185, 0.9987]\nstate[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1528 left_yaw=0.0027 left_pitch=-0.1297 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4349 right_y=0.1016 right_z=0.0179 right_yaw=0.0949 right_pitch=-0.4756 right_roll=-0.1871 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -1.1966, 7.2274, 1.7705, -0.0122, -0.0464, -0.0122, 0.0342, -9.0598, 5.7641, 1.4823, 0.1783, 0.1099, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fd5f97c56fcb1ee5aeaee341d23963ac62c67c30b3ef348041657c946d5d44a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f90107212de426573e3234912ff90885813514a33cebba82cdeb9fc1e69fa5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:275f4048c1194dae1be805b1a05c4f529b3397647fcedef22019d0009fd0047c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.817 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, -0.4797, -0.0189, -0.0387, 0.9992, 0.7837, 1.9888, 1.9797, -1.0641, 0.4652, 0.4419, 0.1527]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1588 left_yaw=0.0027 left_pitch=-0.0984 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3944 right_y=0.2863 right_z=0.2108 right_yaw=0.1115 right_pitch=-0.3225 right_roll=-0.1582 right_gripper=0.1527\nstate[joint_eff]: [-0.2256, -1.2239, 7.1726, 1.8242, -0.0806, -0.0659, -0.0122, 0.1846, -9.9487, 8.5538, 1.1502, 0.5055, 0.2271, -0.022]",
      "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, 0.8032, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 0.2966, 1.7779, 1.2896, -0.5312, 0.2108, 0.0284, 0.9973]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1556 left_yaw=0.0027 left_pitch=-0.1148 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4363 right_y=0.0984 right_z=0.1017 right_yaw=0.0821 right_pitch=-0.4073 right_roll=-0.1764 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.0462, 6.9812, 1.7949, -0.0513, -0.0659, -0.0122, -0.2256, -10.988, 6.9812, 1.663, 0.0269, -0.0708, -0.0513]",
      "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, 0.8032, 0.6067, -0.511, -0.0189, -0.0387, 0.9992, 0.3, 1.9335, 1.1709, -0.3237, 0.1997, 0.0185, 0.9987]\nstate[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1528 left_yaw=0.0027 left_pitch=-0.1297 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4349 right_y=0.1016 right_z=0.0179 right_yaw=0.0949 right_pitch=-0.4756 right_roll=-0.1871 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -1.1966, 7.2274, 1.7705, -0.0122, -0.0464, -0.0122, 0.0342, -9.0598, 5.7641, 1.4823, 0.1783, 0.1099, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fd5f97c56fcb1ee5aeaee341d23963ac62c67c30b3ef348041657c946d5d44a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f90107212de426573e3234912ff90885813514a33cebba82cdeb9fc1e69fa5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:275f4048c1194dae1be805b1a05c4f529b3397647fcedef22019d0009fd0047c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QQKjgEIEhgCKkAOMxjRG79Cz/h9c5PaCgB4wOPlRxnVw11ZCqujnSvuWHMO+IGuurSY9qXRAnCjCrs7ljywi77AUpP9fOFSL4VbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeqTzNUGEgzhAP/um2sNIhDf88YaDPETfKMjfnE/0w/trSIw/7rabplXHrnWHiulI+uSRNEYhvlhhb0ayvhcx3+DLg032ZjtX4l+9sB4/CsJcN8jKvsCBsjqgb0JnUyyQKoBRGNK1iQphG8yGwhQ7XIY1XY2Su4KUUfWacnZn4NeqPK6UigfBXfuFG5P/vNG6ZcdXfUIfOkNp7Kt0gBS02QPqsndUhTw1mNdTEzY7bqQOw4MqU5KimwqmZYebyYxLGRj2PBBd/teqKmZ0UkKfPkbjSS6dV6qk/MKzraOIwnKPX0Tq7ShcnCezfU0t4ZXF+q0PdODNbh/Z7EnpkO8t7t4NJ4lUfdr7uDvmqWaqjTzccsd6CW4GpPit8SwHVC0a0LHGLR64tmh1lSy2B6DI48TDMAL6tFuKcN1yZ4w6s9fHEM5OnApd1jTBdFaUgqHhfY9dqwDViScp2vRgPo1JyQhZ3Bf2dhl635FxXo86zXrILSN4YCi77BtjBkaE/Rjpaa8gQ0RTcQy0eqYgGbCBZW4bT3xXzxTPhiGfyCmSo5GGTuiBMPKEdnOyUvomHJKvd+Ue2tPaVWxDFi01kOE8MojSqG8X2lQ5iX+SkQuSh37SRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014uA5y3bT4AmenuTTSu78Wj",
      "input": {
        "note": "Lemon is right between the open jaws at table level; closing to ~2.8 cm to squeeze it.",
        "targets": {
          "right_gripper": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014uA5y3bT4AmenuTTSu78Wj",
      "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, -0.5182, -0.0189, -0.0387, 0.9992, 0.3, 1.9507, 1.1625, -0.3279, 0.1967, 0.0113, 0.3049]\nstate[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1515 left_yaw=0.0028 left_pitch=-0.1369 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4295 right_y=0.1005 right_z=0.0073 right_yaw=0.099 right_pitch=-0.506 right_roll=-0.1947 right_gripper=0.3049\nstate[joint_eff]: [-0.0752, -1.2103, 6.9265, 1.6679, -0.0708, -0.0659, -0.0122, -0.212, -11.1385, 6.3932, 1.0965, 0.1245, 0.0708, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f90bc30de13053dd7b2b4375daf67300eba8e1b7a7ce33e74eaf083bcb878ee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc071fbbd72afed455e3599638705a61d3fb901f9a7b89784a8c7a9febe3bec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aae21740d20788343491fd91cbaf34d99f92af0ac99121ec4835be8b42478fb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 20.64 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, 0.8032, 0.6067, -0.4961, -0.0189, -0.0387, 0.9992, 0.2966, 1.7779, 1.2896, -0.5312, 0.2108, 0.0284, 0.9973]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1556 left_yaw=0.0027 left_pitch=-0.1148 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4363 right_y=0.0984 right_z=0.1017 right_yaw=0.0821 right_pitch=-0.4073 right_roll=-0.1764 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.0462, 6.9812, 1.7949, -0.0513, -0.0659, -0.0122, -0.2256, -10.988, 6.9812, 1.663, 0.0269, -0.0708, -0.0513]",
      "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, 0.8032, 0.6067, -0.511, -0.0189, -0.0387, 0.9992, 0.3, 1.9335, 1.1709, -0.3237, 0.1997, 0.0185, 0.9987]\nstate[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1528 left_yaw=0.0027 left_pitch=-0.1297 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4349 right_y=0.1016 right_z=0.0179 right_yaw=0.0949 right_pitch=-0.4756 right_roll=-0.1871 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -1.1966, 7.2274, 1.7705, -0.0122, -0.0464, -0.0122, 0.0342, -9.0598, 5.7641, 1.4823, 0.1783, 0.1099, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5182, -0.0189, -0.0387, 0.9992, 0.3, 1.9507, 1.1625, -0.3279, 0.1967, 0.0113, 0.3049]\nstate[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1515 left_yaw=0.0028 left_pitch=-0.1369 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4295 right_y=0.1005 right_z=0.0073 right_yaw=0.099 right_pitch=-0.506 right_roll=-0.1947 right_gripper=0.3049\nstate[joint_eff]: [-0.0752, -1.2103, 6.9265, 1.6679, -0.0708, -0.0659, -0.0122, -0.212, -11.1385, 6.3932, 1.0965, 0.1245, 0.0708, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f90bc30de13053dd7b2b4375daf67300eba8e1b7a7ce33e74eaf083bcb878ee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc071fbbd72afed455e3599638705a61d3fb901f9a7b89784a8c7a9febe3bec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aae21740d20788343491fd91cbaf34d99f92af0ac99121ec4835be8b42478fb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3gIKjgEIEhgCKkA7D1dZkq7krEiYAVDQKeNM02DFlzN1ZGxncvQbQGXYCNo/UpxweFPosdccUPzCYxIU22SPjQZGqvYiPJyD4b/CMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+TzNUGEgzWIb7wodsXhFW8id8aDCSsbWBKL4/wH+Lu4SIwt7NcbhKLFq6wnE1fptZJRJ/pCVuJv6DFFkAUUc+lpIq95/jvJlE1kGlTsANJ5L9DKn2d07CkIF0jvbcQnPv1raT02onRoXqrFwvWKn4d6pCTeExMa5nfwbW4Ksl54PiUVOvogPTAP9OZaDrEUgkFY155I0RYIfOJJMIbuYhrpeOUHHh3WPVbqIjv8xnkE+RDNDqPnZ6tBvHi1nNGewFoVR5c1gdQK1n/B412+leRZRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jn1816FfM9mX6YHSHc3K1a",
      "input": {
        "note": "Jaws are pinched on the lemon's sides; lifting to 15 cm to verify the lemon comes with them.",
        "targets": {
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Jn1816FfM9mX6YHSHc3K1a",
      "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, -0.5255, -0.0189, -0.0383, 0.9992, 0.3, 1.8362, 1.5204, -0.8371, 0.1936, 0.0067, 0.3041]\nstate[eef_state]: left_x=0.274 left_y=0.0017 left_z=0.1501 left_yaw=0.0026 left_pitch=-0.1442 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4288 right_y=0.1008 right_z=0.1253 right_yaw=0.1005 right_pitch=-0.5433 right_roll=-0.2025 right_gripper=0.3041\nstate[joint_eff]: [-0.1709, -1.0735, 6.9128, 1.6386, -0.0855, -0.0415, -0.0122, -0.2667, -11.9453, 8.1983, 1.1404, 0.1001, 0.0122, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaf939e5814986c4e7f503b2eeed45d6044565bde2e2acea39a5aedb36f2d7a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:434bdd8cf74d7a53ad457bee4397fb16fbe06264480d79525ee277c6f1bd5bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27929b87f3cd801e77531e7a33db7aa026bf07839344dc517c3d60ae7c7d0e88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 6.215 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, 0.8032, 0.6067, -0.511, -0.0189, -0.0387, 0.9992, 0.3, 1.9335, 1.1709, -0.3237, 0.1997, 0.0185, 0.9987]\nstate[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1528 left_yaw=0.0027 left_pitch=-0.1297 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4349 right_y=0.1016 right_z=0.0179 right_yaw=0.0949 right_pitch=-0.4756 right_roll=-0.1871 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -1.1966, 7.2274, 1.7705, -0.0122, -0.0464, -0.0122, 0.0342, -9.0598, 5.7641, 1.4823, 0.1783, 0.1099, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5182, -0.0189, -0.0387, 0.9992, 0.3, 1.9507, 1.1625, -0.3279, 0.1967, 0.0113, 0.3049]\nstate[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1515 left_yaw=0.0028 left_pitch=-0.1369 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4295 right_y=0.1005 right_z=0.0073 right_yaw=0.099 right_pitch=-0.506 right_roll=-0.1947 right_gripper=0.3049\nstate[joint_eff]: [-0.0752, -1.2103, 6.9265, 1.6679, -0.0708, -0.0659, -0.0122, -0.212, -11.1385, 6.3932, 1.0965, 0.1245, 0.0708, 0.2076]\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, 0.8032, 0.6067, -0.5255, -0.0189, -0.0383, 0.9992, 0.3, 1.8362, 1.5204, -0.8371, 0.1936, 0.0067, 0.3041]\nstate[eef_state]: left_x=0.274 left_y=0.0017 left_z=0.1501 left_yaw=0.0026 left_pitch=-0.1442 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4288 right_y=0.1008 right_z=0.1253 right_yaw=0.1005 right_pitch=-0.5433 right_roll=-0.2025 right_gripper=0.3041\nstate[joint_eff]: [-0.1709, -1.0735, 6.9128, 1.6386, -0.0855, -0.0415, -0.0122, -0.2667, -11.9453, 8.1983, 1.1404, 0.1001, 0.0122, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaf939e5814986c4e7f503b2eeed45d6044565bde2e2acea39a5aedb36f2d7a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:434bdd8cf74d7a53ad457bee4397fb16fbe06264480d79525ee277c6f1bd5bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27929b87f3cd801e77531e7a33db7aa026bf07839344dc517c3d60ae7c7d0e88",
        "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_01K2hSwrPFpeNvLMGrrnQiBx",
      "input": {
        "note": "Two closes came back empty, and in the top view the jaws appear a few cm to the right of the lemon, so I'm shifting 5 cm toward the lemon (+y) and dropping to table level with the gripper open.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.44,
          "right_y": 0.15,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01K2hSwrPFpeNvLMGrrnQiBx",
      "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, -0.5381, -0.0189, -0.0387, 0.9992, 0.403, 2.0335, 1.3685, -0.5568, 0.2291, 0.0814, 0.9948]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1478 left_yaw=0.0028 left_pitch=-0.1567 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4286 right_y=0.143 right_z=0.0169 right_yaw=0.1107 right_pitch=-0.5933 right_roll=-0.2241 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -1.1419, 6.9128, 1.6777, -0.0611, -0.0513, -0.0122, 0.7726, -9.4701, 5.2444, 1.3309, 0.1929, 0.1832, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bcf5a015dde459975fe44a9025d96ab1cb577d8e69fe968643a868a04112d6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:734c94d8cb1f2ec7def43a6f6e4dc9cc363fcbb4df9b3f7a83b7948958c171b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0dae9568d966e1da157c487a4bffeee4869a8533eac47f5738528ab4683fd25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 16.62 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5182, -0.0189, -0.0387, 0.9992, 0.3, 1.9507, 1.1625, -0.3279, 0.1967, 0.0113, 0.3049]\nstate[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1515 left_yaw=0.0028 left_pitch=-0.1369 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4295 right_y=0.1005 right_z=0.0073 right_yaw=0.099 right_pitch=-0.506 right_roll=-0.1947 right_gripper=0.3049\nstate[joint_eff]: [-0.0752, -1.2103, 6.9265, 1.6679, -0.0708, -0.0659, -0.0122, -0.212, -11.1385, 6.3932, 1.0965, 0.1245, 0.0708, 0.2076]\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, 0.8032, 0.6067, -0.5255, -0.0189, -0.0383, 0.9992, 0.3, 1.8362, 1.5204, -0.8371, 0.1936, 0.0067, 0.3041]\nstate[eef_state]: left_x=0.274 left_y=0.0017 left_z=0.1501 left_yaw=0.0026 left_pitch=-0.1442 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4288 right_y=0.1008 right_z=0.1253 right_yaw=0.1005 right_pitch=-0.5433 right_roll=-0.2025 right_gripper=0.3041\nstate[joint_eff]: [-0.1709, -1.0735, 6.9128, 1.6386, -0.0855, -0.0415, -0.0122, -0.2667, -11.9453, 8.1983, 1.1404, 0.1001, 0.0122, -0.1001]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5381, -0.0189, -0.0387, 0.9992, 0.403, 2.0335, 1.3685, -0.5568, 0.2291, 0.0814, 0.9948]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1478 left_yaw=0.0028 left_pitch=-0.1567 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4286 right_y=0.143 right_z=0.0169 right_yaw=0.1107 right_pitch=-0.5933 right_roll=-0.2241 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -1.1419, 6.9128, 1.6777, -0.0611, -0.0513, -0.0122, 0.7726, -9.4701, 5.2444, 1.3309, 0.1929, 0.1832, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bcf5a015dde459975fe44a9025d96ab1cb577d8e69fe968643a868a04112d6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:734c94d8cb1f2ec7def43a6f6e4dc9cc363fcbb4df9b3f7a83b7948958c171b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0dae9568d966e1da157c487a4bffeee4869a8533eac47f5738528ab4683fd25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISogUKjgEIEhgCKkATvi7OF1H7kixuamroEG13/n27iVWxRBMVZSaAf4z9fhSAEmgydm2wPa4UCBCjwwYeOdDZLRFiG4L9BybKVj2lMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYuUzNUGEgzovPwwOHXCg/zuCt8aDFcIDOvK1zZaITLydSIwGRnkS+0j1FVihbvqRYsWyjbLnb8vADx22WlPRbu+HcuGRMX/4JS8xi89KyusIoVgKsADx7G7ygALCwemkdnGf4e5dS/vZI+Sr9XINJdk4KHgRDQBf2aFrF4Jrsp8lvFTIWrkqsV2W2tYr7peGALnbvYS0GI/NTmNhFwRJQjvlA//Xp1ekkn8SniTCv0qwXRA1DAewXaN2nyqLfqZ8ESMXTkNdGqSqRaiXM5xd2Jsz9VW20qG80V2bJVa6NAxwzkAiixqKQDyiaN+7zky+HILDzBSYH33t8V7ZmEQJFFr/HiYj+IRwS98YlTfPj9UF/lkqo3gakxp8RFWAEr8RoPTwdJGKihAm+vvFNqeU+0rIBilRg1VFlycebrSdqf2cVWJL2q7b/7xLYb3O/Jfn/5B8HC+4XOzcGRbYdii1ZjY+Yqauwi7l03EhGm5w1VjnxsI85arF5bLuQKX5fNbku6mzwmwFnv+9izSFiZ3r0c0dRa2gGSvGXTJVQGC0HATxYGyrEZtRCrVcnswpoWrIn7eFO2rreLsvvnEPxGP5A+gv7fWNpVpTeiklUavgVFvIC/3pWoOrtjVwzkx5JhXsJbMNlo5C1Cl656EHJRIxE5z6vPKT4B4DiEdDOKcaLW95FTZ2/0Nt7zxrTw5IeXE9WkmbwLALhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JxRYS876P11QXm9jsLbJmA",
      "input": {
        "note": "The lemon now fills the wrist view right at the jaws; closing to check whether the reading settles high (object held) or near zero (empty).",
        "targets": {
          "right_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01JxRYS876P11QXm9jsLbJmA",
      "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, -0.5407, -0.0189, -0.0383, 0.9992, 0.4046, 2.0502, 1.3628, -0.5652, 0.2272, 0.0788, 0.2053]\nstate[eef_state]: left_x=0.2715 left_y=0.0018 left_z=0.1473 left_yaw=0.0026 left_pitch=-0.1594 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4232 right_y=0.1418 right_z=0.0073 right_yaw=0.1096 right_pitch=-0.6238 right_roll=-0.2341 right_gripper=0.2053\nstate[joint_eff]: [-0.2256, -1.1829, 7.0906, 1.58, -0.0855, -0.0366, -0.0122, -0.3897, -12.1231, 6.2427, 0.9304, 0.1538, -0.0073, 0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4f1b7ae429c6bb972d2a5e1ae03a949a1934bc4044be8a7ad7f8aa40b24891f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09f0ea0076c5a399be0666008a0e86ed5998d74c3a36c751767134bd7c9d21d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5133cdd1a2f571d7963a0a3a562d585e7de5e8463580411e0f09916ae76ca0f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 31.47 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5255, -0.0189, -0.0383, 0.9992, 0.3, 1.8362, 1.5204, -0.8371, 0.1936, 0.0067, 0.3041]\nstate[eef_state]: left_x=0.274 left_y=0.0017 left_z=0.1501 left_yaw=0.0026 left_pitch=-0.1442 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4288 right_y=0.1008 right_z=0.1253 right_yaw=0.1005 right_pitch=-0.5433 right_roll=-0.2025 right_gripper=0.3041\nstate[joint_eff]: [-0.1709, -1.0735, 6.9128, 1.6386, -0.0855, -0.0415, -0.0122, -0.2667, -11.9453, 8.1983, 1.1404, 0.1001, 0.0122, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5381, -0.0189, -0.0387, 0.9992, 0.403, 2.0335, 1.3685, -0.5568, 0.2291, 0.0814, 0.9948]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1478 left_yaw=0.0028 left_pitch=-0.1567 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4286 right_y=0.143 right_z=0.0169 right_yaw=0.1107 right_pitch=-0.5933 right_roll=-0.2241 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -1.1419, 6.9128, 1.6777, -0.0611, -0.0513, -0.0122, 0.7726, -9.4701, 5.2444, 1.3309, 0.1929, 0.1832, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5407, -0.0189, -0.0383, 0.9992, 0.4046, 2.0502, 1.3628, -0.5652, 0.2272, 0.0788, 0.2053]\nstate[eef_state]: left_x=0.2715 left_y=0.0018 left_z=0.1473 left_yaw=0.0026 left_pitch=-0.1594 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4232 right_y=0.1418 right_z=0.0073 right_yaw=0.1096 right_pitch=-0.6238 right_roll=-0.2341 right_gripper=0.2053\nstate[joint_eff]: [-0.2256, -1.1829, 7.0906, 1.58, -0.0855, -0.0366, -0.0122, -0.3897, -12.1231, 6.2427, 0.9304, 0.1538, -0.0073, 0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4f1b7ae429c6bb972d2a5e1ae03a949a1934bc4044be8a7ad7f8aa40b24891f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09f0ea0076c5a399be0666008a0e86ed5998d74c3a36c751767134bd7c9d21d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5133cdd1a2f571d7963a0a3a562d585e7de5e8463580411e0f09916ae76ca0f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QUf879Mw7pKCxJGdPpr8Lu",
      "input": {
        "note": "Repeated closes read empty even though the lemon fills the wrist view — per the rig notes the fingertips reach past what the image shows, so I've likely been overshooting. Pulling back 4 cm toward the base at table level and reopening.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.38,
          "right_y": 0.13,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01QUf879Mw7pKCxJGdPpr8Lu",
      "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, 0.804, 0.6067, -0.5556, -0.0189, -0.0387, 0.9992, 0.4198, 1.9011, 1.1404, -0.4698, 0.2424, 0.0898, 0.9946]\nstate[eef_state]: left_x=0.269 left_y=0.0018 left_z=0.1444 left_yaw=0.0029 left_pitch=-0.1751 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3857 right_y=0.1296 right_z=0.0087 right_yaw=0.1076 right_pitch=-0.5969 right_roll=-0.2379 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -1.2239, 6.9538, 1.7363, -0.0806, -0.0562, -0.0122, 0.2803, -10.2632, 5.2718, 0.8913, 0.0611, 0.0073, -0.2222]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff2c62152e459ae427f44baa2047ed0c43b795a17375751acb5c8effb757a2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ea72b810bcaaa25ccdb7efd3922cedcbda60999716a18b10e1cca1d3637d088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9db2bea0600519fe1592a5cafa40753ac42ce10001a8582910e0e89b045617c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 8.531 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5381, -0.0189, -0.0387, 0.9992, 0.403, 2.0335, 1.3685, -0.5568, 0.2291, 0.0814, 0.9948]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1478 left_yaw=0.0028 left_pitch=-0.1567 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4286 right_y=0.143 right_z=0.0169 right_yaw=0.1107 right_pitch=-0.5933 right_roll=-0.2241 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -1.1419, 6.9128, 1.6777, -0.0611, -0.0513, -0.0122, 0.7726, -9.4701, 5.2444, 1.3309, 0.1929, 0.1832, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5407, -0.0189, -0.0383, 0.9992, 0.4046, 2.0502, 1.3628, -0.5652, 0.2272, 0.0788, 0.2053]\nstate[eef_state]: left_x=0.2715 left_y=0.0018 left_z=0.1473 left_yaw=0.0026 left_pitch=-0.1594 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4232 right_y=0.1418 right_z=0.0073 right_yaw=0.1096 right_pitch=-0.6238 right_roll=-0.2341 right_gripper=0.2053\nstate[joint_eff]: [-0.2256, -1.1829, 7.0906, 1.58, -0.0855, -0.0366, -0.0122, -0.3897, -12.1231, 6.2427, 0.9304, 0.1538, -0.0073, 0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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, 0.804, 0.6067, -0.5556, -0.0189, -0.0387, 0.9992, 0.4198, 1.9011, 1.1404, -0.4698, 0.2424, 0.0898, 0.9946]\nstate[eef_state]: left_x=0.269 left_y=0.0018 left_z=0.1444 left_yaw=0.0029 left_pitch=-0.1751 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3857 right_y=0.1296 right_z=0.0087 right_yaw=0.1076 right_pitch=-0.5969 right_roll=-0.2379 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -1.2239, 6.9538, 1.7363, -0.0806, -0.0562, -0.0122, 0.2803, -10.2632, 5.2718, 0.8913, 0.0611, 0.0073, -0.2222]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff2c62152e459ae427f44baa2047ed0c43b795a17375751acb5c8effb757a2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ea72b810bcaaa25ccdb7efd3922cedcbda60999716a18b10e1cca1d3637d088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9db2bea0600519fe1592a5cafa40753ac42ce10001a8582910e0e89b045617c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019ZdqJjj6uu656PvYjhC3NR",
      "input": {
        "note": "The lemon keeps slipping past the jaws, so I'll switch to the large teddy bear sitting in front of the safe: moving the right arm over it (about 27 cm left, 27 cm out) to line it up in the wrist view.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.27,
          "right_y": 0.27,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_019ZdqJjj6uu656PvYjhC3NR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5629, -0.0189, -0.0387, 0.9992, 0.9329, 1.8095, 1.5089, -1.0668, 0.3561, 0.5598, 0.999]\nstate[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1431 left_yaw=0.0029 left_pitch=-0.1823 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2739 right_y=0.2721 right_z=0.1227 right_yaw=0.1673 right_pitch=-0.6001 right_roll=-0.2218 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -0.9094, 7.0906, 1.6874, -0.0562, -0.0415, -0.0122, 0.1573, -7.6923, 7.4051, 0.569, 0.2955, 0.1734, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0aa26f99c2a0f0a9811fd7f9a91ef92d99ecab66dfa8cf0c6775a618a311fee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24139884e0bdf12095eeec1a2ec16b16a4b25e4e92895a90f5850220cd756c6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e3adb379f9834e4534a84a07e41eed2d631f4958a5e66b297d48a136cf97165",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 3.645 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, 0.8032, 0.6067, -0.5407, -0.0189, -0.0383, 0.9992, 0.4046, 2.0502, 1.3628, -0.5652, 0.2272, 0.0788, 0.2053]\nstate[eef_state]: left_x=0.2715 left_y=0.0018 left_z=0.1473 left_yaw=0.0026 left_pitch=-0.1594 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4232 right_y=0.1418 right_z=0.0073 right_yaw=0.1096 right_pitch=-0.6238 right_roll=-0.2341 right_gripper=0.2053\nstate[joint_eff]: [-0.2256, -1.1829, 7.0906, 1.58, -0.0855, -0.0366, -0.0122, -0.3897, -12.1231, 6.2427, 0.9304, 0.1538, -0.0073, 0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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, 0.804, 0.6067, -0.5556, -0.0189, -0.0387, 0.9992, 0.4198, 1.9011, 1.1404, -0.4698, 0.2424, 0.0898, 0.9946]\nstate[eef_state]: left_x=0.269 left_y=0.0018 left_z=0.1444 left_yaw=0.0029 left_pitch=-0.1751 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3857 right_y=0.1296 right_z=0.0087 right_yaw=0.1076 right_pitch=-0.5969 right_roll=-0.2379 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -1.2239, 6.9538, 1.7363, -0.0806, -0.0562, -0.0122, 0.2803, -10.2632, 5.2718, 0.8913, 0.0611, 0.0073, -0.2222]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.804, 0.6067, -0.5629, -0.0189, -0.0387, 0.9992, 0.9329, 1.8095, 1.5089, -1.0668, 0.3561, 0.5598, 0.999]\nstate[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1431 left_yaw=0.0029 left_pitch=-0.1823 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2739 right_y=0.2721 right_z=0.1227 right_yaw=0.1673 right_pitch=-0.6001 right_roll=-0.2218 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -0.9094, 7.0906, 1.6874, -0.0562, -0.0415, -0.0122, 0.1573, -7.6923, 7.4051, 0.569, 0.2955, 0.1734, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0aa26f99c2a0f0a9811fd7f9a91ef92d99ecab66dfa8cf0c6775a618a311fee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24139884e0bdf12095eeec1a2ec16b16a4b25e4e92895a90f5850220cd756c6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e3adb379f9834e4534a84a07e41eed2d631f4958a5e66b297d48a136cf97165",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISvwcKjgEIEhgCKkAjBPxoDXceS/fOVFvwhZO8fc7Z8zZ0mUD4P47O2jGMVvcCX6yLjeeLicpBpUyFbggN0CY8e3HsuMSIGC66h4kNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcaUzNUGEgyNdjcYDTIF3QsHKckaDIftDdA34NbU9sqdmCIwnnu2eOj/f8aKpIapeQ2XnmlyKdg7KHIQzuEqrPEwTpPPY1KUbrN61DfosgKvI8GjKt0FO1pAZwMvCGXfJXmlGcxvqTmZHQ/65vXLEr87RE60YoO5+IP4RO83qmLQhbHoyO6l+dO29IvlkSA8qnFrpKJJT7hrRkkd8Hz6ZrC7eRI7hK6l+E9H/1hdJ4Pc+2A3jeJTity0bqvKHrYc6iChXxd0QcAJXz8CllLxTqkfwl8LEhW62pWIlxNnIH7EZTc0Q6IlPOyzrh85E8d8WimooRGqIDDMo6PZzemB89U8K6y4XKlH6iBHoZlB48KMrr7CGCbqbMEK4McVAnzr7Ic9NZXHrEYiPdyHVHPNOWPSAwDDULOByXQsPXwsGBFXSx+coZJfJyu9sLeep1p6SrnzY7eUeEAcy2onvqRgCBwRwzJz7DywYg3ixJGkNvjKm5KXR9qhDPfghR2zhjN9BCppkHAgb9W/SCLdBCMxlc4jxo1yZEUV//r/XViTGDfh2VTfSPXOVtdr3ByPvfW23BS48WN5MqGG2OToliKVROUOLs8cq0BypENH5UHQ3uRDecyXuWZyhqUdFFs+hRlxUr1BhOP92rvzcw9zLAUKZxdjosWhqvskiToYvMNnPDEXDaDhGNoLR0OKpQzpT9v51pNuFOxLjhNiVleEYvJrgTWSfo4rmiOiATYB5j9J7bME3SRCjbuByJobeEEH3fql/4OpKc+jmPjbCr6QaipGdC+sYRZc4s0nnbj95IT3wzcc9tfopCfpXluoISbwVTMsCgQq/9xiXHuKrQyoJkqGPh2RlslUVaXH/rhqy1aI5kzRlGXEaSMST9hnFm260p0nqLDuRTDTKkXme/14FoLHIjb8vVSeXXIVCydFTRRNWdnXXZ72XzWqERyHacjiZXPgbzpaTWOwV8M56hMpk8qTeWM9ZjZ9pWuw/W6MkL5bsjgK9EYUbbSI1t1noJp3KUYUGFl8ho0al/flCxSgFm9w+65gcQTYYkwk9XaKMF7q2fjXdzC7LLaLQ85AxVy3o8kvZSJlShgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Xy9Cg3os8Jgi4ozKvgREa",
      "input": {
        "note": "The big teddy bear is right under the jaws in the wrist view with the safe's red interior just beyond; descending onto it, pulled 2 cm toward the base since objects at the image bottom sit slightly short of the fingertips.",
        "targets": {
          "right_x": 0.255,
          "right_y": 0.275,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012Xy9Cg3os8Jgi4ozKvgREa",
      "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, 0.804, 0.6067, -0.5755, -0.0189, -0.0383, 0.9992, 0.9775, 1.8473, 1.2182, -0.8047, 0.3553, 0.5949, 0.9989]\nstate[eef_state]: left_x=0.2656 left_y=0.0019 left_z=0.1409 left_yaw=0.0028 left_pitch=-0.1949 left_roll=0.0005 left_gripper=0.9992 right_x=0.2479 right_y=0.2641 right_z=0.037 right_yaw=0.1552 right_pitch=-0.6426 right_roll=-0.2638 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.1282, 6.8581, 1.6679, -0.0806, -0.0171, -0.0122, 0.5265, -7.6786, 5.9009, 0.7302, 0.2662, 0.0611, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f781f223d197e3338ef56794d7fdf2c2a526cd46fb670b5fc7dc6e73fee0eb8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73b1b852046eac91f7ec1686243da1bd24b4e300544d22e57d6a7be87a45bcd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c0451aadd703909e4748054afdcb787cbdd718634804a20d0ba735489e2e495",
        "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 · 5.83 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, 0.804, 0.6067, -0.5556, -0.0189, -0.0387, 0.9992, 0.4198, 1.9011, 1.1404, -0.4698, 0.2424, 0.0898, 0.9946]\nstate[eef_state]: left_x=0.269 left_y=0.0018 left_z=0.1444 left_yaw=0.0029 left_pitch=-0.1751 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3857 right_y=0.1296 right_z=0.0087 right_yaw=0.1076 right_pitch=-0.5969 right_roll=-0.2379 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -1.2239, 6.9538, 1.7363, -0.0806, -0.0562, -0.0122, 0.2803, -10.2632, 5.2718, 0.8913, 0.0611, 0.0073, -0.2222]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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, 0.804, 0.6067, -0.5629, -0.0189, -0.0387, 0.9992, 0.9329, 1.8095, 1.5089, -1.0668, 0.3561, 0.5598, 0.999]\nstate[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1431 left_yaw=0.0029 left_pitch=-0.1823 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2739 right_y=0.2721 right_z=0.1227 right_yaw=0.1673 right_pitch=-0.6001 right_roll=-0.2218 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -0.9094, 7.0906, 1.6874, -0.0562, -0.0415, -0.0122, 0.1573, -7.6923, 7.4051, 0.569, 0.2955, 0.1734, -0.1245]",
      "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, 0.804, 0.6067, -0.5755, -0.0189, -0.0383, 0.9992, 0.9775, 1.8473, 1.2182, -0.8047, 0.3553, 0.5949, 0.9989]\nstate[eef_state]: left_x=0.2656 left_y=0.0019 left_z=0.1409 left_yaw=0.0028 left_pitch=-0.1949 left_roll=0.0005 left_gripper=0.9992 right_x=0.2479 right_y=0.2641 right_z=0.037 right_yaw=0.1552 right_pitch=-0.6426 right_roll=-0.2638 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.1282, 6.8581, 1.6679, -0.0806, -0.0171, -0.0122, 0.5265, -7.6786, 5.9009, 0.7302, 0.2662, 0.0611, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f781f223d197e3338ef56794d7fdf2c2a526cd46fb670b5fc7dc6e73fee0eb8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73b1b852046eac91f7ec1686243da1bd24b4e300544d22e57d6a7be87a45bcd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c0451aadd703909e4748054afdcb787cbdd718634804a20d0ba735489e2e495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywIKjgEIEhgCKkAOtpbXOyhTJ1hbuVDbYzaruffxQwKDU/zMu0EOxMNLXWJ+wIa1ttDmht5oQyZPl0mAn0PH5uZgjZcIyE+L0izuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcuUzNUGEgyuU0N8voh8ncNsghQaDOIiNjzVokfmkoYf3yIwXIVGyHdfZAobV7ROSGxpAERDfzOFqCf1GrzqUgQB7GCPksHxnO7EYCpafh/QsHAmKmqbQplNkpgv7fKGiEfZY0XpGO5QHr8iAsbfFqyFRhbdWN+X+B8JUUb6J4HBe8D4fmHMMxiiwwJ/do3nWvD7j6CtodS7ZDt3OifdcapemuFmDs4UdeW6WT6DwN+0neU3617D536brLO/ewpUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C2WWNnrRWTCdZhCCPavvyN",
      "input": {
        "note": "Bear body lies between the jaws; closing to grip its torso.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01C2WWNnrRWTCdZhCCPavvyN",
      "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, 0.804, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 0.9882, 1.8534, 1.1851, -0.765, 0.3706, 0.5957, 0.0545]\nstate[eef_state]: left_x=0.264 left_y=0.0019 left_z=0.1392 left_yaw=0.0028 left_pitch=-0.2044 left_roll=0.0007 left_gripper=0.9992 right_x=0.2458 right_y=0.2633 right_z=0.0284 right_yaw=0.1559 right_pitch=-0.6311 right_roll=-0.2758 right_gripper=0.0545\nstate[joint_eff]: [-0.2667, -0.9641, 6.8581, 1.5995, -0.0415, -0.0171, -0.0122, 0.294, -10.6051, 5.2855, 0.5543, 0.3687, 0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecfe8aca90fa2f4a0a37ba9c45e0a93ac1c4d4f270d0a07a615253f000b3aa4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a2c85a3b261251a826ae01fc1d3974fa48c09373e3f597016ddc93e568472e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf54a95c0728ffc6ee87283da28f07ea3856a8549082f679e2b3bf073438e53c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 18.33 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, 0.804, 0.6067, -0.5629, -0.0189, -0.0387, 0.9992, 0.9329, 1.8095, 1.5089, -1.0668, 0.3561, 0.5598, 0.999]\nstate[eef_state]: left_x=0.2678 left_y=0.0019 left_z=0.1431 left_yaw=0.0029 left_pitch=-0.1823 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2739 right_y=0.2721 right_z=0.1227 right_yaw=0.1673 right_pitch=-0.6001 right_roll=-0.2218 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -0.9094, 7.0906, 1.6874, -0.0562, -0.0415, -0.0122, 0.1573, -7.6923, 7.4051, 0.569, 0.2955, 0.1734, -0.1245]",
      "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, 0.804, 0.6067, -0.5755, -0.0189, -0.0383, 0.9992, 0.9775, 1.8473, 1.2182, -0.8047, 0.3553, 0.5949, 0.9989]\nstate[eef_state]: left_x=0.2656 left_y=0.0019 left_z=0.1409 left_yaw=0.0028 left_pitch=-0.1949 left_roll=0.0005 left_gripper=0.9992 right_x=0.2479 right_y=0.2641 right_z=0.037 right_yaw=0.1552 right_pitch=-0.6426 right_roll=-0.2638 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.1282, 6.8581, 1.6679, -0.0806, -0.0171, -0.0122, 0.5265, -7.6786, 5.9009, 0.7302, 0.2662, 0.0611, -0.022]",
      "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, 0.804, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 0.9882, 1.8534, 1.1851, -0.765, 0.3706, 0.5957, 0.0545]\nstate[eef_state]: left_x=0.264 left_y=0.0019 left_z=0.1392 left_yaw=0.0028 left_pitch=-0.2044 left_roll=0.0007 left_gripper=0.9992 right_x=0.2458 right_y=0.2633 right_z=0.0284 right_yaw=0.1559 right_pitch=-0.6311 right_roll=-0.2758 right_gripper=0.0545\nstate[joint_eff]: [-0.2667, -0.9641, 6.8581, 1.5995, -0.0415, -0.0171, -0.0122, 0.294, -10.6051, 5.2855, 0.5543, 0.3687, 0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecfe8aca90fa2f4a0a37ba9c45e0a93ac1c4d4f270d0a07a615253f000b3aa4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a2c85a3b261251a826ae01fc1d3974fa48c09373e3f597016ddc93e568472e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf54a95c0728ffc6ee87283da28f07ea3856a8549082f679e2b3bf073438e53c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqgQKjgEIEhgCKkCxRze8Rg95o1O5ptSnub3VJfDf/otHEmjtMf182sMPePhdiEoUTT6U/DHXmccraMBGQqyAQtULEjImIdBj7hnbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdGUzNUGEgwawXWMK0cOOHDvDrIaDKZ5wr2P86a9SkKw4SIwGU/SjqKUbOgMAPVzGCABhffgQQKNwrzLwVtY6P4AShbBjEbvtFnp1SMV6f50J5bQKsgCy4W6gjHD2AfWyWPC5mroI2fZ73vsY7ZaKSbUlCBwwatDCnxK53vzOgnqvO/IN/1QfUzFkHisTGaTjBG/6c0acVi6FIGWmNlugCocP11aeQNZsXzxBkoqpGAQlPEmOcSZ6NGxUiDJ2ORtt+/dYzDzMpQWFaqM2wIJAIAu6TttlqbzauXscIYtEAbzTeG5w2NMCcfQ+xYMzTwDKaRVhKiWz0IHYHj7jtatheAkiOidUX3U/jPjd87htzir2x2v3AZmk0aBdzqDFMFuisXxGmmQ5RlNhWAp/trzWHk033fu7dal3y2rNTEOY76lyCX45AmCyBS6czo013eC60RBSsQ9N6uLR9mwlghx4CA1e0NsiLZ/YHM41PvrNhabmdPYyy6T5fsIkPdCgDCRGbAikHAVegfVIU4BM7lpA3T1ZUrjltX6ehudPquTxxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AiFMohyPtmuCjjCq9v23qQ",
      "input": {
        "note": "Closed on the brown bear (reading 0.05, likely fur pinched); lifting to 18 cm to see if it comes along and to clear the safe wall.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AiFMohyPtmuCjjCq9v23qQ",
      "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, 0.804, 0.6067, -0.5873, -0.0189, -0.0383, 0.9992, 0.9958, 1.7679, 1.6276, -1.2739, 0.3798, 0.5953, 0.0541]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1388 left_yaw=0.0028 left_pitch=-0.2067 left_roll=0.0007 left_gripper=0.9992 right_x=0.2472 right_y=0.2676 right_z=0.1649 right_yaw=0.1681 right_pitch=-0.6116 right_roll=-0.2662 right_gripper=0.0541\nstate[joint_eff]: [-0.0479, -0.8, 6.8444, 1.5751, -0.0611, -0.022, -0.0122, 0.0068, -9.0735, 7.4051, 0.6276, 0.3053, 0.0562, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8d7b3b5ba8b2912e28dc42878bef825f519dac88494ba811b15d9bb66790cfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de87e3a5672753b39af4660f4cdf6f12e3f0e4415d4c4ecbc9bc5cf24d94839d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57acab2b078dd8f1a95f1dcf84ba702ab24e40a2bac405602e8f85fe6a125acc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 4.304 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, 0.804, 0.6067, -0.5755, -0.0189, -0.0383, 0.9992, 0.9775, 1.8473, 1.2182, -0.8047, 0.3553, 0.5949, 0.9989]\nstate[eef_state]: left_x=0.2656 left_y=0.0019 left_z=0.1409 left_yaw=0.0028 left_pitch=-0.1949 left_roll=0.0005 left_gripper=0.9992 right_x=0.2479 right_y=0.2641 right_z=0.037 right_yaw=0.1552 right_pitch=-0.6426 right_roll=-0.2638 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.1282, 6.8581, 1.6679, -0.0806, -0.0171, -0.0122, 0.5265, -7.6786, 5.9009, 0.7302, 0.2662, 0.0611, -0.022]",
      "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, 0.804, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 0.9882, 1.8534, 1.1851, -0.765, 0.3706, 0.5957, 0.0545]\nstate[eef_state]: left_x=0.264 left_y=0.0019 left_z=0.1392 left_yaw=0.0028 left_pitch=-0.2044 left_roll=0.0007 left_gripper=0.9992 right_x=0.2458 right_y=0.2633 right_z=0.0284 right_yaw=0.1559 right_pitch=-0.6311 right_roll=-0.2758 right_gripper=0.0545\nstate[joint_eff]: [-0.2667, -0.9641, 6.8581, 1.5995, -0.0415, -0.0171, -0.0122, 0.294, -10.6051, 5.2855, 0.5543, 0.3687, 0.0952, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5873, -0.0189, -0.0383, 0.9992, 0.9958, 1.7679, 1.6276, -1.2739, 0.3798, 0.5953, 0.0541]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1388 left_yaw=0.0028 left_pitch=-0.2067 left_roll=0.0007 left_gripper=0.9992 right_x=0.2472 right_y=0.2676 right_z=0.1649 right_yaw=0.1681 right_pitch=-0.6116 right_roll=-0.2662 right_gripper=0.0541\nstate[joint_eff]: [-0.0479, -0.8, 6.8444, 1.5751, -0.0611, -0.022, -0.0122, 0.0068, -9.0735, 7.4051, 0.6276, 0.3053, 0.0562, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8d7b3b5ba8b2912e28dc42878bef825f519dac88494ba811b15d9bb66790cfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de87e3a5672753b39af4660f4cdf6f12e3f0e4415d4c4ecbc9bc5cf24d94839d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57acab2b078dd8f1a95f1dcf84ba702ab24e40a2bac405602e8f85fe6a125acc",
        "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_019NuymKtBV6D1P8CvR4D9bG",
      "input": {
        "note": "The bear stayed on the table — the close was empty and it now sits at the bottom-left of the wrist view, so I'm shifting 2 cm further left and 2 cm toward the base, back down to table level with jaws open.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.225,
          "right_y": 0.29,
          "right_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_019NuymKtBV6D1P8CvR4D9bG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 1.0832, 1.8805, 1.2175, -0.8192, 0.3931, 0.6743, 0.9946]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1374 left_yaw=0.0031 left_pitch=-0.214 left_roll=0.0006 left_gripper=0.9992 right_x=0.221 right_y=0.28 right_z=0.0278 right_yaw=0.1583 right_pitch=-0.6327 right_roll=-0.3056 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -1.2376, 6.8991, 1.58, -0.0317, -0.0415, -0.0122, 0.4855, -7.7607, 5.2034, 0.5446, 0.2271, 0.1197, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:697e780aa73eb7809eb811a3c0b64cdf7b3b55bc3d9e9ffe22474407521bf8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ea96fca0a58d94e5665e2ea63ef17f9444b278aaafa1c202f4a92b7461b680d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c5bc93f124868ec159cc06f83e5da13f6313cedd05c875714cf11c769818df9",
        "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 · 4.469 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, 0.804, 0.6067, -0.585, -0.0189, -0.0383, 0.9992, 0.9882, 1.8534, 1.1851, -0.765, 0.3706, 0.5957, 0.0545]\nstate[eef_state]: left_x=0.264 left_y=0.0019 left_z=0.1392 left_yaw=0.0028 left_pitch=-0.2044 left_roll=0.0007 left_gripper=0.9992 right_x=0.2458 right_y=0.2633 right_z=0.0284 right_yaw=0.1559 right_pitch=-0.6311 right_roll=-0.2758 right_gripper=0.0545\nstate[joint_eff]: [-0.2667, -0.9641, 6.8581, 1.5995, -0.0415, -0.0171, -0.0122, 0.294, -10.6051, 5.2855, 0.5543, 0.3687, 0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5873, -0.0189, -0.0383, 0.9992, 0.9958, 1.7679, 1.6276, -1.2739, 0.3798, 0.5953, 0.0541]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1388 left_yaw=0.0028 left_pitch=-0.2067 left_roll=0.0007 left_gripper=0.9992 right_x=0.2472 right_y=0.2676 right_z=0.1649 right_yaw=0.1681 right_pitch=-0.6116 right_roll=-0.2662 right_gripper=0.0541\nstate[joint_eff]: [-0.0479, -0.8, 6.8444, 1.5751, -0.0611, -0.022, -0.0122, 0.0068, -9.0735, 7.4051, 0.6276, 0.3053, 0.0562, -0.0513]",
      "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, 0.8059, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 1.0832, 1.8805, 1.2175, -0.8192, 0.3931, 0.6743, 0.9946]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1374 left_yaw=0.0031 left_pitch=-0.214 left_roll=0.0006 left_gripper=0.9992 right_x=0.221 right_y=0.28 right_z=0.0278 right_yaw=0.1583 right_pitch=-0.6327 right_roll=-0.3056 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -1.2376, 6.8991, 1.58, -0.0317, -0.0415, -0.0122, 0.4855, -7.7607, 5.2034, 0.5446, 0.2271, 0.1197, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:697e780aa73eb7809eb811a3c0b64cdf7b3b55bc3d9e9ffe22474407521bf8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ea96fca0a58d94e5665e2ea63ef17f9444b278aaafa1c202f4a92b7461b680d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c5bc93f124868ec159cc06f83e5da13f6313cedd05c875714cf11c769818df9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS6QIKjgEIEhgCKkCBNL6obTJ50AnqP3JsfnRpByhUr4dpoyAJjre5Z9TxFoaeZnvvrrz/B5SM2AMd/AqoZk1VP1TUKvsD9jwUaLWMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeqUzNUGEgx5T2FSTXd3EYP0Yh4aDIGnKFUaEQgYtObsWCIwLLTvWMcmDLffRLoTorzC4WhYYR2muFSGMuNkMoPNIH9ParX7vHQMr90y87ZC2c8pKocBcp6e3IJ660e2pMZuPHPvOGoLb1AHRvBvJO4GRG/nPeAnWdaFxTgYG73GjGw7wmk3vIRxCW1sRqR7IvVTdOwVWvd3vM7eZJB9j+S7yVlATx06A/g052Tcrm2KrWSfRiVsvSccGZBp4fdpKwPnroU4u7LmWbXFpwxROzM6xw/KTSPTydNCUVm2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dcj9LzP25aZfcGyKs4fFpp",
      "input": {
        "note": "The bear now fills the space between both jaw tips; closing on it.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Dcj9LzP25aZfcGyKs4fFpp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 1.0927, 1.8908, 1.195, -0.7868, 0.4049, 0.6815, 0.1049]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1374 left_yaw=0.0028 left_pitch=-0.214 left_roll=0.0009 left_gripper=0.9992 right_x=0.2196 right_y=0.2803 right_z=0.0202 right_yaw=0.1567 right_pitch=-0.6222 right_roll=-0.3115 right_gripper=0.1049\nstate[joint_eff]: [-0.1846, -1.1419, 6.8718, 1.4921, -0.0708, -0.0122, -0.0073, 0.0342, -10.5231, 5.2444, 0.4176, 0.3394, 0.022, 0.1392]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5219b5c9d48e292e291f37d735df4ab69ee5a986281c2b4d0bbc7633715948a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca8a0e1b7a2e9a842d8ea2d50db70605322764ca762b6622fadd0b2b95cd4c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a26fb451dece1dd06ac30c7f6802207f234389d172195a4aff01268aad225de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 17.12 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, 0.804, 0.6067, -0.5873, -0.0189, -0.0383, 0.9992, 0.9958, 1.7679, 1.6276, -1.2739, 0.3798, 0.5953, 0.0541]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1388 left_yaw=0.0028 left_pitch=-0.2067 left_roll=0.0007 left_gripper=0.9992 right_x=0.2472 right_y=0.2676 right_z=0.1649 right_yaw=0.1681 right_pitch=-0.6116 right_roll=-0.2662 right_gripper=0.0541\nstate[joint_eff]: [-0.0479, -0.8, 6.8444, 1.5751, -0.0611, -0.022, -0.0122, 0.0068, -9.0735, 7.4051, 0.6276, 0.3053, 0.0562, -0.0513]",
      "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, 0.8059, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 1.0832, 1.8805, 1.2175, -0.8192, 0.3931, 0.6743, 0.9946]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1374 left_yaw=0.0031 left_pitch=-0.214 left_roll=0.0006 left_gripper=0.9992 right_x=0.221 right_y=0.28 right_z=0.0278 right_yaw=0.1583 right_pitch=-0.6327 right_roll=-0.3056 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -1.2376, 6.8991, 1.58, -0.0317, -0.0415, -0.0122, 0.4855, -7.7607, 5.2034, 0.5446, 0.2271, 0.1197, 0.022]",
      "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, 0.8059, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 1.0927, 1.8908, 1.195, -0.7868, 0.4049, 0.6815, 0.1049]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1374 left_yaw=0.0028 left_pitch=-0.214 left_roll=0.0009 left_gripper=0.9992 right_x=0.2196 right_y=0.2803 right_z=0.0202 right_yaw=0.1567 right_pitch=-0.6222 right_roll=-0.3115 right_gripper=0.1049\nstate[joint_eff]: [-0.1846, -1.1419, 6.8718, 1.4921, -0.0708, -0.0122, -0.0073, 0.0342, -10.5231, 5.2444, 0.4176, 0.3394, 0.022, 0.1392]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5219b5c9d48e292e291f37d735df4ab69ee5a986281c2b4d0bbc7633715948a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca8a0e1b7a2e9a842d8ea2d50db70605322764ca762b6622fadd0b2b95cd4c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a26fb451dece1dd06ac30c7f6802207f234389d172195a4aff01268aad225de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvgMKjgEIEhgCKkASeKHen4PwKboDEAjO7OpwIdcFQUumvGzT+xJko2Eq6zum2KmbbVIrMEj8cEvINiZ9isims1rLscfkrfrRczWoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+UzNUGEgy96bHsuShUEHIg7M4aDPE/9Zc/FAcymVCMliIwNnPukvAhs/NkyRG8bwLtiRbRaeJWCBCb0PgDaD5PRcydqeA21funajAEyOOXyd6gKtwBOMG2Yu9uZrVNfhr2cs8jcUU2czP2dEucZj+qSRHQHNtsec/llBGolCFJ5U5w6w6UQy8xkMtF/ojxXqYwwDTNNk1NephfbKlkKTKPa3ZFdMrmuHw8pEIQWGAIc7QcfcaYWnPNw7TQvRIG8dAv9MwA9UMl5hbTzAOapDD+BJKAdg1C3R7ghVILLsy7ajDps33lwKDu8Gc8JWEEmPoXms0JI+JLORbXYNbIYuy5dJqsQ1WRu3178Kd1Kwu6d87vm3vSVU/xxc4+/qoAho4561vTEV7qbpP7fDAGyrA3YhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PN4hgxitBERwyYPj7dEvyF",
      "input": {
        "note": "Jaws appear clamped into the bear's fur; lifting to 20 cm to check if the bear comes up and to clear the safe wall.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01PN4hgxitBERwyYPj7dEvyF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.5934, -0.0189, -0.0387, 0.9992, 1.0985, 1.8057, 1.7672, -1.4151, 0.408, 0.6815, 0.1053]\nstate[eef_state]: left_x=0.2626 left_y=0.002 left_z=0.1373 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9992 right_x=0.221 right_y=0.2864 right_z=0.1888 right_yaw=0.1771 right_pitch=-0.6024 right_roll=-0.2853 right_gripper=0.1053\nstate[joint_eff]: [-0.253, -1.0462, 7.1453, 1.5067, -0.0855, -0.0562, -0.0122, 0.0479, -7.8427, 7.2684, 0.3883, 0.3883, 0.0269, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee1f4959e2b0b6f20409aef9e6fb5a6aeccb8573b433536ecb424653e9a98015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15c8b1e2dd9941ab12fdb6fb786c27e6aafd90b87ffecaa363016a28dc98176d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88f36d744d736b729071419337d79cfe248e3e18248491321cc58a1331dd6d45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 6.246 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, 0.8059, 0.6067, -0.5926, -0.0189, -0.0387, 0.9992, 1.0832, 1.8805, 1.2175, -0.8192, 0.3931, 0.6743, 0.9946]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1374 left_yaw=0.0031 left_pitch=-0.214 left_roll=0.0006 left_gripper=0.9992 right_x=0.221 right_y=0.28 right_z=0.0278 right_yaw=0.1583 right_pitch=-0.6327 right_roll=-0.3056 right_gripper=0.9946\nstate[joint_eff]: [0.0068, -1.2376, 6.8991, 1.58, -0.0317, -0.0415, -0.0122, 0.4855, -7.7607, 5.2034, 0.5446, 0.2271, 0.1197, 0.022]",
      "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, 0.8059, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 1.0927, 1.8908, 1.195, -0.7868, 0.4049, 0.6815, 0.1049]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1374 left_yaw=0.0028 left_pitch=-0.214 left_roll=0.0009 left_gripper=0.9992 right_x=0.2196 right_y=0.2803 right_z=0.0202 right_yaw=0.1567 right_pitch=-0.6222 right_roll=-0.3115 right_gripper=0.1049\nstate[joint_eff]: [-0.1846, -1.1419, 6.8718, 1.4921, -0.0708, -0.0122, -0.0073, 0.0342, -10.5231, 5.2444, 0.4176, 0.3394, 0.022, 0.1392]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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, 0.8059, 0.6067, -0.5934, -0.0189, -0.0387, 0.9992, 1.0985, 1.8057, 1.7672, -1.4151, 0.408, 0.6815, 0.1053]\nstate[eef_state]: left_x=0.2626 left_y=0.002 left_z=0.1373 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9992 right_x=0.221 right_y=0.2864 right_z=0.1888 right_yaw=0.1771 right_pitch=-0.6024 right_roll=-0.2853 right_gripper=0.1053\nstate[joint_eff]: [-0.253, -1.0462, 7.1453, 1.5067, -0.0855, -0.0562, -0.0122, 0.0479, -7.8427, 7.2684, 0.3883, 0.3883, 0.0269, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee1f4959e2b0b6f20409aef9e6fb5a6aeccb8573b433536ecb424653e9a98015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15c8b1e2dd9941ab12fdb6fb786c27e6aafd90b87ffecaa363016a28dc98176d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88f36d744d736b729071419337d79cfe248e3e18248491321cc58a1331dd6d45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KdZEWBgAE4f4qm4GMcqZ8h",
      "input": {
        "note": "The bear still isn't being gripped; I notice the wrist has drifted to pitch -0.6 (tool tipped back 34°), so the fingers aren't pointing straight down. Commanding pitch and roll back to 0 to get a clean top-down grasp orientation.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01KdZEWBgAE4f4qm4GMcqZ8h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.6079, -0.0189, -0.0387, 0.9992, 1.2644, 1.4853, 0.9188, -0.5026, 0.7856, 0.8127, 0.1053]\nstate[eef_state]: left_x=0.26 left_y=0.002 left_z=0.1343 left_yaw=0.0031 left_pitch=-0.2311 left_roll=0.001 left_gripper=0.9992 right_x=0.2153 right_y=0.2781 right_z=0.1234 right_yaw=0.1902 right_pitch=-0.0792 right_roll=-0.0728 right_gripper=0.1053\nstate[joint_eff]: [-0.0342, -1.1282, 6.8308, 1.6386, -0.0513, -0.0415, -0.0122, 0.5675, -7.5692, 6.694, 1.409, 0.5104, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64591e0f85b907fc8a66b359cc3689351354cbd3fb0a60b2790a2af69e20a415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ef43e54f6ad914ba3ff964245b61a9b9f2acacbd7860ce0071e052309621f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e069303c25af7a4f65d57b8ca81cd35d670c043f244352b82848676149014aad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 3.368 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, 0.8059, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 1.0927, 1.8908, 1.195, -0.7868, 0.4049, 0.6815, 0.1049]\nstate[eef_state]: left_x=0.2627 left_y=0.002 left_z=0.1374 left_yaw=0.0028 left_pitch=-0.214 left_roll=0.0009 left_gripper=0.9992 right_x=0.2196 right_y=0.2803 right_z=0.0202 right_yaw=0.1567 right_pitch=-0.6222 right_roll=-0.3115 right_gripper=0.1049\nstate[joint_eff]: [-0.1846, -1.1419, 6.8718, 1.4921, -0.0708, -0.0122, -0.0073, 0.0342, -10.5231, 5.2444, 0.4176, 0.3394, 0.022, 0.1392]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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, 0.8059, 0.6067, -0.5934, -0.0189, -0.0387, 0.9992, 1.0985, 1.8057, 1.7672, -1.4151, 0.408, 0.6815, 0.1053]\nstate[eef_state]: left_x=0.2626 left_y=0.002 left_z=0.1373 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9992 right_x=0.221 right_y=0.2864 right_z=0.1888 right_yaw=0.1771 right_pitch=-0.6024 right_roll=-0.2853 right_gripper=0.1053\nstate[joint_eff]: [-0.253, -1.0462, 7.1453, 1.5067, -0.0855, -0.0562, -0.0122, 0.0479, -7.8427, 7.2684, 0.3883, 0.3883, 0.0269, 0.022]",
      "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, 0.8078, 0.6067, -0.6079, -0.0189, -0.0387, 0.9992, 1.2644, 1.4853, 0.9188, -0.5026, 0.7856, 0.8127, 0.1053]\nstate[eef_state]: left_x=0.26 left_y=0.002 left_z=0.1343 left_yaw=0.0031 left_pitch=-0.2311 left_roll=0.001 left_gripper=0.9992 right_x=0.2153 right_y=0.2781 right_z=0.1234 right_yaw=0.1902 right_pitch=-0.0792 right_roll=-0.0728 right_gripper=0.1053\nstate[joint_eff]: [-0.0342, -1.1282, 6.8308, 1.6386, -0.0513, -0.0415, -0.0122, 0.5675, -7.5692, 6.694, 1.409, 0.5104, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64591e0f85b907fc8a66b359cc3689351354cbd3fb0a60b2790a2af69e20a415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ef43e54f6ad914ba3ff964245b61a9b9f2acacbd7860ce0071e052309621f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e069303c25af7a4f65d57b8ca81cd35d670c043f244352b82848676149014aad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjgYKjgEIEhgCKkB/fqNxG/7S/fkOnJgyO/zLi9LlgUzgT7nsqxeIBiF8Lg7YK6gi48ZdgODpiwLqAY3i2C24rFIp1xd3DSkqo06NMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYqVzNUGEgy8h1rvvdcbYmnF4qEaDEz5GE0FuGURGX2OsCIw1a3M7K7cT/ksr6i/9YZi34j8b3iS9FMMse3vKw2zYm1AQTQlWBBRMPZns9rZe+DUKqwEpzxx3KwgI0qLrBReU7+P5PiiNL3KCIyQukaaAXMxXLSocimifvNbimaBJxKSpQDKq+X3kqe7oOmfcr/xcUZWemy3e7Fpso7ai0LGmqncjzZAMWAIg2uPREr2LabvghVluqrzvrxmIJH3S1Zw+UQjdMiG/0FXFXNITaYCPcZ3FZw7WxTianmfQbSjB+Ybosupr+rliIeJdsuNwQhQOsvXEqZwOEgW88BIaFxpw502Kpo4gqTZA6ZWC1gPSNsJ8NICvx7bbywIV1aamRJEtrWESl+cBAJD3TxmrS4p75N5s7cBLDjNXZNAFP5uviene6alJUG8PYbhxUPxMnWpUpraCEH87dVhR7OcDjSR8TBOPBQq5QlGeLmbp+JRXe9CKJT2wVEnHJMiIp0klQu0a1E0/qssb3piQuL40xcrsGQigeiTBZ97Oe/ffmM5Fy9ZCApk6kjL7sAF8Zf7iLKt/XOtHEI8oZJqmNE6250LbcoODRPLHcUjoTmJ5JH6FUk1ua3P6X/GjKcr1xgAVREOSegLETNE+y15SqRzSYsxY98YyAabh8eFlFeBim0fcfdkDvLeWCWMIZ6gHbQiInwO2YqukRS49vrK/khvyvLZz/77dcIFJMYb/SKwNqHGHqc+ivZibymvefBBNWhquyiXkj+OT1nL9ScmwpT1FaY9U1kvpiw+CpM+elURQUx2PnfHN2WG7jfDMUqChFqHytKnGgSmDxb5eT1PB68TivEiQhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JJcQMNmXd4eqzg7yyCoT8T",
      "input": {
        "note": "With the tool now vertical, the bear sits right at the bottom of the wrist view under the jaws; opening the gripper and descending to table level.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JJcQMNmXd4eqzg7yyCoT8T",
      "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, -0.6125, -0.0189, -0.0383, 0.9992, 1.2659, 1.7081, 0.693, -0.0982, 0.7788, 0.8131, 0.9947]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1335 left_yaw=0.003 left_pitch=-0.2357 left_roll=0.0014 left_gripper=0.9992 right_x=0.2118 right_y=0.2717 right_z=0.0215 right_yaw=0.1914 right_pitch=-0.1056 right_roll=-0.1086 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -1.1419, 6.9402, 1.5458, -0.0415, -0.0317, -0.0122, -0.1436, -5.9692, 4.6154, 1.0965, 0.3932, -0.0415, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:123017360562d2704e3bcf8f8d6c8998497b9703dda2afdd741dc0599a6e3b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae349076d9377ac76c5e27fc70ae4e080f5420667677b15be0da59e4d80eeed4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:707bc1b3ccd0403383c77176921a543da809b61837d8826c5896a68f3ccce2f4",
        "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 · 4.094 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, 0.8059, 0.6067, -0.5934, -0.0189, -0.0387, 0.9992, 1.0985, 1.8057, 1.7672, -1.4151, 0.408, 0.6815, 0.1053]\nstate[eef_state]: left_x=0.2626 left_y=0.002 left_z=0.1373 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9992 right_x=0.221 right_y=0.2864 right_z=0.1888 right_yaw=0.1771 right_pitch=-0.6024 right_roll=-0.2853 right_gripper=0.1053\nstate[joint_eff]: [-0.253, -1.0462, 7.1453, 1.5067, -0.0855, -0.0562, -0.0122, 0.0479, -7.8427, 7.2684, 0.3883, 0.3883, 0.0269, 0.022]",
      "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, 0.8078, 0.6067, -0.6079, -0.0189, -0.0387, 0.9992, 1.2644, 1.4853, 0.9188, -0.5026, 0.7856, 0.8127, 0.1053]\nstate[eef_state]: left_x=0.26 left_y=0.002 left_z=0.1343 left_yaw=0.0031 left_pitch=-0.2311 left_roll=0.001 left_gripper=0.9992 right_x=0.2153 right_y=0.2781 right_z=0.1234 right_yaw=0.1902 right_pitch=-0.0792 right_roll=-0.0728 right_gripper=0.1053\nstate[joint_eff]: [-0.0342, -1.1282, 6.8308, 1.6386, -0.0513, -0.0415, -0.0122, 0.5675, -7.5692, 6.694, 1.409, 0.5104, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.6125, -0.0189, -0.0383, 0.9992, 1.2659, 1.7081, 0.693, -0.0982, 0.7788, 0.8131, 0.9947]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1335 left_yaw=0.003 left_pitch=-0.2357 left_roll=0.0014 left_gripper=0.9992 right_x=0.2118 right_y=0.2717 right_z=0.0215 right_yaw=0.1914 right_pitch=-0.1056 right_roll=-0.1086 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -1.1419, 6.9402, 1.5458, -0.0415, -0.0317, -0.0122, -0.1436, -5.9692, 4.6154, 1.0965, 0.3932, -0.0415, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:123017360562d2704e3bcf8f8d6c8998497b9703dda2afdd741dc0599a6e3b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae349076d9377ac76c5e27fc70ae4e080f5420667677b15be0da59e4d80eeed4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:707bc1b3ccd0403383c77176921a543da809b61837d8826c5896a68f3ccce2f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAIKjgEIEhgCKkDUWSGKMrn9Jn5QU6JMcDGL5ieRg4FmFooulJYlrlaFlqGsapGRn7B8i9CuYUPrUpcLS2eO7p2AfQf/AUxwNSjlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY6VzNUGEgw46GSNKcXHsQw+N7MaDBLz6/MRkbl0U+rXFyIwgjzu6lnRjKD/sFzW7sLgDmU9NHnY6PBnqqpVjgQG5nXQW26olIj26wBUXGJUvlUIKleB0htE2gvjlZ3TpMiwLe9utrXTFcIQogWQLm2rm6rysBYAGU2iGryAfSVGphs0RTxkvsGps/VuwesirTKpDBaOqDvlFrnpdSohvtDWoDM39dSJoXxoRRAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J6orKs6rd7N7UsdyU4QJea",
      "input": {
        "note": "Orange bear fur fills the space between both jaws at table level; closing on it.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01J6orKs6rd7N7UsdyU4QJea",
      "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, -0.6151, -0.0189, -0.0383, 0.9992, 1.2659, 1.7168, 0.688, -0.0811, 0.7738, 0.8124, 0.1552]\nstate[eef_state]: left_x=0.2587 left_y=0.002 left_z=0.1331 left_yaw=0.003 left_pitch=-0.2384 left_roll=0.0014 left_gripper=0.9992 right_x=0.2114 right_y=0.2726 right_z=0.0185 right_yaw=0.1945 right_pitch=-0.1079 right_roll=-0.1041 right_gripper=0.1552\nstate[joint_eff]: [-0.0479, -1.1419, 6.8308, 1.5116, -0.0708, -0.0171, -0.0122, -0.212, -7.6103, 5.6957, 0.8767, 0.3639, -0.0464, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24764aa93d8d4087f86f99de99863b8ef68f0b0a38eaaac69bf57be3fc007db0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f17983e262122ebeae19520b88fc7e84e0cabc79632f88cfa2fcd33cb51b539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dcf84875290fc880db0f1596544058b23ffea42b00f26e644579963aaf8ccdcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 8.356 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, 0.8078, 0.6067, -0.6079, -0.0189, -0.0387, 0.9992, 1.2644, 1.4853, 0.9188, -0.5026, 0.7856, 0.8127, 0.1053]\nstate[eef_state]: left_x=0.26 left_y=0.002 left_z=0.1343 left_yaw=0.0031 left_pitch=-0.2311 left_roll=0.001 left_gripper=0.9992 right_x=0.2153 right_y=0.2781 right_z=0.1234 right_yaw=0.1902 right_pitch=-0.0792 right_roll=-0.0728 right_gripper=0.1053\nstate[joint_eff]: [-0.0342, -1.1282, 6.8308, 1.6386, -0.0513, -0.0415, -0.0122, 0.5675, -7.5692, 6.694, 1.409, 0.5104, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.6125, -0.0189, -0.0383, 0.9992, 1.2659, 1.7081, 0.693, -0.0982, 0.7788, 0.8131, 0.9947]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1335 left_yaw=0.003 left_pitch=-0.2357 left_roll=0.0014 left_gripper=0.9992 right_x=0.2118 right_y=0.2717 right_z=0.0215 right_yaw=0.1914 right_pitch=-0.1056 right_roll=-0.1086 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -1.1419, 6.9402, 1.5458, -0.0415, -0.0317, -0.0122, -0.1436, -5.9692, 4.6154, 1.0965, 0.3932, -0.0415, -0.1929]\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, 0.8078, 0.6067, -0.6151, -0.0189, -0.0383, 0.9992, 1.2659, 1.7168, 0.688, -0.0811, 0.7738, 0.8124, 0.1552]\nstate[eef_state]: left_x=0.2587 left_y=0.002 left_z=0.1331 left_yaw=0.003 left_pitch=-0.2384 left_roll=0.0014 left_gripper=0.9992 right_x=0.2114 right_y=0.2726 right_z=0.0185 right_yaw=0.1945 right_pitch=-0.1079 right_roll=-0.1041 right_gripper=0.1552\nstate[joint_eff]: [-0.0479, -1.1419, 6.8308, 1.5116, -0.0708, -0.0171, -0.0122, -0.212, -7.6103, 5.6957, 0.8767, 0.3639, -0.0464, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24764aa93d8d4087f86f99de99863b8ef68f0b0a38eaaac69bf57be3fc007db0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f17983e262122ebeae19520b88fc7e84e0cabc79632f88cfa2fcd33cb51b539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcf84875290fc880db0f1596544058b23ffea42b00f26e644579963aaf8ccdcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISigMKjgEIEhgCKkDNXPeC+nXgBkitGnBYAijmvXWWbXs894yye1LlQZsEaFv7eDi4ekMFDww3ja80l13Cyzr4wsrpfs9eBy8rQWP3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZOVzNUGEgxx22rIlEHNZ0AO6JEaDIwxY23BKaQ8XrhzzSIwlG1sWjVhZEr+moeFPcjaYMsxqfO5NqCiNzxPlw+rFAbW0r+ItDQpBJywG3hYKhc+KqgBqtwmx7KlxsBxuEkP6un34Zls3/snjXczwrmwalvEk8O9yS1tlAICvKJI5KrZ55j1TjJ1V57jscki/N8iUJp6iPFZ31IGwaSeifO8vkXbA2sC1RTzeA7MzEFJtLgR9WQ7d3P7aNkcV5liLG9s2GwRsZuUfuFxqwmpYh0Lf82e1OfePrSpHXLOp0qC1JP1Q1Bptbnqwd5JQCRtCFxfxza4DGQtdnPZGyqfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P5NMwDLuYFqU78hrrgSyZx",
      "input": {
        "note": "Jaws have pinched the bear's fur; lifting to 22 cm to confirm the lift and clear the safe's front wall.",
        "targets": {
          "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_01P5NMwDLuYFqU78hrrgSyZx",
      "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, 0.8082, 0.6067, -0.6308, -0.0189, -0.0387, 0.9992, 1.2659, 1.4548, 1.2415, -0.9108, 0.7639, 0.812, 0.1543]\nstate[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1304 left_yaw=0.0033 left_pitch=-0.2544 left_roll=0.0015 left_gripper=0.9992 right_x=0.2113 right_y=0.2763 right_z=0.2029 right_yaw=0.1982 right_pitch=-0.1225 right_roll=-0.1125 right_gripper=0.1543\nstate[joint_eff]: [-0.1709, -0.9504, 6.8718, 1.6239, -0.0415, -0.0708, -0.0122, -0.1299, -6.9812, 8.0889, 1.0525, 0.3932, -0.0317, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59276c06cf77f2299acfcd384f44daf7e69b6931b1ad113e44d75a6d6924596f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:645c73d761813fd27718514e3bd15dd8afc361a37462f139cc97a632920903b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7dd20df8415f62c6f5289925cbf1cb4e5ce7602b07d47b0a3e336d826c6ec66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 13.28 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, 0.8078, 0.6067, -0.6125, -0.0189, -0.0383, 0.9992, 1.2659, 1.7081, 0.693, -0.0982, 0.7788, 0.8131, 0.9947]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1335 left_yaw=0.003 left_pitch=-0.2357 left_roll=0.0014 left_gripper=0.9992 right_x=0.2118 right_y=0.2717 right_z=0.0215 right_yaw=0.1914 right_pitch=-0.1056 right_roll=-0.1086 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -1.1419, 6.9402, 1.5458, -0.0415, -0.0317, -0.0122, -0.1436, -5.9692, 4.6154, 1.0965, 0.3932, -0.0415, -0.1929]\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, 0.8078, 0.6067, -0.6151, -0.0189, -0.0383, 0.9992, 1.2659, 1.7168, 0.688, -0.0811, 0.7738, 0.8124, 0.1552]\nstate[eef_state]: left_x=0.2587 left_y=0.002 left_z=0.1331 left_yaw=0.003 left_pitch=-0.2384 left_roll=0.0014 left_gripper=0.9992 right_x=0.2114 right_y=0.2726 right_z=0.0185 right_yaw=0.1945 right_pitch=-0.1079 right_roll=-0.1041 right_gripper=0.1552\nstate[joint_eff]: [-0.0479, -1.1419, 6.8308, 1.5116, -0.0708, -0.0171, -0.0122, -0.212, -7.6103, 5.6957, 0.8767, 0.3639, -0.0464, 0.1392]",
      "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, 0.8082, 0.6067, -0.6308, -0.0189, -0.0387, 0.9992, 1.2659, 1.4548, 1.2415, -0.9108, 0.7639, 0.812, 0.1543]\nstate[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1304 left_yaw=0.0033 left_pitch=-0.2544 left_roll=0.0015 left_gripper=0.9992 right_x=0.2113 right_y=0.2763 right_z=0.2029 right_yaw=0.1982 right_pitch=-0.1225 right_roll=-0.1125 right_gripper=0.1543\nstate[joint_eff]: [-0.1709, -0.9504, 6.8718, 1.6239, -0.0415, -0.0708, -0.0122, -0.1299, -6.9812, 8.0889, 1.0525, 0.3932, -0.0317, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59276c06cf77f2299acfcd384f44daf7e69b6931b1ad113e44d75a6d6924596f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:645c73d761813fd27718514e3bd15dd8afc361a37462f139cc97a632920903b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7dd20df8415f62c6f5289925cbf1cb4e5ce7602b07d47b0a3e336d826c6ec66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISrggKjgEIEhgCKkC65H5XzrFztwu37F+9HD/a64Sdh4MDDp2JELL0zGeJWI5wm4UCxRacF2R+pgGy3k57tutXgBNkoibuo2S7fsa7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZyVzNUGEgxDDIa0A9yhEP6TrnEaDJVlEYFGZapS0Mq3cCIwDIRBg13gTAPQeFfGJEW88ZXZfLzgonM/FaZqVhoRMc5sARixrBDtITNoxLWw+7JkKswGVPxIkop6PUyFJO9UoHoRnvoX6dqbalgN2pj/3yVvLvAMo7uEsOd0f+MX7ULabzRExCHByrrOausAArpdVkwfzf4Dd9r7z2TXy+zFs3FLbp9DZKwfdugW0Ij47ZEE+rJlv2GZzXeesnGjLpVRS0zGp0onWw3APdYfF4gghOflwVV2KjJsBFoaz7wUyBKK2RGDOIjne8yFC6sEyGLhDbd247iUU8h94xYdxeOMsf2eneKd5PO7+6R+kqfEog+Kgyimp5ZVVU0g0L2z2GZuWz+XgJQtuUobpPRNvyRF1mBQQja7ovNItsWMACxgd4txMg673mCvBoNmPiIZs+I2yi/CV1bhC10NcizPRyV6gMzP9GBTrVY7LLtEadoUOWx2F9lKtsFJQXuUCJfkpwM3X7grq2hQg0BG71XRYb1AFtghAQO9PFsDLIiWAbvIE6K1IDlx6hGtWaIbOUO6wZVGN+dabDPwv36jC5dMw3g9L/7i0IR6Bq8XLElaoCNKt6lFFNkGxrj8POjYGai1FJ8JtI+ThUC1cMJ4WErHIllBt65/ELFo/gcywlmHqx/mZda+sMjIb7gtxN+A8FOfGf41/vYkXJMsD+v4gYEqznIFI4WBrvT/Oxz+QsTPv3N5YT4riFUEx2DhDMmPq/OxGX6Et2XdFAg04QsheJWzCQ2eV2waizapx+F0nJRJULjO51OccQf6Y31v1sbk+lA99XGO4wDgye88xMhPb2qD/gyJclBGjVWZ19ywHYxkNkFdVfXuCqfzKD6uCvpX89jID0yHndEiUxqgHDsYnDteu+7IR3En759O+YfJE9kEb+wSyUIhwWu+tMNdczaHrR34JFJuJrFC54ZrAGOsl0XjNg8CfYw7nJ6Mne7G4Pq69nK72NFN+2vdIqmXReE60TQAWVYWfOtdsudF9vtVBcbA9+zdbCVnKUfCz6rArOjbUKr76akAkY0h0Wf8Wp9WbfHneNX20agjFYCloRgsZWPJQeQOUsDAEuUpBHmztiQSOKqvOA0MHUzQne1VFuJrGx3smDMlOC2gqqGN+VaW9ZkZupDMzW+mw/esSZ9+LjwGqDbF6Ud/wT0ygEBrICnbKso+/6/wUVmG7vB4+8U72EVElMk3cxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CpxsXuCLhYhmA9uCB2FSVS",
      "input": {
        "note": "The bear is hanging from the jaws — the lift worked. Moving up and over the safe's red interior (about 7 cm left and 12 cm further out) before releasing.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.35,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CpxsXuCLhYhmA9uCB2FSVS",
      "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, -0.6376, -0.0189, -0.0383, 0.9992, 1.0382, 1.8641, 1.8271, -0.963, 0.6415, 0.5598, 0.1542]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1288 left_yaw=0.0031 left_pitch=-0.2632 left_roll=0.002 left_gripper=0.9992 right_x=0.3204 right_y=0.3424 right_z=0.2377 right_yaw=0.1942 right_pitch=-0.1556 right_roll=-0.1378 right_gripper=0.1542\nstate[joint_eff]: [-0.1573, -1.2376, 6.8034, 1.5556, -0.0708, -0.0122, -0.0122, -0.4308, -9.5111, 8.1026, 1.2869, 0.2808, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab029a0f9f127d7e3a0cc80074b6ea36f67c2c1525082952397c057016dc89d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3efca332b06fd0ef09229a9668517aebf91330b8a5c2fc8586c84026b621a95b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42bdbf8af0ccb8e71c36f7e6650820d601af86e18aa80f8802c9823b47556c0b",
        "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 · 27.32 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, 0.8078, 0.6067, -0.6151, -0.0189, -0.0383, 0.9992, 1.2659, 1.7168, 0.688, -0.0811, 0.7738, 0.8124, 0.1552]\nstate[eef_state]: left_x=0.2587 left_y=0.002 left_z=0.1331 left_yaw=0.003 left_pitch=-0.2384 left_roll=0.0014 left_gripper=0.9992 right_x=0.2114 right_y=0.2726 right_z=0.0185 right_yaw=0.1945 right_pitch=-0.1079 right_roll=-0.1041 right_gripper=0.1552\nstate[joint_eff]: [-0.0479, -1.1419, 6.8308, 1.5116, -0.0708, -0.0171, -0.0122, -0.212, -7.6103, 5.6957, 0.8767, 0.3639, -0.0464, 0.1392]",
      "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, 0.8082, 0.6067, -0.6308, -0.0189, -0.0387, 0.9992, 1.2659, 1.4548, 1.2415, -0.9108, 0.7639, 0.812, 0.1543]\nstate[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1304 left_yaw=0.0033 left_pitch=-0.2544 left_roll=0.0015 left_gripper=0.9992 right_x=0.2113 right_y=0.2763 right_z=0.2029 right_yaw=0.1982 right_pitch=-0.1225 right_roll=-0.1125 right_gripper=0.1543\nstate[joint_eff]: [-0.1709, -0.9504, 6.8718, 1.6239, -0.0415, -0.0708, -0.0122, -0.1299, -6.9812, 8.0889, 1.0525, 0.3932, -0.0317, -0.1001]",
      "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, 0.8101, 0.6067, -0.6376, -0.0189, -0.0383, 0.9992, 1.0382, 1.8641, 1.8271, -0.963, 0.6415, 0.5598, 0.1542]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1288 left_yaw=0.0031 left_pitch=-0.2632 left_roll=0.002 left_gripper=0.9992 right_x=0.3204 right_y=0.3424 right_z=0.2377 right_yaw=0.1942 right_pitch=-0.1556 right_roll=-0.1378 right_gripper=0.1542\nstate[joint_eff]: [-0.1573, -1.2376, 6.8034, 1.5556, -0.0708, -0.0122, -0.0122, -0.4308, -9.5111, 8.1026, 1.2869, 0.2808, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab029a0f9f127d7e3a0cc80074b6ea36f67c2c1525082952397c057016dc89d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3efca332b06fd0ef09229a9668517aebf91330b8a5c2fc8586c84026b621a95b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42bdbf8af0ccb8e71c36f7e6650820d601af86e18aa80f8802c9823b47556c0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AmJrA8q6moQivwrdJKhgD8",
      "input": {
        "note": "The safe's red interior sits ahead of the jaws in the wrist view; advancing 7 cm so the (apparently held) bear is over the middle of the safe before opening the gripper.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.36,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AmJrA8q6moQivwrdJKhgD8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.638, -0.0189, -0.0383, 0.9992, 0.9272, 2.0914, 2.1693, -1.0569, 0.5777, 0.4572, 0.1542]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1277 left_yaw=0.0031 left_pitch=-0.2677 left_roll=0.0021 left_gripper=0.9992 right_x=0.3819 right_y=0.3543 right_z=0.239 right_yaw=0.1847 right_pitch=-0.1871 right_roll=-0.1601 right_gripper=0.1542\nstate[joint_eff]: [-0.0889, -1.2923, 6.8034, 1.5116, -0.0855, -0.0122, -0.0122, -0.4444, -11.0838, 7.9932, 1.3455, 0.2222, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3c18fc4ed3e4955252d63b9a5d805df720772cddc32ba3764a82876cdcf70da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35dc590828b39442165a6ffb014b91b42364d2ce231f80274dc4de6e09f75f8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3c83dd0e0f25097b2ea1ad537f8143b2a138c0e271cd5a5e9e5fb5a734badd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 8.576 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, 0.8082, 0.6067, -0.6308, -0.0189, -0.0387, 0.9992, 1.2659, 1.4548, 1.2415, -0.9108, 0.7639, 0.812, 0.1543]\nstate[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1304 left_yaw=0.0033 left_pitch=-0.2544 left_roll=0.0015 left_gripper=0.9992 right_x=0.2113 right_y=0.2763 right_z=0.2029 right_yaw=0.1982 right_pitch=-0.1225 right_roll=-0.1125 right_gripper=0.1543\nstate[joint_eff]: [-0.1709, -0.9504, 6.8718, 1.6239, -0.0415, -0.0708, -0.0122, -0.1299, -6.9812, 8.0889, 1.0525, 0.3932, -0.0317, -0.1001]",
      "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, 0.8101, 0.6067, -0.6376, -0.0189, -0.0383, 0.9992, 1.0382, 1.8641, 1.8271, -0.963, 0.6415, 0.5598, 0.1542]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1288 left_yaw=0.0031 left_pitch=-0.2632 left_roll=0.002 left_gripper=0.9992 right_x=0.3204 right_y=0.3424 right_z=0.2377 right_yaw=0.1942 right_pitch=-0.1556 right_roll=-0.1378 right_gripper=0.1542\nstate[joint_eff]: [-0.1573, -1.2376, 6.8034, 1.5556, -0.0708, -0.0122, -0.0122, -0.4308, -9.5111, 8.1026, 1.2869, 0.2808, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.638, -0.0189, -0.0383, 0.9992, 0.9272, 2.0914, 2.1693, -1.0569, 0.5777, 0.4572, 0.1542]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1277 left_yaw=0.0031 left_pitch=-0.2677 left_roll=0.0021 left_gripper=0.9992 right_x=0.3819 right_y=0.3543 right_z=0.239 right_yaw=0.1847 right_pitch=-0.1871 right_roll=-0.1601 right_gripper=0.1542\nstate[joint_eff]: [-0.0889, -1.2923, 6.8034, 1.5116, -0.0855, -0.0122, -0.0122, -0.4444, -11.0838, 7.9932, 1.3455, 0.2222, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3c18fc4ed3e4955252d63b9a5d805df720772cddc32ba3764a82876cdcf70da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35dc590828b39442165a6ffb014b91b42364d2ce231f80274dc4de6e09f75f8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3c83dd0e0f25097b2ea1ad537f8143b2a138c0e271cd5a5e9e5fb5a734badd5",
        "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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T2jfm8/k65c1aHANDZSWRCY1rUOPL5Mbpzm/YX6pL5mOMsL0NMiCqDYIKzy3mcQRekEY3mODY7dGUn/vGwKQzSBlncxJLaxcHJObFf8PHXqKepDAP0RaRijlgIWK8Ts9QMWI2JcBHaRfqcVfn+fKTlYihma+no0xpTgvbaOIOckRzNQWgWa7n4+m+2BWHt5PiRclg4vrsKT7Uf9QGrHUNZyuYLZeVQ4YXFw0VqY83Oqc5/pBfx2ickpDBm9+g6q9NO1fpT+Ggn8pBPWd0xFbyQvSQgx5BNP6Ju/KM03lqgukfzZqciHz6s20VC7Fk8RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Njv5W17RuXtcU7D9fLqysA",
      "input": {
        "note": "The orange bear was not actually held (it stayed put while the arm moved). Switching to the light bear on the left side: moving the left arm over it with the tool held vertical.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0,
          "left_x": 0.3,
          "left_y": -0.16,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01Njv5W17RuXtcU7D9fLqysA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8192, 1.248, 0.5835, -0.2024, -0.6212, -0.5499, 0.9993, 0.9234, 2.1056, 2.167, -1.0798, 0.5636, 0.4446, 0.1542]\nstate[eef_state]: left_x=0.2856 left_y=-0.1498 left_z=0.0957 left_yaw=-0.0271 left_pitch=-0.0923 left_roll=0.0569 left_gripper=0.9993 right_x=0.3803 right_y=0.3525 right_z=0.2274 right_yaw=0.1919 right_pitch=-0.2253 right_roll=-0.1872 right_gripper=0.1542\nstate[joint_eff]: [-0.2256, -4.465, 9.1966, 1.5849, -0.5348, -0.0269, -0.0904, 0.2667, -12.7795, 6.6256, 1.4286, 0.3297, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8beaa911f1f505e1fa612e3aa4df3b4a7a945baebb13630e3c1b647ecfba23eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ad83e2fce06d0d6fcc345822cbcf338b71b7728f4875e16cd8cf66df1cdb7a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a645c0e9f7ef9715457c60573dedd6de17834549c6ef92414429c4564e3d4e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 7.558 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, 0.8101, 0.6067, -0.6376, -0.0189, -0.0383, 0.9992, 1.0382, 1.8641, 1.8271, -0.963, 0.6415, 0.5598, 0.1542]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1288 left_yaw=0.0031 left_pitch=-0.2632 left_roll=0.002 left_gripper=0.9992 right_x=0.3204 right_y=0.3424 right_z=0.2377 right_yaw=0.1942 right_pitch=-0.1556 right_roll=-0.1378 right_gripper=0.1542\nstate[joint_eff]: [-0.1573, -1.2376, 6.8034, 1.5556, -0.0708, -0.0122, -0.0122, -0.4308, -9.5111, 8.1026, 1.2869, 0.2808, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.638, -0.0189, -0.0383, 0.9992, 0.9272, 2.0914, 2.1693, -1.0569, 0.5777, 0.4572, 0.1542]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1277 left_yaw=0.0031 left_pitch=-0.2677 left_roll=0.0021 left_gripper=0.9992 right_x=0.3819 right_y=0.3543 right_z=0.239 right_yaw=0.1847 right_pitch=-0.1871 right_roll=-0.1601 right_gripper=0.1542\nstate[joint_eff]: [-0.0889, -1.2923, 6.8034, 1.5116, -0.0855, -0.0122, -0.0122, -0.4444, -11.0838, 7.9932, 1.3455, 0.2222, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8192, 1.248, 0.5835, -0.2024, -0.6212, -0.5499, 0.9993, 0.9234, 2.1056, 2.167, -1.0798, 0.5636, 0.4446, 0.1542]\nstate[eef_state]: left_x=0.2856 left_y=-0.1498 left_z=0.0957 left_yaw=-0.0271 left_pitch=-0.0923 left_roll=0.0569 left_gripper=0.9993 right_x=0.3803 right_y=0.3525 right_z=0.2274 right_yaw=0.1919 right_pitch=-0.2253 right_roll=-0.1872 right_gripper=0.1542\nstate[joint_eff]: [-0.2256, -4.465, 9.1966, 1.5849, -0.5348, -0.0269, -0.0904, 0.2667, -12.7795, 6.6256, 1.4286, 0.3297, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8beaa911f1f505e1fa612e3aa4df3b4a7a945baebb13630e3c1b647ecfba23eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ad83e2fce06d0d6fcc345822cbcf338b71b7728f4875e16cd8cf66df1cdb7a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a645c0e9f7ef9715457c60573dedd6de17834549c6ef92414429c4564e3d4e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISuwcKjgEIEhgCKkBIp3n+xriJktq27GQjMZ8TNePum+5fJXcdCjHunB0wgMeVeHNWng0ilzhPEQN/eS9Re3Gd1Bz0wHIhuBwn77sNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdCVzNUGEgxbtu0TdGdrB4KUjy8aDEkLRwueGtwO3X9izCIww0RrmfApOP29fcS53ZHExrye/wfDt8LyLbBQ04QoqJZwUH22KaX0tAeohf50B0KbKtkFS1GztltYmmC6VqaXHTl3Nu/k3pa+WoIptz42Pkfa/uA5VB9vfyecLqThv0pRGKyIO+law9rsBqal1U136PE4J4Gm7Dp0rLWXLdC4frGUrVOG1YWbRfXgHIXOVpEPHbHpbB1hlqJOtRQs4t8d3ZmnkzcW40I2rQUtS/3u2H7Xlx6HrWOE0F1d/SjzTgpVou4pY2stPSSqPIM01yJfLOfbVKJOsjjUP6NIv8O9G6R6UdPdF2i+TCspowO+lQmL/B1StPA5EfDL6OIWKNztXTm4DbfZsCrNx+EJ9vy6D7WE//LGBY2qL9U+MRc9JvOw3yNOZAe5K4rGZ0I1caVNxaTEt3uM+FVz1VJtGFsnW7/Ma0dtTUIBzxhY5zNJIZidR3l7lYHKRs1pU3Bqke5rz8uxk3GbPkEQ27C1tN8SRCVyaWqhcVZRTm9sTIoFtGSmd4+mNLzyCNvyLJ9uo5FbsTg3Gv+iI4n/MqHNqXD1JdRfzI70OTUlZ4F0AJRbbIljuTRQ/7kQVAE82rm5GhryH+z4UqbQDI7O2LqDAkeeZxNLfXHGbqiNXPfiof63AfBYys6mtrA4Ks0Eg/Z5vzr2A6FxvLEFBo29arxSgglzKEBoN3z8q9IVcypjSAUJGkUCJgOmd9j1vuQty1JUYm0vRZluH7B/C9yt8Kn+Nf5Qa81T5y7XYISi1AW4Es6IP4Xp93EKWa5IVPFByOkDkA2hdB0P5CkGJ6we7OhGnOHr3gEMTANNPUQRvXRIXhHfK/fG4ZKG9ZalrAkW9SeL/obQ7KNgWG7WwmIQe2HloT5e2r1o2udx+6hU49VrKaW+j1sVOvD71sLEO4+uzT3Z3qRS/lz5bWh4OKtwJDfRTG5p0dX2H+xPLEhSXjbCY3QoyvMuCEn59tFlF1E/UMZTgQdd9910w3/7Yc3FT4SMZFGA6VfhdfMzBGAHrpNoOIjfl9ZLcIXESqYiiKP4RqiWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B1Wc72wEzdGNujTZLTFAzt",
      "input": {
        "note": "In the left wrist view the light bear sits up-left of the jaw column, so it is a few cm further out and to the arm's left; stepping there before descending.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.1,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01B1Wc72wEzdGNujTZLTFAzt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7052, 1.2339, 0.5674, -0.1642, -0.5568, -0.4706, 0.9992, 0.9234, 2.1059, 2.167, -1.084, 0.5594, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.2995 left_y=-0.1277 left_z=0.0945 left_yaw=-0.005 left_pitch=-0.1013 left_roll=0.0588 left_gripper=0.9992 right_x=0.3795 right_y=0.3524 right_z=0.2264 right_yaw=0.1942 right_pitch=-0.2312 right_roll=-0.1878 right_gripper=0.1542\nstate[joint_eff]: [-0.1026, -5.053, 5.9009, 1.4969, -0.1685, 0.1832, -0.0171, -0.1299, -11.4393, 6.3795, 1.1893, 0.2222, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4f2d220c88fd543145a1047e57087ece5a8cf572777fdb443c920d1990db646",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3625b0e3d101f276d0e9356f8d1373c5319abe8eb24bf63f9c0c02c02cc83dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebc8192446e6c6ff9fa2fcee03037427b062342e068a6f82859821ddfba088ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 8.755 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, 0.8143, 0.6067, -0.638, -0.0189, -0.0383, 0.9992, 0.9272, 2.0914, 2.1693, -1.0569, 0.5777, 0.4572, 0.1542]\nstate[eef_state]: left_x=0.2547 left_y=0.0021 left_z=0.1277 left_yaw=0.0031 left_pitch=-0.2677 left_roll=0.0021 left_gripper=0.9992 right_x=0.3819 right_y=0.3543 right_z=0.239 right_yaw=0.1847 right_pitch=-0.1871 right_roll=-0.1601 right_gripper=0.1542\nstate[joint_eff]: [-0.0889, -1.2923, 6.8034, 1.5116, -0.0855, -0.0122, -0.0122, -0.4444, -11.0838, 7.9932, 1.3455, 0.2222, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8192, 1.248, 0.5835, -0.2024, -0.6212, -0.5499, 0.9993, 0.9234, 2.1056, 2.167, -1.0798, 0.5636, 0.4446, 0.1542]\nstate[eef_state]: left_x=0.2856 left_y=-0.1498 left_z=0.0957 left_yaw=-0.0271 left_pitch=-0.0923 left_roll=0.0569 left_gripper=0.9993 right_x=0.3803 right_y=0.3525 right_z=0.2274 right_yaw=0.1919 right_pitch=-0.2253 right_roll=-0.1872 right_gripper=0.1542\nstate[joint_eff]: [-0.2256, -4.465, 9.1966, 1.5849, -0.5348, -0.0269, -0.0904, 0.2667, -12.7795, 6.6256, 1.4286, 0.3297, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7052, 1.2339, 0.5674, -0.1642, -0.5568, -0.4706, 0.9992, 0.9234, 2.1059, 2.167, -1.084, 0.5594, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.2995 left_y=-0.1277 left_z=0.0945 left_yaw=-0.005 left_pitch=-0.1013 left_roll=0.0588 left_gripper=0.9992 right_x=0.3795 right_y=0.3524 right_z=0.2264 right_yaw=0.1942 right_pitch=-0.2312 right_roll=-0.1878 right_gripper=0.1542\nstate[joint_eff]: [-0.1026, -5.053, 5.9009, 1.4969, -0.1685, 0.1832, -0.0171, -0.1299, -11.4393, 6.3795, 1.1893, 0.2222, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4f2d220c88fd543145a1047e57087ece5a8cf572777fdb443c920d1990db646",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3625b0e3d101f276d0e9356f8d1373c5319abe8eb24bf63f9c0c02c02cc83dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebc8192446e6c6ff9fa2fcee03037427b062342e068a6f82859821ddfba088ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjwYKjgEIEhgCKkASDwQLGiilxvG5kX0rjgSoD8hs08lpEpJFkASiaNrJerXsRJKKYU+4qXI1HawoV6mNani3+swrEuPZ8B/vxs5dMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdiVzNUGEgxIsPtA3zDAEe5VZw0aDGPPOWqvEVOUOGqyXyIwFUW1MBkfQi4ZZzXLDM60oRtjIZLdZrEWzZ2rPmSAFU3bsrr2tLKV8nhBZirk+m9wKq0Em0e1j0plDbBLMt40tKnGmHIbnmTJWhN74l4EgNdZXVsClk9m0UhmlCdY6mtqkx2pGrGEGzHaGLnAqInif5u4/ZOC9ZX3ew4wn/0Il7FneWvbbmp3pdOpIDrlgrk1EYJMSnFpZnJ20md8TQbAlOotP+jzTOmuw9/J9Whmz8pNXMQXzR+okR0UpsklAQcYAScWNlaGGMRZ6EyCG6XC+mNBgTN2PHf8HMnS6bnLYOcMq9xFOJHbSe9Rl/8tZNRyjz50WfzirFSoef90mTK793NaKz26mWVC5vCbp0r5TXEo9cG6bLxfy61jfwchdWuuniCgjMKKdCK46NDRjTDKwxpv5BjlIZlfyiMroGRzhaIAjMmTc2rLifllq1rjYnSkredAMxgAbb5vSaIMmYNxDawQA3wajj0cQa7TpFbXO+Y2olZsxC6bFoT3ZhuTCNizRpchr/zsFa2eIZO7GNHxOK2y0X6GkRrFagvLSR2Knpyhlo8WzdBfyhYr/uM8w5io4HPWZPBoFiM8EEAXuPQGLolfstHSBbR0GvjxrNZJUL159cNCdpUEKeGVSgHVozjfbvIMgus4Qq8OQ6+4Uj8uznFdssNn+8U9z+opT3jG2KiKKDqGcCmYl37gh5f0ocDExLI7Wzmsoalw/52uTaOLJRARYkO6wFmkSkyDDiPReCBL36H+eqVoLW96NdnNqhLMDJIxbo63KlMTRi8z3k+ZXFsXx9VNJXNimLXsIxtdbgcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015oZ5Uhbs2gXfSLMSannN5q",
      "input": {
        "note": "The light bear is just left of the jaw column and low in the wrist view; advancing 3 cm out, 2 cm left and descending to table level around it.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.11,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015oZ5Uhbs2gXfSLMSannN5q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7052, 1.2335, 0.5671, -0.1642, -0.5529, -0.4644, 0.9992, 0.9234, 2.1059, 2.167, -1.0874, 0.5591, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.2993 left_y=-0.1282 left_z=0.0942 left_yaw=-0.0111 left_pitch=-0.1034 left_roll=0.0614 left_gripper=0.9992 right_x=0.3791 right_y=0.3519 right_z=0.226 right_yaw=0.1939 right_pitch=-0.2339 right_roll=-0.1899 right_gripper=0.1542\nstate[joint_eff]: [-0.212, -4.9162, 5.9145, 1.4872, -0.1978, 0.0855, -0.0122, -0.0752, -11.4803, 6.2427, 1.2381, 0.2271, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27974716adeef1ebf3724c09958ed5d53cf90e1fc8b090d99ae41a26cf45f8cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2458862a05184bfee62b2edab253bf16dba59db064eec93e61545d5e32fc55ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c3c074c1e77b11f90ef7056c49ea572c61d361edbc06e96a87bf1ba60e8aa9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 7.183 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]: [-0.8192, 1.248, 0.5835, -0.2024, -0.6212, -0.5499, 0.9993, 0.9234, 2.1056, 2.167, -1.0798, 0.5636, 0.4446, 0.1542]\nstate[eef_state]: left_x=0.2856 left_y=-0.1498 left_z=0.0957 left_yaw=-0.0271 left_pitch=-0.0923 left_roll=0.0569 left_gripper=0.9993 right_x=0.3803 right_y=0.3525 right_z=0.2274 right_yaw=0.1919 right_pitch=-0.2253 right_roll=-0.1872 right_gripper=0.1542\nstate[joint_eff]: [-0.2256, -4.465, 9.1966, 1.5849, -0.5348, -0.0269, -0.0904, 0.2667, -12.7795, 6.6256, 1.4286, 0.3297, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7052, 1.2339, 0.5674, -0.1642, -0.5568, -0.4706, 0.9992, 0.9234, 2.1059, 2.167, -1.084, 0.5594, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.2995 left_y=-0.1277 left_z=0.0945 left_yaw=-0.005 left_pitch=-0.1013 left_roll=0.0588 left_gripper=0.9992 right_x=0.3795 right_y=0.3524 right_z=0.2264 right_yaw=0.1942 right_pitch=-0.2312 right_roll=-0.1878 right_gripper=0.1542\nstate[joint_eff]: [-0.1026, -5.053, 5.9009, 1.4969, -0.1685, 0.1832, -0.0171, -0.1299, -11.4393, 6.3795, 1.1893, 0.2222, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7052, 1.2335, 0.5671, -0.1642, -0.5529, -0.4644, 0.9992, 0.9234, 2.1059, 2.167, -1.0874, 0.5591, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.2993 left_y=-0.1282 left_z=0.0942 left_yaw=-0.0111 left_pitch=-0.1034 left_roll=0.0614 left_gripper=0.9992 right_x=0.3791 right_y=0.3519 right_z=0.226 right_yaw=0.1939 right_pitch=-0.2339 right_roll=-0.1899 right_gripper=0.1542\nstate[joint_eff]: [-0.212, -4.9162, 5.9145, 1.4872, -0.1978, 0.0855, -0.0122, -0.0752, -11.4803, 6.2427, 1.2381, 0.2271, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27974716adeef1ebf3724c09958ed5d53cf90e1fc8b090d99ae41a26cf45f8cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2458862a05184bfee62b2edab253bf16dba59db064eec93e61545d5e32fc55ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c3c074c1e77b11f90ef7056c49ea572c61d361edbc06e96a87bf1ba60e8aa9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS8QgKjgEIEhgCKkA4OCIjb3efRxGXkWTA/vPwg6zjxLjXa6t2ZzFNmtpyJCSHYwBY9Efz6mqiYwUX8mC9kZj5eHsmBPdPmICm1mUUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeGVzNUGEgzKaZIbJF6xWz3jy/YaDDlPII+ra0TF+A3xmCIwMBg3TCuTzllU7D5rjk1UYdPg2YpykOUPLnZk+FGaU9SUAHfk/mEEgpSVZh/GLNg8Ko8HBNh/u7H3YsnvjlANE5cJ3DuPeRj7omNxGbHCMd4kV3TAk0ALzeCi7Z3FoXsf+XgnGBLdmZCUTcdt4/sExljpGX85P2aBlbNSsEPzjUwosFWdW3Wydk1rJ1dHANks5bnEo1BviCc0K0FTxpp5jqWruCsvv2kziEssqpdCmXTWANNsVQXZWpjYWgfcygx0CW+fVsuIb+1hnTKV0Ti3k/uq9EUl173SIv1YEFKkLzwz1qHfzj+//6Ym2U9zfAawmqT6XY5G557RDm/utFp2lh1QfFuRWGWDlrUQzmplpdnRy+wxu2AFSpXXZitlTKvj65vCV4nvOajX9gkA009VZT8d53JN00gCQvJCnNdpJ2nwo/tdoXAxx15CxxabboRIXhyPtC9GWzZGD8D70QkVB+cR9+KDMdJDvrQmpI1+ERt4wPwVUV7YRh5WSpxS10++jQjv6zt+Tc6fV6O7SNlGpXyWhUlO0qRhYjY699GH0tDV3Ds1s9tjvfUvood4ZkuVVRaWiBXzYN2wLFxy0zclsp9kNH+5TOKrZhty8FrFmdMI9gdRYXOzo/FQXPgt2Rl9Ujhlp/eXICJkc3mVoJfzYTHqza4mu14em5zvA5zdKnQr+48vjTyDQPe1SZjP2lWe8l2Tz+OcXJxS1qT6ev4QHC6w4Gao3juY4vFxYLhGcyLPEGnaMwOE8BtyEJT2Ywy0WsuYORCpZ9s8dILhA2OViZn7Dzl6SWuI/6s7rcJiVSkKk6o11TOPbzsJTsx5Rx2PtuNl8yXE6/FVJ0HfBTQGqY0mnyq1fFhxFnt8lwfno0pWLDzqRDA7px3557yIHc9qbHaX7d8b1Ff3s2Nun2iNpswC4dMOwJBRUx1d5nYdvPnnxSuvCWa4oICl7X/vS3lRCqZbyBNylg7r3QjI9amL6XIspomYVV/HeCE6SEw/s/cn6HCMcNFwgGss+t1/8w9ghiyH5atfi6NdcWGpHLV4V0vmDqRFRtz5xwc3BnMOtxExfXBM3B6dSCLWhhy5iqqGmJuNUyV1cl2DYE6ZjCumGOkvY2qNMjd2kuT1jVI8Dn2Axb5dGxDIsdaJyK7H3QXvOy/DAAoR8vZVTOdr5+WNsSu4QuNGkOS/J9TqvV5jllis9IDnihiRxA+3lE5ioKWaJRTTqQ0tulonPeW0ECJ0sEoggD90eb1TxZDgXQyhxYp/3geuRgfYQlvwzLBtIMQRv3IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018VqAtzTQPedAS2KwLSEuCY",
      "input": {
        "note": "The left arm didn't track the last target (readback unchanged), so I'm issuing a smaller step: descend to 4 cm with a slight nudge out and left toward the bear.",
        "targets": {
          "left_x": 0.315,
          "left_y": -0.115,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018VqAtzTQPedAS2KwLSEuCY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6479, 1.3262, 0.5041, -0.0265, -0.5247, -0.4324, 0.9992, 0.9234, 2.1059, 2.167, -1.0908, 0.5556, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3061 left_y=-0.1162 left_z=0.0623 left_yaw=0.0091 left_pitch=-0.1318 left_roll=0.0809 left_gripper=0.9992 right_x=0.3784 right_y=0.3519 right_z=0.2253 right_yaw=0.1956 right_pitch=-0.2385 right_roll=-0.19 right_gripper=0.1542\nstate[joint_eff]: [-0.0889, -2.6598, 3.3709, 0.9353, -0.149, 0.0513, -0.0122, -0.1573, -11.6444, 6.2154, 1.2088, 0.2515, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf9bf0602e8c4139997659f0a3b3e59da9ae3bdb0414156eb394b7cbb14faacf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e3e7e1e77b3e0598d1f3abc8e8a76210a4da178d3f99de1f5d433d53c2dd31e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec8b9da8c2b21f069885796387805c32d62f4274d62987140a3d811e57e69f2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 6.166 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]: [-0.7052, 1.2339, 0.5674, -0.1642, -0.5568, -0.4706, 0.9992, 0.9234, 2.1059, 2.167, -1.084, 0.5594, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.2995 left_y=-0.1277 left_z=0.0945 left_yaw=-0.005 left_pitch=-0.1013 left_roll=0.0588 left_gripper=0.9992 right_x=0.3795 right_y=0.3524 right_z=0.2264 right_yaw=0.1942 right_pitch=-0.2312 right_roll=-0.1878 right_gripper=0.1542\nstate[joint_eff]: [-0.1026, -5.053, 5.9009, 1.4969, -0.1685, 0.1832, -0.0171, -0.1299, -11.4393, 6.3795, 1.1893, 0.2222, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7052, 1.2335, 0.5671, -0.1642, -0.5529, -0.4644, 0.9992, 0.9234, 2.1059, 2.167, -1.0874, 0.5591, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.2993 left_y=-0.1282 left_z=0.0942 left_yaw=-0.0111 left_pitch=-0.1034 left_roll=0.0614 left_gripper=0.9992 right_x=0.3791 right_y=0.3519 right_z=0.226 right_yaw=0.1939 right_pitch=-0.2339 right_roll=-0.1899 right_gripper=0.1542\nstate[joint_eff]: [-0.212, -4.9162, 5.9145, 1.4872, -0.1978, 0.0855, -0.0122, -0.0752, -11.4803, 6.2427, 1.2381, 0.2271, -0.0513, -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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6479, 1.3262, 0.5041, -0.0265, -0.5247, -0.4324, 0.9992, 0.9234, 2.1059, 2.167, -1.0908, 0.5556, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3061 left_y=-0.1162 left_z=0.0623 left_yaw=0.0091 left_pitch=-0.1318 left_roll=0.0809 left_gripper=0.9992 right_x=0.3784 right_y=0.3519 right_z=0.2253 right_yaw=0.1956 right_pitch=-0.2385 right_roll=-0.19 right_gripper=0.1542\nstate[joint_eff]: [-0.0889, -2.6598, 3.3709, 0.9353, -0.149, 0.0513, -0.0122, -0.1573, -11.6444, 6.2154, 1.2088, 0.2515, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf9bf0602e8c4139997659f0a3b3e59da9ae3bdb0414156eb394b7cbb14faacf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e3e7e1e77b3e0598d1f3abc8e8a76210a4da178d3f99de1f5d433d53c2dd31e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec8b9da8c2b21f069885796387805c32d62f4274d62987140a3d811e57e69f2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISrQYKjgEIEhgCKkD3KP6MtMu4GdemxcY+ZSNMK2eS+6Ta+3Tl8DGfdmbyQZ4F8uhEk1b8gHp+PGTSbzNJsZVAm5mOxinAOcEjnJN0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAemVzNUGEgzW3HxfiydP2uBOuV8aDKPaxZFI7vMJTctSZyIwbNGyV9b9icne4Vi56pWlzijBlhHX8A2Y8QzuiSh371BiesptESkagx7JvP9ZgH5+KssEuiv/upr1KyWhkHNHTTzCDXJoMIAdHCVTaEkGbeDEH3RHT+f4dIi7XB0e7kUXYy5kHKTlK9uJgnPHd9+RNoDPzPxHdoktq9PCWvcLDmP0wQhnzGgj0MX7Gv4fTpn2VZ8p2sVqcUpbQ99OJlwGGbpj5uJFPWt2/noLybVa3yydjx6olcpL/4fOI/IjE1202wYn1WP8vHTb3LeiSaQwsOgYuNAWck7GDCUB9w/psCAC3YR9Qz3AUbkGqipt0yg0TLBH5QJQBfEA6GastGMLuuPdWR/WfBE9mvUHRkNVGrHYANig1PhUJ6HmdDP0PC+HS024ieNJv8mdyTidMxYDVicSAPYC/MEH6PLl6d5aEAmOfsmklzCqCi1SZW5GL9Oiq7JD7bEnlTzyRhQSXvoDbsvC2tBhKeD1w/0dQ9SvGYK0phMbIWGGfqiRS5Zrr9uFAZZFypjRovGkrXp5cN5FBYY2frLyTvirKbLTBF/sibYcaFdpWMIHQ/LgalzQu1cP7cvXDu8i/+vmau+FgDoRmXJasQepRxlEPD9mz9c6y6bxypGL3OgQuMyP7YJ+3umhIYLK4BaLft8SXPe+HoAhySkatHYa1jlK4ls8CLIsPXaLl3B2ojgb6BXh3ILel7ghYLR7YkNyNZI4FeUWW2u+d1J9+AdVhCqRRuRJOxB/Y7cPhOXKn0AbjAMiiojD8Hsas2wJGXPB0CnesmhAa7NLWkOgTnnWMdMmas1KMGDWUd+wQ0QvyyTV4iRPzBH6/unyMEuhvhtWI/xMdoaBnGgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PSWsiQRE1vkcfhvYMdgCkb",
      "input": {
        "note": "Bear is just to the arm's left of the jaws; dropping to table level and nudging 1.5 cm left so the jaws straddle its body.",
        "targets": {
          "left_y": -0.1,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PSWsiQRE1vkcfhvYMdgCkb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5907, 1.5135, 0.3717, 0.3664, -0.5087, -0.4149, 0.9985, 0.9234, 2.1071, 2.1658, -1.1057, 0.5552, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3171 left_y=-0.1047 left_z=0.0208 left_yaw=0.04 left_pitch=-0.0809 left_roll=0.0411 left_gripper=0.9985 right_x=0.3766 right_y=0.3497 right_z=0.2227 right_yaw=0.193 right_pitch=-0.2515 right_roll=-0.2016 right_gripper=0.1542\nstate[joint_eff]: [0.2667, -2.9333, 2.2222, 0.4762, 0.0171, 0.3443, -0.0855, -0.1162, -11.7128, 6.2427, 1.2821, 0.2173, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a591ab227d05df0d03f803b786c1066be974b5a6e548f00d82155e0506acd3e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bf8330eea63d52f6301e65ddc152236ec3207697e4158489f5a7971e2afbd0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:006a9772866f21293417a1a683b1b47132b05ff96a926ed9bcb468e318d71b72",
        "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 · 8.213 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]: [-0.7052, 1.2335, 0.5671, -0.1642, -0.5529, -0.4644, 0.9992, 0.9234, 2.1059, 2.167, -1.0874, 0.5591, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.2993 left_y=-0.1282 left_z=0.0942 left_yaw=-0.0111 left_pitch=-0.1034 left_roll=0.0614 left_gripper=0.9992 right_x=0.3791 right_y=0.3519 right_z=0.226 right_yaw=0.1939 right_pitch=-0.2339 right_roll=-0.1899 right_gripper=0.1542\nstate[joint_eff]: [-0.212, -4.9162, 5.9145, 1.4872, -0.1978, 0.0855, -0.0122, -0.0752, -11.4803, 6.2427, 1.2381, 0.2271, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6479, 1.3262, 0.5041, -0.0265, -0.5247, -0.4324, 0.9992, 0.9234, 2.1059, 2.167, -1.0908, 0.5556, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3061 left_y=-0.1162 left_z=0.0623 left_yaw=0.0091 left_pitch=-0.1318 left_roll=0.0809 left_gripper=0.9992 right_x=0.3784 right_y=0.3519 right_z=0.2253 right_yaw=0.1956 right_pitch=-0.2385 right_roll=-0.19 right_gripper=0.1542\nstate[joint_eff]: [-0.0889, -2.6598, 3.3709, 0.9353, -0.149, 0.0513, -0.0122, -0.1573, -11.6444, 6.2154, 1.2088, 0.2515, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5907, 1.5135, 0.3717, 0.3664, -0.5087, -0.4149, 0.9985, 0.9234, 2.1071, 2.1658, -1.1057, 0.5552, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3171 left_y=-0.1047 left_z=0.0208 left_yaw=0.04 left_pitch=-0.0809 left_roll=0.0411 left_gripper=0.9985 right_x=0.3766 right_y=0.3497 right_z=0.2227 right_yaw=0.193 right_pitch=-0.2515 right_roll=-0.2016 right_gripper=0.1542\nstate[joint_eff]: [0.2667, -2.9333, 2.2222, 0.4762, 0.0171, 0.3443, -0.0855, -0.1162, -11.7128, 6.2427, 1.2821, 0.2173, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a591ab227d05df0d03f803b786c1066be974b5a6e548f00d82155e0506acd3e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bf8330eea63d52f6301e65ddc152236ec3207697e4158489f5a7971e2afbd0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:006a9772866f21293417a1a683b1b47132b05ff96a926ed9bcb468e318d71b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS9QQKjgEIEhgCKkCXxLHaSBTRXfJs7dCQRa9WHN5BrQTiB6QTw23NokuzwbAE+CHezHoWOoKZNxSFI38tw4SPfUBVWw5gLQPnx+ujMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+VzNUGEgy2AgRdnVWbNpbckT4aDBBVesmbAXpPFrMKLiIw4xJAZlqwcq3cE4mxhnrpCiv4XKqKJ+VBgppnlJpNWdocFYdy9UaZwUGFrA3BmDrGKpMDPynAIep+goWP+r86fz7C7OK3Qb0htwNCeGFkLjFIY/Jx/RGrQBaQaSxsf59dbQus6I6RQOPqRmt48A0GMkuArNS1sBmGLDHtN3XfueQC457NjkvMhygZIAwcZXC9Lu2ciNZEZ3h19rR7X+G2d+w0CGAGgsGXgMp5QB3J64j+A+BB8ZJDSNBRMgOUZXNt+lHDoJjrNlHIMRaXn/SJZWiBpOhAjtQGHbCg7KR0D3WZmReBjWlA549BToYyJZtUUasqUohQSTPvQmNZNeXiS1rBy0Q3OIPY8f3MwKkN5Dhk9//a4gdt0zGCqJxGaaaesP8ptBxbNQByI5Rjwds0N8bjEMXh2H57ArDanlyJLz5GH3uDs4Bid5jLzcMsRvbHpXw0slP5PMMBLiqh9XxR2cZKRZadjLjUOvjrEGf66AciJoUj2O/ByBuxQpJFqA/aSMzveY/ZYlcZ/K2tKliP6aDCJRInXvfbUy9y2r1g1VjAIM7LiKdAVNkyU/P7DwxHO9idN3XM6tJnEJG/xf4pz9ugtd55dBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DeAREYUnzYo2iM9afMRt7S",
      "input": {
        "note": "The bear is large but centred above the jaw wedges, meaning it is still a few cm beyond the fingertips; advancing ~4 cm radially at table level so it slips between the jaws.",
        "targets": {
          "left_x": 0.355,
          "left_y": -0.095
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DeAREYUnzYo2iM9afMRt7S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5858, 1.5375, 0.3531, 0.4488, -0.5049, -0.4046, 0.9985, 0.9234, 2.1071, 2.1658, -1.1069, 0.5552, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3207 left_y=-0.1059 left_z=0.0209 left_yaw=0.0348 left_pitch=-0.0505 left_roll=0.0239 left_gripper=0.9985 right_x=0.3765 right_y=0.3495 right_z=0.2226 right_yaw=0.1928 right_pitch=-0.2523 right_roll=-0.2023 right_gripper=0.1542\nstate[joint_eff]: [-0.253, -3.1385, 3.1248, 1.0379, -0.0366, 0.2222, -0.022, -0.0752, -11.5897, 6.1607, 1.116, 0.188, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28417abf05518c8374493fdae4a8f809ab460bff1f20529c6ca2c5e1c44348dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0baf101c218f6c21c7934fdc7460832a4e1f108f4cca17e293d78d22eac63d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abc6249d3cd7f0fb5ce35b45b53713acef34b2d5a95963d3067e9741849759db",
        "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 · 7.888 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]: [-0.6479, 1.3262, 0.5041, -0.0265, -0.5247, -0.4324, 0.9992, 0.9234, 2.1059, 2.167, -1.0908, 0.5556, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3061 left_y=-0.1162 left_z=0.0623 left_yaw=0.0091 left_pitch=-0.1318 left_roll=0.0809 left_gripper=0.9992 right_x=0.3784 right_y=0.3519 right_z=0.2253 right_yaw=0.1956 right_pitch=-0.2385 right_roll=-0.19 right_gripper=0.1542\nstate[joint_eff]: [-0.0889, -2.6598, 3.3709, 0.9353, -0.149, 0.0513, -0.0122, -0.1573, -11.6444, 6.2154, 1.2088, 0.2515, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5907, 1.5135, 0.3717, 0.3664, -0.5087, -0.4149, 0.9985, 0.9234, 2.1071, 2.1658, -1.1057, 0.5552, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3171 left_y=-0.1047 left_z=0.0208 left_yaw=0.04 left_pitch=-0.0809 left_roll=0.0411 left_gripper=0.9985 right_x=0.3766 right_y=0.3497 right_z=0.2227 right_yaw=0.193 right_pitch=-0.2515 right_roll=-0.2016 right_gripper=0.1542\nstate[joint_eff]: [0.2667, -2.9333, 2.2222, 0.4762, 0.0171, 0.3443, -0.0855, -0.1162, -11.7128, 6.2427, 1.2821, 0.2173, -0.0269, -0.0122]",
      "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]: [-0.5858, 1.5375, 0.3531, 0.4488, -0.5049, -0.4046, 0.9985, 0.9234, 2.1071, 2.1658, -1.1069, 0.5552, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3207 left_y=-0.1059 left_z=0.0209 left_yaw=0.0348 left_pitch=-0.0505 left_roll=0.0239 left_gripper=0.9985 right_x=0.3765 right_y=0.3495 right_z=0.2226 right_yaw=0.1928 right_pitch=-0.2523 right_roll=-0.2023 right_gripper=0.1542\nstate[joint_eff]: [-0.253, -3.1385, 3.1248, 1.0379, -0.0366, 0.2222, -0.022, -0.0752, -11.5897, 6.1607, 1.116, 0.188, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28417abf05518c8374493fdae4a8f809ab460bff1f20529c6ca2c5e1c44348dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0baf101c218f6c21c7934fdc7460832a4e1f108f4cca17e293d78d22eac63d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abc6249d3cd7f0fb5ce35b45b53713acef34b2d5a95963d3067e9741849759db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQgKjgEIEhgCKkA2buwYv7huxfVtAvAwnyFTW1D/qQ1O7ILRxaHvTRsEX9wW+cbZk4/9T3dUoqvHacm3+QJG12+s401ekRTs3JUDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfiVzNUGEgy1BJPDD5f+Em8BGWUaDNb/pT1r4o2bVYtV8CIwZvlGWdeAjhAdzNntE+mCSgX40kmWRDjHg9jdx+eODhLZHFwW5E1fQGpN172MgSAjKq8GDkVMmGQM68081m3qIvD0rknI2QV+9a7a0vekzIVO/KlvOiRe2+3vugdqP6fxniBFr1c3AotloXTLlzBJ1t9S+OQMa5NYMeinVG/YzTESCz0B9qb/Jl7pGpur8zq3InF4Q5szeTF/UnRhN64WWV121YNhy2ezA2kz/f09KTICJQgxtgyugSlsYCSSm1ywGXgSFC8YvzJqu6AVyw6zL8rAYO0a0GFrPA8ngjzcw8v46D2WJMjQbW3PZQKy37Orr4HxE7uo4lc8x1OifOVvFL5vP34rs6zQKGp61xor9JLmBbueim3bHsefkEJ74ligzMd5naOG45AFBhSJhyVdqZoM+ZKhi/2/mv7NVCaiDTExY4qwINcmVPozA+hZKcz6KMzwyOPV22arkiMWO+2uNQ9LrqrsGf8RSlncciiz+99kv7uVCrRuBZOqJNgivDr/DpKAEhaW67qtQGv/VZIUX1nk0ltTjjqXrY3oMCc65XUs5DX8MOObzXjH6diRTO4LB2n6UahB90Yd3hGucTcKINJnBJ18b9Z2LJIn/rOKonXSPqbT7w8O+psIOe7FrUejJM6kFF/+0VGlphwL2JMgbdMf2CCxKzymsLE+ikiopiyfPSTjotETt+VogXMLDvF44YxeWpURlrM5wX3ROlYr+WjtmYkueZUxH7N0aGlVLrJx9WoYO4wcMRzMsbwM8EOTWjZuHKT4zv8+k5yntg+lb8I684UAQ9er33Pmbs0iWi0M4fUVeyrpM9/zbkI+ZUtNNG5a1jie4zVO1JGFDK9eCGRDt+IeUJAWsoGB5gUaLuyp3Gf98mFFh5CIpWyWuIjOAe4lz3zsTdzR4eInrQb0b8yKeNk/RCYg+raENR5PNggzzNLP4y7oqfwL0Wy/oYCC8N0hrSM8IXtWr8BbDbUBWKct26OiIQ9uHq5x0Xp+9UZC7ShmSfPMHV1IqM0aMLvzswta+0WfmV4CP1DqrvTj3jd1i68zMyr7ycBu2OL0t4KofDrUMJTdf9m9Ic6kdZcjzX6nlSWU/WGVxrQ+a+BulOt9+XsosZ6PD3nH6EfRORh1WnPZowadPdCoXHAdT2qn2MEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MpyurQBaYXyEfJYfdRy3hj",
      "input": {
        "note": "Bear fur fills the jaw area; closing fully to grip it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MpyurQBaYXyEfJYfdRy3hj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5903, 1.5368, 0.3515, 0.4538, -0.5014, -0.3763, 0.2013, 0.9234, 2.1071, 2.1658, -1.1282, 0.5518, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3203 left_y=-0.1081 left_z=0.0213 left_yaw=0.0121 left_pitch=-0.0489 left_roll=0.0425 left_gripper=0.2013 right_x=0.3737 right_y=0.3466 right_z=0.22 right_yaw=0.1913 right_pitch=-0.2702 right_roll=-0.2148 right_gripper=0.1542\nstate[joint_eff]: [0.1026, -4.8889, 4.7932, 1.5214, -0.2857, -0.3492, 0.7888, -0.1162, -11.6308, 6.1333, 1.3114, 0.2369, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce17f1bc253cedb89f5d3c6a7952b08e438331f3606f1a683b70cc45e27a307c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a3ce7d26282443261fa2d2e6020ce1866a0eeb98cfb782ae0adaa2699742744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb328eda03f113c92898a0721bd642f7dbba54f684a3a6fd26a66c2307c04f53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 13.37 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]: [-0.5907, 1.5135, 0.3717, 0.3664, -0.5087, -0.4149, 0.9985, 0.9234, 2.1071, 2.1658, -1.1057, 0.5552, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3171 left_y=-0.1047 left_z=0.0208 left_yaw=0.04 left_pitch=-0.0809 left_roll=0.0411 left_gripper=0.9985 right_x=0.3766 right_y=0.3497 right_z=0.2227 right_yaw=0.193 right_pitch=-0.2515 right_roll=-0.2016 right_gripper=0.1542\nstate[joint_eff]: [0.2667, -2.9333, 2.2222, 0.4762, 0.0171, 0.3443, -0.0855, -0.1162, -11.7128, 6.2427, 1.2821, 0.2173, -0.0269, -0.0122]",
      "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]: [-0.5858, 1.5375, 0.3531, 0.4488, -0.5049, -0.4046, 0.9985, 0.9234, 2.1071, 2.1658, -1.1069, 0.5552, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3207 left_y=-0.1059 left_z=0.0209 left_yaw=0.0348 left_pitch=-0.0505 left_roll=0.0239 left_gripper=0.9985 right_x=0.3765 right_y=0.3495 right_z=0.2226 right_yaw=0.1928 right_pitch=-0.2523 right_roll=-0.2023 right_gripper=0.1542\nstate[joint_eff]: [-0.253, -3.1385, 3.1248, 1.0379, -0.0366, 0.2222, -0.022, -0.0752, -11.5897, 6.1607, 1.116, 0.188, -0.0366, -0.0122]",
      "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]: [-0.5903, 1.5368, 0.3515, 0.4538, -0.5014, -0.3763, 0.2013, 0.9234, 2.1071, 2.1658, -1.1282, 0.5518, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3203 left_y=-0.1081 left_z=0.0213 left_yaw=0.0121 left_pitch=-0.0489 left_roll=0.0425 left_gripper=0.2013 right_x=0.3737 right_y=0.3466 right_z=0.22 right_yaw=0.1913 right_pitch=-0.2702 right_roll=-0.2148 right_gripper=0.1542\nstate[joint_eff]: [0.1026, -4.8889, 4.7932, 1.5214, -0.2857, -0.3492, 0.7888, -0.1162, -11.6308, 6.1333, 1.3114, 0.2369, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce17f1bc253cedb89f5d3c6a7952b08e438331f3606f1a683b70cc45e27a307c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a3ce7d26282443261fa2d2e6020ce1866a0eeb98cfb782ae0adaa2699742744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb328eda03f113c92898a0721bd642f7dbba54f684a3a6fd26a66c2307c04f53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISsgcKjgEIEhgCKkD66zKzFz3oqFK5GmuM1PfYe82UeYhjGA5u9U+mL8tNM7WrkXQsTA+7oSe8HqEPd/TgNGY8Fm4Jbq+C5GDDAEViMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYGWzNUGEgz8JT1VlC00vVFchTIaDP9OlVoxkkldtwSHTyIw9SrKl/SFmYb38rA8/CLhBLR7wYZ/RSkdYajIBV62wVd/Ou9fJZ2tasOmy1fXiHSYKtAFqw+aKMWmVtH9NoZmqAmoaDHx62/3yKACsTx5etBOF6wXfQkNDfMkdzMrdkG/yMW8/PZXR8NWY5PoDyGQnehoZU30LrrPd8kUcTRHakQWg+VKcdSRzFMTP2JcyO2Z6o7Xq/oSlvgAj+kiaR+meJ+iM8gWnfVDkkUsc82EdAT+Px4qdn6M04vG7ZUj7A+tU9etMrkpjcxGiPPmXm2v+A++JbiAd9iV9wSfKC4VLvqsaPA/1hoEocVqO55byeTnaFIwZ3LOplivV0OS5jtn3n92mx/YiaLe4F4OUEzFv97dgDFHiQCzf2VqiChatBqaxWbE5CCC6dXPXGtORD1YRezlY3hwVT1SPyiUWNHvk9GHLYtrmkRd8z5S0kxw37ezfn9iwRqH+QrmHsZfCV4wA9GBmtHyhoP/rk0wZiOitOY+3q8GZYktu2y4sU4u6qaS64/tOEtF7LYKUzOzGGxb3f7AllALgvcPsRjyz5pdcVipZ1Q1iAF2eAJ22dIk+6njgLb8CUbBElcK8uHRdR024zQ/88kRIosu7+f026hbCc/r1JX5wQfJ8z9SPrtDSSeZ8E9qeYIHa8bQV0OhjCO/w9EJ2XLh53VcPaqonFPfK9KUA8LQXBBAgbXSabxkmKh31kt9+kGp1mZDqMSZBQKkjo5us6NTGZONLUiFwZrUmXuna0k7metM4u4IMLCOwKeNXvIEfrpW7aBbON5j8DhoA5dvZmw9ZYhv+KHaqWzBmwEnc9BMCRkY+w6zFm7/k8zrMYoGSxfJLE9/yUScT0oGR6+JHIuuUILIk90f5KjAr35t4oICI+9biTZKDX8Vc+gXUzdnLH628+QOdUyKPCrfryHXjnwVu8IewxNoWvbJOaDpnuWSz1AhF7NST09HbSBOp+IlLQUYiTRZKpfEtqz45oRdiYXgqkrub+35y6TZ4na326/71g2kSuVKbgQ2vtQ/pzJ8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UfwMLd52voLtGtm4ibh99E",
      "input": {
        "note": "The gripper stalled at 0.20 on the bear's fur — a real grasp. Lifting and carrying it over the open safe's red interior to my left.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.29,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01UfwMLd52voLtGtm4ibh99E",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8951, 1.7939, 1.5368, -1.037, -0.6872, -0.7921, 0.2017, 0.8425, 2.0521, 2.1845, -1.1946, 0.7204, 0.4152, 0.1543]\nstate[eef_state]: left_x=0.3322 left_y=-0.2296 left_z=0.1666 left_yaw=0.1381 left_pitch=-0.2888 left_roll=0.2602 left_gripper=0.2017 right_x=0.4011 right_y=0.28 right_z=0.2608 right_yaw=0.0224 right_pitch=-0.166 right_roll=-0.338 right_gripper=0.1543\nstate[joint_eff]: [-4.465, -11.0154, 16.1162, 3.7289, -0.906, 1.1306, 0.0269, 6.6803, -6.0239, 4.9162, 1.6923, -1.6239, 0.232, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ede47bf3c0915a071f0e5d55a02e9163676ed59667ce08e574d391030411b9c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1dc83d0294cf2b81bd5d179e46f4cead24afefeb984b9711e30950d1d79d847",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a735f56f343833fe1a4a7e925e41332f041354fe1ac7587939e579f6f7fda63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 16.4 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]: [-0.5858, 1.5375, 0.3531, 0.4488, -0.5049, -0.4046, 0.9985, 0.9234, 2.1071, 2.1658, -1.1069, 0.5552, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3207 left_y=-0.1059 left_z=0.0209 left_yaw=0.0348 left_pitch=-0.0505 left_roll=0.0239 left_gripper=0.9985 right_x=0.3765 right_y=0.3495 right_z=0.2226 right_yaw=0.1928 right_pitch=-0.2523 right_roll=-0.2023 right_gripper=0.1542\nstate[joint_eff]: [-0.253, -3.1385, 3.1248, 1.0379, -0.0366, 0.2222, -0.022, -0.0752, -11.5897, 6.1607, 1.116, 0.188, -0.0366, -0.0122]",
      "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]: [-0.5903, 1.5368, 0.3515, 0.4538, -0.5014, -0.3763, 0.2013, 0.9234, 2.1071, 2.1658, -1.1282, 0.5518, 0.4442, 0.1542]\nstate[eef_state]: left_x=0.3203 left_y=-0.1081 left_z=0.0213 left_yaw=0.0121 left_pitch=-0.0489 left_roll=0.0425 left_gripper=0.2013 right_x=0.3737 right_y=0.3466 right_z=0.22 right_yaw=0.1913 right_pitch=-0.2702 right_roll=-0.2148 right_gripper=0.1542\nstate[joint_eff]: [0.1026, -4.8889, 4.7932, 1.5214, -0.2857, -0.3492, 0.7888, -0.1162, -11.6308, 6.1333, 1.3114, 0.2369, -0.0513, -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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8951, 1.7939, 1.5368, -1.037, -0.6872, -0.7921, 0.2017, 0.8425, 2.0521, 2.1845, -1.1946, 0.7204, 0.4152, 0.1543]\nstate[eef_state]: left_x=0.3322 left_y=-0.2296 left_z=0.1666 left_yaw=0.1381 left_pitch=-0.2888 left_roll=0.2602 left_gripper=0.2017 right_x=0.4011 right_y=0.28 right_z=0.2608 right_yaw=0.0224 right_pitch=-0.166 right_roll=-0.338 right_gripper=0.1543\nstate[joint_eff]: [-4.465, -11.0154, 16.1162, 3.7289, -0.906, 1.1306, 0.0269, 6.6803, -6.0239, 4.9162, 1.6923, -1.6239, 0.232, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ede47bf3c0915a071f0e5d55a02e9163676ed59667ce08e574d391030411b9c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1dc83d0294cf2b81bd5d179e46f4cead24afefeb984b9711e30950d1d79d847",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a735f56f343833fe1a4a7e925e41332f041354fe1ac7587939e579f6f7fda63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U8iy2K6PZVRLkQz29fnJik",
      "input": {
        "note": "The left arm is stalled against the safe lid edge with the bear held over the safe's red interior (visible lower-right in the wrist view); nudging a bit further over the opening and releasing the bear into the safe.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01U8iy2K6PZVRLkQz29fnJik",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9413, 1.9434, 1.7092, -1.2095, -0.6846, -0.9272, 0.9947, 0.7895, 2.0605, 2.1849, -1.272, 0.7403, 0.3916, 0.1542]\nstate[eef_state]: left_x=0.3254 left_y=-0.2509 left_z=0.1543 left_yaw=0.2087 left_pitch=-0.3391 left_roll=0.3083 left_gripper=0.9947 right_x=0.4075 right_y=0.2467 right_z=0.2522 right_yaw=-0.0415 right_pitch=-0.2158 right_roll=-0.4315 right_gripper=0.1542\nstate[joint_eff]: [-3.0427, -7.7607, 11.0427, 1.1795, -0.6081, 0.442, 0.1538, 4.3145, -11.6171, 5.9009, 1.8681, 0.1978, 0.1538, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0aca8359dc13b82a8aa2760e3d9be714b7106dec640934d1c5b7bb447372fa55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:856bf0c03ee9366afd1d29f2e636480fc7649d760d1d61caaeb16947ad2997f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a86003164a3ca6f5aa6bad2605a93b7f99ab6dc317fb70984309a017bace1680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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