adhoc

completed
2026-09-23T00:49:08.104375+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
183.7 s
total steps
139
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

overheat

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: an open red-lined safe in the middle, a yellow lemon to its right, a small white bear left of the safe and a large brown teddy in front. I'm moving the right arm toward the lemon to line it up in the wrist view before descending.
move_to
right_x0.3300right_y0.1500right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.3912, -0.0193, -0.0303, 0.9993, -0.0212, 0.7933, 0.6052, -0.4034, -0.02, -0.0158, 0.9993] state[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2917 right_y=0.001 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.6359, -1.4564, 10.3316, 1.9512, -0.0464, 0.1148, -0.0904, -0.5128, -1.5658, 9.7846, 2.0733, -0.0317, 0.0171, -0.0855] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.15, "right_z": 0.15, "right_gripper": 1}, "note": "Scene: an open red-lined safe in the middle, a yellow lemon to its right, a small white bear left of the safe and a large brown teddy in front. I'm moving the right arm toward the lemon to line it up in the wrist view before descending."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteRight wrist view shows the lemon just right of the jaw column with empty space below it, so I advance ~4 cm radially, shift 3 cm right and drop to 8 cm to line up for the grasp.
move_to
right_x0.3600right_y0.1150right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4053, -0.0189, -0.0311, 0.9992, 0.659, 1.2545, 0.7094, -0.2417, 0.4908, 0.3668, 0.9993] state[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1753 left_yaw=0.0005 left_pitch=-0.016 left_roll=-0.0005 left_gripper=0.9992 right_x=0.316 right_y=0.144 right_z=0.1274 right_yaw=0.0487 right_pitch=-0.0841 right_roll=-0.0569 right_gripper=0.9993 state[joint_eff]: [-0.1709, -1.6205, 6.7897, 1.8437, -0.0611, -0.0171, -0.0171, 0.1573, -4.7385, 9.2923, 1.8584, 0.4029, 0.1197, -0.0855] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.115, "right_z": 0.08}, "note": "Right wrist view shows the lemon just right of the jaw column with empty space below it, so I advance ~4 cm radially, shift 3 cm right and drop to 8 cm to line up for the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteLemon is now centred on the jaw column but still high in the frame, meaning it is a few cm further out; advancing ~4 cm and lowering to 3 cm for the grasp.
move_to
right_x0.3850right_y0.1050right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7982, 0.6029, -0.411, -0.0189, -0.0319, 0.9992, 0.4728, 1.4216, 0.625, -0.036, 0.3885, 0.2623, 0.9993] state[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1719 left_yaw=0.0009 left_pitch=-0.0271 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3424 right_y=0.104 right_z=0.0672 right_yaw=-0.0033 right_pitch=-0.1658 right_roll=-0.0964 right_gripper=0.9993 state[joint_eff]: [-0.1573, -1.3607, 7.3231, 1.7802, -0.0366, -0.0708, -0.0122, -0.294, -5.8188, 6.4342, 1.9902, 0.2759, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.105, "right_z": 0.03}, "note": "Lemon is now centred on the jaw column but still high in the frame, meaning it is a few cm further out; advancing ~4 cm and lowering to 3 cm for the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe arm only got partway to the last target (clamped), and the lemon still sits ahead of the jaws; continuing forward and down to reach it.
move_to
right_x0.4000right_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, 0.7986, 0.6029, -0.4274, -0.0189, -0.0315, 0.9992, 0.4587, 1.4849, 0.6159, 0.0395, 0.3695, 0.2287, 0.9993] state[eef_state]: left_x=0.2883 left_y=0.0015 left_z=0.1685 left_yaw=0.0007 left_pitch=-0.0439 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3494 right_y=0.1054 right_z=0.0536 right_yaw=0.0167 right_pitch=-0.1711 right_roll=-0.1069 right_gripper=0.9993 state[joint_eff]: [-0.0342, -1.2513, 7.1316, 1.8437, -0.0708, -0.0659, -0.0073, -0.1026, -5.8598, 5.7231, 1.6728, 0.2955, 0.149, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.105, "right_z": 0.02}, "note": "The arm only got partway to the last target (clamped), and the lemon still sits ahead of the jaws; continuing forward and down to reach it."})
tool
executing move_to over 4 steps (0.4s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe arm stalled at x=0.349 with a drifted pitch/roll; re-commanding a smaller forward step with pitch, roll and yaw explicitly zeroed to unstick the IK.
move_to
right_x0.3700right_y0.1050right_z0.0400right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6029, -0.429, -0.0189, -0.0311, 0.9992, 0.4587, 1.4853, 0.6159, 0.0395, 0.3695, 0.2283, 0.9993] state[eef_state]: left_x=0.2881 left_y=0.0015 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0454 left_roll=0.0 left_gripper=0.9992 right_x=0.3494 right_y=0.1054 right_z=0.0535 right_yaw=0.0169 right_pitch=-0.1715 right_roll=-0.1073 right_gripper=0.9993 state[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.7265, -0.0415, -0.0415, -0.0122, -0.1709, -5.8462, 5.6547, 1.6777, 0.2564, 0.1099, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.105, "right_z": 0.04, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "The arm stalled at x=0.349 with a drifted pitch/roll; re-commanding a smaller forward step with pitch, roll and yaw explicitly zeroed to unstick the IK."})
tool
executing move_to over 6 steps (0.6s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteGripper is now at table height but the lemon is still well ahead in the wrist view; commanding a larger forward reach to close the gap.
move_to
right_x0.4500right_y0.1000right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6029, -0.4358, -0.0189, -0.0349, 0.9992, 0.4263, 1.6005, 0.4908, 0.2771, 0.3504, 0.2356, 0.9993] state[eef_state]: left_x=0.2872 left_y=0.0015 left_z=0.1667 left_yaw=0.0026 left_pitch=-0.053 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3418 right_y=0.0926 right_z=0.0087 right_yaw=-0.0047 right_pitch=-0.1795 right_roll=-0.0902 right_gripper=0.9993 state[joint_eff]: [-0.0479, -1.2513, 7.2137, 1.7265, -0.0562, -0.0464, -0.0122, -0.0889, -6.9265, 6.4752, 2.3077, 0.1441, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.1, "right_z": 0.025}, "note": "Gripper is now at table height but the lemon is still well ahead in the wrist view; commanding a larger forward reach to close the gap."})
tool
executing move_to over 9 steps (0.9s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe lemon now fills the bottom of the right wrist view right at the jaws; nudging 1 cm left to centre it and closing the gripper.
move_to
right_y0.1050right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8028, 0.6029, -0.4538, -0.0189, -0.0353, 0.9992, 0.3199, 1.8694, 0.8902, 0.1276, 0.2752, 0.1516, 0.9993] state[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1622 left_yaw=0.0028 left_pitch=-0.0744 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4338 right_y=0.0969 right_z=0.0139 right_yaw=-0.0044 right_pitch=-0.2222 right_roll=-0.1044 right_gripper=0.9993 state[joint_eff]: [-0.0752, -1.4564, 6.9949, 1.8584, -0.0659, -0.0171, -0.0073, -0.335, -8.4308, 7.4872, 1.6044, 0.1783, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.105, "right_gripper": 0.0}, "note": "The lemon now fills the bottom of the right wrist view right at the jaws; nudging 1 cm left to centre it and closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteGripper settled at 0.50 (~4.7 cm) — the lemon is grasped. Lifting 17 cm to clear the table before carrying it to the safe.
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, 0.8032, 0.6029, -0.458, -0.0189, -0.0383, 0.9992, 0.3393, 1.8824, 0.8955, 0.1013, 0.2756, 0.1574, 0.4991] state[eef_state]: left_x=0.2841 left_y=0.0016 left_z=0.1613 left_yaw=0.0045 left_pitch=-0.0789 left_roll=-0.0051 left_gripper=0.9992 right_x=0.4279 right_y=0.1038 right_z=0.0062 right_yaw=0.0089 right_pitch=-0.254 right_roll=-0.1119 right_gripper=0.4991 state[joint_eff]: [-0.0479, -1.2786, 7.3641, 1.7265, -0.0464, -0.0073, -0.0122, 0.1709, -9.2786, 6.0103, 1.5263, 0.2808, 0.1001, 0.9206] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "Gripper settled at 0.50 (~4.7 cm) \u2014 the lemon is grasped. Lifting 17 cm to clear the table before carrying it to the safe."})
tool
executing move_to over 12 steps (1.2s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteHolding the lemon above the table; moving left over the open safe (visible at the left edge of the wrist view) to drop it in.
move_to
right_x0.4400right_y0.2800right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6029, -0.4728, -0.0189, -0.0383, 0.9992, 0.3393, 1.6573, 1.2999, -0.5816, 0.271, 0.1493, 0.5012] state[eef_state]: left_x=0.2818 left_y=0.0016 left_z=0.1584 left_yaw=0.0045 left_pitch=-0.0938 left_roll=-0.0047 left_gripper=0.9992 right_x=0.425 right_y=0.1037 right_z=0.1517 right_yaw=0.0123 right_pitch=-0.3062 right_roll=-0.1317 right_gripper=0.5012 state[joint_eff]: [-0.1983, -1.2239, 6.9538, 1.7949, -0.0366, -0.0464, -0.0122, -0.253, -10.4, 8.841, 1.58, 0.1685, 0.105, 0.2125] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.28, "right_z": 0.2}, "note": "Holding the lemon above the table; moving left over the open safe (visible at the left edge of the wrist view) to drop it in."})
tool
executing move_to over 15 steps (1.5s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteTop view shows the gripper just right of the safe opening; shifting 6 cm further left to centre the lemon over the red interior.
move_to
right_y0.3400right_x0.4300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6029, -0.4812, -0.0189, -0.0383, 0.9992, 0.709, 2.1139, 2.0983, -1.0603, 0.4461, 0.4492, 0.5041] state[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1566 left_yaw=0.0046 left_pitch=-0.103 left_roll=-0.0045 left_gripper=0.9992 right_x=0.4354 right_y=0.2777 right_z=0.1924 right_yaw=0.0478 right_pitch=-0.3343 right_roll=-0.1438 right_gripper=0.5041 state[joint_eff]: [-0.1299, -1.2376, 6.9675, 1.6972, -0.022, -0.022, -0.0073, 0.3624, -10.947, 8.2803, 1.1111, 0.315, 0.2173, 0.2857] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.34, "right_x": 0.43}, "note": "Top view shows the gripper just right of the safe opening; shifting 6 cm further left to centre the lemon over the red interior."})
tool
executing move_to over 6 steps (0.6s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe safe opening sits ahead of the jaws in the wrist view; advancing 3 cm and lowering to 13 cm so the lemon is inside the box before release.
move_to
right_x0.4550right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6029, -0.4969, -0.0189, -0.0383, 0.9992, 0.8173, 2.3882, 2.5557, -1.2942, 0.469, 0.5217, 0.505] state[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1536 left_yaw=0.0046 left_pitch=-0.1186 left_roll=-0.0041 left_gripper=0.9992 right_x=0.4264 right_y=0.343 right_z=0.1872 right_yaw=0.0859 right_pitch=-0.3544 right_roll=-0.1492 right_gripper=0.505 state[joint_eff]: [-0.0615, -1.2103, 7.1726, 1.7705, -0.0611, -0.0513, -0.0122, -0.5128, -12.6701, 7.4051, 0.8913, 0.4762, 0.1245, 0.0806] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_z": 0.13}, "note": "The safe opening sits ahead of the jaws in the wrist view; advancing 3 cm and lowering to 13 cm so the lemon is inside the box before release."})
tool
executing move_to over 4 steps (0.4s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe lemon is over the red interior of the safe; lowering it into the box before opening the jaws.
move_to
right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6025, -0.511, -0.0189, -0.0383, 0.9992, 0.7822, 2.3943, 2.3398, -1.1519, 0.4488, 0.4927, 0.5063] state[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1508 left_yaw=0.0047 left_pitch=-0.1331 left_roll=-0.0038 left_gripper=0.9992 right_x=0.4368 right_y=0.331 right_z=0.1239 right_yaw=0.0599 right_pitch=-0.4292 right_roll=-0.209 right_gripper=0.5063 state[joint_eff]: [-0.0068, -1.2239, 7.1316, 1.7753, -0.0659, -0.0513, -0.0122, -0.4718, -13.2718, 7.2137, 1.4237, 0.2418, -0.0366, 0.1294] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.05}, "note": "The lemon is over the red interior of the safe; lowering it into the box before opening the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe descent stalled and the wrist view shows the safe's near rim between the lemon and the red interior, so the lemon is still short of the opening; lifting slightly and reaching 4 cm further forward.
move_to
right_x0.4800right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6025, -0.5182, -0.0189, -0.0383, 0.9992, 0.7803, 2.3787, 2.2326, -1.029, 0.4561, 0.4904, 0.5078] state[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1494 left_yaw=0.0047 left_pitch=-0.1403 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4431 right_y=0.3342 right_z=0.1073 right_yaw=0.0635 right_pitch=-0.4015 right_roll=-0.1933 right_gripper=0.5078 state[joint_eff]: [0.0205, -1.2239, 6.8991, 1.6386, -0.0513, -0.0464, -0.0122, 0.3487, -14.7214, 5.2444, 0.7155, 0.2955, 0.022, 0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_z": 0.12}, "note": "The descent stalled and the wrist view shows the safe's near rim between the lemon and the red interior, so the lemon is still short of the opening; lifting slightly and reaching 4 cm further forward."})
tool
executing move_to over 3 steps (0.3s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe arm is stalled against something (large shoulder effort, no motion); lifting straight up to free it before re-approaching the safe opening.
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, 0.804, 0.6025, -0.5251, -0.0189, -0.0387, 0.9992, 0.7803, 2.3787, 2.2326, -1.0286, 0.4557, 0.4904, 0.5093] state[eef_state]: left_x=0.2735 left_y=0.0018 left_z=0.1482 left_yaw=0.0049 left_pitch=-0.1472 left_roll=-0.0037 left_gripper=0.9992 right_x=0.4431 right_y=0.3343 right_z=0.1073 right_yaw=0.0639 right_pitch=-0.4014 right_roll=-0.1928 right_gripper=0.5093 state[joint_eff]: [-0.0479, -1.1829, 7.0906, 1.6386, -0.0415, -0.0513, -0.0122, 0.294, -14.7897, 5.2444, 0.7204, 0.1929, -0.0122, 0.1343] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "The arm is stalled against something (large shoulder effort, no motion); lifting straight up to free it before re-approaching the safe opening."})
tool
executing move_to over 8 steps (0.8s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteTop view suggests the jaws are still to the right of the safe's opening; shifting ~6 cm further left at a safe height to centre over the red interior.
move_to
right_y0.3900right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8051, 0.6025, -0.5373, -0.0189, -0.0383, 0.9992, 0.7784, 2.5477, 2.8117, -1.4677, 0.4515, 0.4824, 0.5095] state[eef_state]: left_x=0.2715 left_y=0.0018 left_z=0.1456 left_yaw=0.0048 left_pitch=-0.1606 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4374 right_y=0.3281 right_z=0.168 right_yaw=0.0612 right_pitch=-0.4267 right_roll=-0.2151 right_gripper=0.5095 state[joint_eff]: [-0.1573, -1.265, 6.8855, 1.7167, -0.0562, 0.0073, -0.0073, -0.3487, -11.8222, 5.4085, 0.7741, 0.1929, -0.0317, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.39, "right_z": 0.2}, "note": "Top view suggests the jaws are still to the right of the safe's opening; shifting ~6 cm further left at a safe height to centre over the red interior."})
tool
executing move_to over 6 steps (0.6s)
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 noteThe wrist view now shows the open safe interior directly ahead of the jaws; moving forward ~5 cm to get the lemon over the red floor.
move_to
right_x0.4700right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8051, 0.6025, -0.5404, -0.0189, -0.0383, 0.9992, 0.7784, 2.5641, 2.814, -1.5738, 0.4488, 0.482, 0.51] state[eef_state]: left_x=0.271 left_y=0.0018 left_z=0.1451 left_yaw=0.0048 left_pitch=-0.1636 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4213 right_y=0.3128 right_z=0.1527 right_yaw=0.022 right_pitch=-0.5175 right_roll=-0.3038 right_gripper=0.51 state[joint_eff]: [-0.0205, -1.1556, 6.8855, 1.6386, -0.0659, -0.022, -0.0122, -0.4581, -13.2581, 5.7504, 0.8327, 0.2271, 0.0073, 0.0415] 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_x": 0.47, "right_z": 0.16}, "note": "The wrist view now shows the open safe interior directly ahead of the jaws; moving forward ~5 cm to get the lemon over the red floor."})
tool
executing move_to over 4 steps (0.4s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe arm is frozen again with pitch drifted near its -0.6 limit; re-commanding the forward move with pitch/roll/yaw explicitly zeroed, which unstuck it last time.
move_to
right_x0.4600right_z0.1700right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8051, 0.6025, -0.5556, -0.0189, -0.0387, 0.9992, 0.7784, 2.5641, 2.814, -1.5738, 0.4488, 0.482, 0.5101] state[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1423 left_yaw=0.005 left_pitch=-0.1789 left_roll=-0.003 left_gripper=0.9992 right_x=0.4213 right_y=0.3128 right_z=0.1527 right_yaw=0.022 right_pitch=-0.5175 right_roll=-0.3038 right_gripper=0.5101 state[joint_eff]: [-0.0479, -1.1829, 6.9812, 1.7363, -0.0806, -0.0513, -0.0122, -0.335, -13.2171, 5.8598, 0.7546, 0.2515, -0.0073, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_z": 0.17, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "The arm is frozen again with pitch drifted near its -0.6 limit; re-commanding the forward move with pitch/roll/yaw explicitly zeroed, which unstuck it last time."})
tool
executing move_to over 18 steps (1.8s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteNow the lemon is just over the safe's far rim; backing off 2 cm and lowering into the red interior.
move_to
right_x0.4700right_z0.0900right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8051, 0.6025, -0.5632, -0.0189, -0.0383, 0.9992, 0.7868, 2.7403, 3.11, -1.2781, 0.5999, 0.5232, 0.5102] state[eef_state]: left_x=0.2671 left_y=0.0019 left_z=0.141 left_yaw=0.0049 left_pitch=-0.1865 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4936 right_y=0.3588 right_z=0.1895 right_yaw=0.002 right_pitch=-0.1194 right_roll=-0.0776 right_gripper=0.5102 state[joint_eff]: [-0.0205, -1.1692, 7.0906, 1.6484, -0.0708, -0.022, -0.0122, 0.1983, -13.4906, 7.9795, 1.9609, 0.5397, -0.0122, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_z": 0.09, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Now the lemon is just over the safe's far rim; backing off 2 cm and lowering into the red interior."})
tool
executing move_to over 7 steps (0.7s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe wrist view is filled with the red interior — the lemon is inside the safe; opening the jaws to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8051, 0.6025, -0.5781, -0.0189, -0.0387, 0.9992, 0.8371, 2.9311, 3.1245, -1.0859, 0.6449, 0.5446, 0.5109] state[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1383 left_yaw=0.0051 left_pitch=-0.2014 left_roll=-0.0024 left_gripper=0.9992 right_x=0.5045 right_y=0.4064 right_z=0.1088 right_yaw=0.0112 right_pitch=-0.082 right_roll=-0.074 right_gripper=0.5109 state[joint_eff]: [-0.1846, -1.1556, 7.0359, 1.6923, -0.0366, -0.0366, -0.0122, 0.3214, -14.0786, 7.3778, 1.7509, 0.4762, 0.188, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The wrist view is filled with the red interior \u2014 the lemon is inside the safe; opening the jaws to release it."})
tool
executing move_to over 5 steps (0.5s)
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 · 19.98 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.3912, -0.0193, -0.0303, 0.9993, -0.0212, 0.7933, 0.6052, -0.4034, -0.02, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2917 right_y=0.001 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6359, -1.4564, 10.3316, 1.9512, -0.0464, 0.1148, -0.0904, -0.5128, -1.5658, 9.7846, 2.0733, -0.0317, 0.0171, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:057736e79a53f3bff90c2dc61452cba6061d44cce57ab7464efb40175b6af972",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41059ba14978685b655bdddd6e60ac2146ccfdafd2afd293a12075358360350a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a1b6d7f6c043e767e84fb4e595504faa71f039f15e035ca151d4c4240e82619",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 057736e79a53
wire blob 41059ba14978
wire blob 9a1b6d7f6c04
call 1 attempt 0 · /messages · status 200 · 6.964 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.3912, -0.0193, -0.0303, 0.9993, -0.0212, 0.7933, 0.6052, -0.4034, -0.02, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2917 right_y=0.001 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6359, -1.4564, 10.3316, 1.9512, -0.0464, 0.1148, -0.0904, -0.5128, -1.5658, 9.7846, 2.0733, -0.0317, 0.0171, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:057736e79a53f3bff90c2dc61452cba6061d44cce57ab7464efb40175b6af972",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41059ba14978685b655bdddd6e60ac2146ccfdafd2afd293a12075358360350a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a1b6d7f6c043e767e84fb4e595504faa71f039f15e035ca151d4c4240e82619",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
[blob 057736e79a53]
[blob 41059ba14978]
[blob 9a1b6d7f6c04]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xgm8W5XZS873iuvz52zBt5",
      "input": {
        "note": "Scene: an open red-lined safe in the middle, a yellow lemon to its right, a small white bear left of the safe and a large brown teddy in front. I'm moving the right arm toward the lemon to line it up in the wrist view before descending.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.33,
          "right_y": 0.15,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Xgm8W5XZS873iuvz52zBt5",
      "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, -0.4053, -0.0189, -0.0311, 0.9992, 0.659, 1.2545, 0.7094, -0.2417, 0.4908, 0.3668, 0.9993]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1753 left_yaw=0.0005 left_pitch=-0.016 left_roll=-0.0005 left_gripper=0.9992 right_x=0.316 right_y=0.144 right_z=0.1274 right_yaw=0.0487 right_pitch=-0.0841 right_roll=-0.0569 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -1.6205, 6.7897, 1.8437, -0.0611, -0.0171, -0.0171, 0.1573, -4.7385, 9.2923, 1.8584, 0.4029, 0.1197, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6312ae956b442f0a2aa5442864dff232a6ffef6df09c5e06515f70ccfa749f4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02162c9da8f8ed7c2231b48ab1ab2b6763ff249ea038546755599ed88c6e35a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bac158d89e471bbd47880e4ece2fb869d40b0b4b0b901a8b64f35af6b26de4bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6312ae956b44
wire blob 02162c9da8f8
wire blob bac158d89e47
call 2 attempt 0 · /messages · status 200 · 6.243 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.3912, -0.0193, -0.0303, 0.9993, -0.0212, 0.7933, 0.6052, -0.4034, -0.02, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2917 right_y=0.001 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6359, -1.4564, 10.3316, 1.9512, -0.0464, 0.1148, -0.0904, -0.5128, -1.5658, 9.7846, 2.0733, -0.0317, 0.0171, -0.0855]",
      "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, -0.4053, -0.0189, -0.0311, 0.9992, 0.659, 1.2545, 0.7094, -0.2417, 0.4908, 0.3668, 0.9993]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1753 left_yaw=0.0005 left_pitch=-0.016 left_roll=-0.0005 left_gripper=0.9992 right_x=0.316 right_y=0.144 right_z=0.1274 right_yaw=0.0487 right_pitch=-0.0841 right_roll=-0.0569 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -1.6205, 6.7897, 1.8437, -0.0611, -0.0171, -0.0171, 0.1573, -4.7385, 9.2923, 1.8584, 0.4029, 0.1197, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6312ae956b442f0a2aa5442864dff232a6ffef6df09c5e06515f70ccfa749f4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02162c9da8f8ed7c2231b48ab1ab2b6763ff249ea038546755599ed88c6e35a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bac158d89e471bbd47880e4ece2fb869d40b0b4b0b901a8b64f35af6b26de4bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6312ae956b44]
[blob 02162c9da8f8]
[blob bac158d89e47]
{
  "content": [
    {
      "signature": "CAIS6QUKjgEIEhgCKkAcY8DLwKfgk/qzBLM3pMHHJkLVuH9CId0bRuALymTgIyoyZ9ID4OXR4GDrYWWl+ZzEm2QBzgzqf6Lwnvm2PqynMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAabEzNUGEgznkvHWnjZzXGNmz/gaDMedjeGI7oAnDWqSuyIwx3omUzkCDSIRYwNE2SmRu5w4V04hV3cAgmEGVqMoQ3RlsjayAQxFPuXK5xEPNtHvKocEAfmuYb6LhbNovllemlPmHrIRnWIsUuxzBzsi8JW+kUV3iucARmwJSePoHufmyNbfZB9QVDur/HsmOyZyEWXBdXyopNXw/r1TdIMclaC7AUQ2TN7cSjp0a33lFXD6OmXi1gqye2A9wVwyVL5yirqpyLOcNHw4Os7E60VaAmhf1vu9hnO8tUkrbUEICLGYd8xOIYwdidIUL/x7mj2FBca/2SusoIXntZ+9YvZdEhB4Pt0B8t3TwJ6hDDzjIsFrl+6ZCPxGeNQjXSSpQuDOv284I/sCpcVhNnPoRhq/ntNydV2HVknrQFEY73V3uxwUz6kAzb6lbYctkSHZ/QBYdn7jVsQO0k+GxwpGPie9MHDLcnSUz/gEs7CQqXQlOFUiWaaKbWsYKNZoHRjHT1J1E4iLIHR7rTaaLVap/o/aI/10g9ObD4k5KkASxUn8qQVRQWCxCVmyirsRA7oqPd4smoHZEkBDv/rJ/W8y3l0MsTxziMH1KEJrgz1zTMpKQGYKYVG1LRvvwasHtck982/52cXjUx1bnnhb5/rfFftAUBTBZbEaf/xFczJex6O0s/EuCgPDOrOu+Ynw9QT31MUuhVoiu7kdn2J/Rfgv8UQfgkhTTJm1/dC/I8A0QZnyfAdjmkw2QInxwG2XSIAI+P0P7SHOAeeGrI/1nB2zVjIzLwr9C02GlHcwhQ/vGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ky9cNfqgNRxpT22j3nTXCg",
      "input": {
        "note": "Right wrist view shows the lemon just right of the jaw column with empty space below it, so I advance ~4 cm radially, shift 3 cm right and drop to 8 cm to line up for the grasp.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.115,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Ky9cNfqgNRxpT22j3nTXCg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6029, -0.411, -0.0189, -0.0319, 0.9992, 0.4728, 1.4216, 0.625, -0.036, 0.3885, 0.2623, 0.9993]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1719 left_yaw=0.0009 left_pitch=-0.0271 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3424 right_y=0.104 right_z=0.0672 right_yaw=-0.0033 right_pitch=-0.1658 right_roll=-0.0964 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.3607, 7.3231, 1.7802, -0.0366, -0.0708, -0.0122, -0.294, -5.8188, 6.4342, 1.9902, 0.2759, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75fbc32f6b76e21052678de317960a447ab0770987e728cfc51e2bf398a9dc9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1efcf4e2e6c904860190f9076728274e8d7b44f2bc30c222a8249c6cd1d8fe58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7d9af233089a2d55db2411d1e2a15a43f1fda04052c89496416a85fad13925e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 75fbc32f6b76
wire blob 1efcf4e2e6c9
wire blob f7d9af233089
call 3 attempt 0 · /messages · status 200 · 5.06 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.3912, -0.0193, -0.0303, 0.9993, -0.0212, 0.7933, 0.6052, -0.4034, -0.02, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2917 right_y=0.001 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6359, -1.4564, 10.3316, 1.9512, -0.0464, 0.1148, -0.0904, -0.5128, -1.5658, 9.7846, 2.0733, -0.0317, 0.0171, -0.0855]",
      "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, -0.4053, -0.0189, -0.0311, 0.9992, 0.659, 1.2545, 0.7094, -0.2417, 0.4908, 0.3668, 0.9993]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1753 left_yaw=0.0005 left_pitch=-0.016 left_roll=-0.0005 left_gripper=0.9992 right_x=0.316 right_y=0.144 right_z=0.1274 right_yaw=0.0487 right_pitch=-0.0841 right_roll=-0.0569 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -1.6205, 6.7897, 1.8437, -0.0611, -0.0171, -0.0171, 0.1573, -4.7385, 9.2923, 1.8584, 0.4029, 0.1197, -0.0855]",
      "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, 0.7982, 0.6029, -0.411, -0.0189, -0.0319, 0.9992, 0.4728, 1.4216, 0.625, -0.036, 0.3885, 0.2623, 0.9993]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1719 left_yaw=0.0009 left_pitch=-0.0271 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3424 right_y=0.104 right_z=0.0672 right_yaw=-0.0033 right_pitch=-0.1658 right_roll=-0.0964 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.3607, 7.3231, 1.7802, -0.0366, -0.0708, -0.0122, -0.294, -5.8188, 6.4342, 1.9902, 0.2759, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75fbc32f6b76e21052678de317960a447ab0770987e728cfc51e2bf398a9dc9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1efcf4e2e6c904860190f9076728274e8d7b44f2bc30c222a8249c6cd1d8fe58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7d9af233089a2d55db2411d1e2a15a43f1fda04052c89496416a85fad13925e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 75fbc32f6b76]
[blob 1efcf4e2e6c9]
[blob f7d9af233089]
{
  "content": [
    {
      "signature": "CAIS6QMKjgEIEhgCKkAFnwJTMxIQPxmz74WRZ0s+rUcEF/+BGl5R0oavTbaMTGLJDNtKqp7k1vnOKqFmkeVg5U9T9/C5PCpp1XrImRHjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa3EzNUGEgw8UrJ3wL4DosvjSh0aDGk+FEPPLhYy5MKmeiIwFh9KCkiwAvPzgkG6OglXQB757+W59PvI4lw0bgukcUvrDGxohl3Y/1qp5+Wos+WeKocC7Iv5XdSM/PxZCm/hrJoY4EmERV1ECUUPFtsqi/DaVYESom9M01MTFKU/lcFZOKClEYsm0adCHuoSxMdVP2Hg2geQhR4umiRKXqon0GPIwB/zCoT+TGOtMu713aUzEmjuKnDN3e9xjNFBCAHeasu9t4IOPl1tmFGx4YUDzu4t/2dHGRMaIwFx97xLamY4DlEDh1xoBvlYwAUjNY49yIZIL9P4FAovVY5lgCsaa+TOT0t31nQBXp3iR3OU6NKSeMkM6hOS+PH6cDWVy30H03+ypxbIqJDQrl8AlMs4fIgMlF0zZvQInWlvW0SUUwwKfjFuSKKc0vBt8liGoD99lg4FxKc2/zgximQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xye8V5WpN3UKaF2mdbD4YG",
      "input": {
        "note": "Lemon is now centred on the jaw column but still high in the frame, meaning it is a few cm further out; advancing ~4 cm and lowering to 3 cm for the grasp.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.105,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Xye8V5WpN3UKaF2mdbD4YG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6029, -0.4274, -0.0189, -0.0315, 0.9992, 0.4587, 1.4849, 0.6159, 0.0395, 0.3695, 0.2287, 0.9993]\nstate[eef_state]: left_x=0.2883 left_y=0.0015 left_z=0.1685 left_yaw=0.0007 left_pitch=-0.0439 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3494 right_y=0.1054 right_z=0.0536 right_yaw=0.0167 right_pitch=-0.1711 right_roll=-0.1069 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -1.2513, 7.1316, 1.8437, -0.0708, -0.0659, -0.0073, -0.1026, -5.8598, 5.7231, 1.6728, 0.2955, 0.149, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8d777d6f8a19491e14336de2015ca45589a344d11dc4e15f1399738d8a86e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cd71c3c0af97cd04266f65e6544c4c864bb8b2c9dec14e2a731bb43135b79b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6102088611d47602e1ed8bee8214c3a7c735010020da8ca9bf4f65c68f263a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d8d777d6f8a1
wire blob 6cd71c3c0af9
wire blob 6102088611d4
call 4 attempt 0 · /messages · status 200 · 8.728 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, -0.4053, -0.0189, -0.0311, 0.9992, 0.659, 1.2545, 0.7094, -0.2417, 0.4908, 0.3668, 0.9993]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1753 left_yaw=0.0005 left_pitch=-0.016 left_roll=-0.0005 left_gripper=0.9992 right_x=0.316 right_y=0.144 right_z=0.1274 right_yaw=0.0487 right_pitch=-0.0841 right_roll=-0.0569 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -1.6205, 6.7897, 1.8437, -0.0611, -0.0171, -0.0171, 0.1573, -4.7385, 9.2923, 1.8584, 0.4029, 0.1197, -0.0855]",
      "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, 0.7982, 0.6029, -0.411, -0.0189, -0.0319, 0.9992, 0.4728, 1.4216, 0.625, -0.036, 0.3885, 0.2623, 0.9993]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1719 left_yaw=0.0009 left_pitch=-0.0271 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3424 right_y=0.104 right_z=0.0672 right_yaw=-0.0033 right_pitch=-0.1658 right_roll=-0.0964 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.3607, 7.3231, 1.7802, -0.0366, -0.0708, -0.0122, -0.294, -5.8188, 6.4342, 1.9902, 0.2759, -0.0317, -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, 0.7986, 0.6029, -0.4274, -0.0189, -0.0315, 0.9992, 0.4587, 1.4849, 0.6159, 0.0395, 0.3695, 0.2287, 0.9993]\nstate[eef_state]: left_x=0.2883 left_y=0.0015 left_z=0.1685 left_yaw=0.0007 left_pitch=-0.0439 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3494 right_y=0.1054 right_z=0.0536 right_yaw=0.0167 right_pitch=-0.1711 right_roll=-0.1069 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -1.2513, 7.1316, 1.8437, -0.0708, -0.0659, -0.0073, -0.1026, -5.8598, 5.7231, 1.6728, 0.2955, 0.149, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8d777d6f8a19491e14336de2015ca45589a344d11dc4e15f1399738d8a86e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cd71c3c0af97cd04266f65e6544c4c864bb8b2c9dec14e2a731bb43135b79b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6102088611d47602e1ed8bee8214c3a7c735010020da8ca9bf4f65c68f263a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d8d777d6f8a1]
[blob 6cd71c3c0af9]
[blob 6102088611d4]
{
  "content": [
    {
      "signature": "CAISiQMKjgEIEhgCKkDIENt4+GQnYdUMRSn8KHpCrftHiib9F/mCE2oioN/RaFTEs0LSGhqtT5bWZAP5bYo3LoANU+HSJz/D6OJmkEkaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbLEzNUGEgwdTFkKr+bkmQqTfOYaDIAVPIqK0lna9R/WmCIwcQR4y5Sw7ZYnIa/TvgPgbVwuU9SadCavq8SYxZR3cx+GSUkwas0m5BWEGh2pIFT8KqcB3d1Be2D2I+c6KuPW5LNANH8nFh6DSVgMCvVJr1Bn02K1X3JVKe6nZ4SLV7aIRMLvYIJYvfeCqpXAQQ9oLkBRBBRVC6ndGZv4HbiUvmiHRtc0OWYD7i+da6e6Pc8t6lGT18bbDM6UX7V+JgKgy72zt3j6UEGligf+WDY5aPggsAAOt/ZgpCEU3pH6dUs1qipr3aO+lqla6RLsJbqzbMo4eqbrtSY+FaAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sj1YszcgpiLBDn1dvTNfQ7",
      "input": {
        "note": "The arm only got partway to the last target (clamped), and the lemon still sits ahead of the jaws; continuing forward and down to reach it.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.105,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Sj1YszcgpiLBDn1dvTNfQ7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6029, -0.429, -0.0189, -0.0311, 0.9992, 0.4587, 1.4853, 0.6159, 0.0395, 0.3695, 0.2283, 0.9993]\nstate[eef_state]: left_x=0.2881 left_y=0.0015 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0454 left_roll=0.0 left_gripper=0.9992 right_x=0.3494 right_y=0.1054 right_z=0.0535 right_yaw=0.0169 right_pitch=-0.1715 right_roll=-0.1073 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.7265, -0.0415, -0.0415, -0.0122, -0.1709, -5.8462, 5.6547, 1.6777, 0.2564, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b759b7bfeae09ecdbdcdbb3a1f3d0eb82e03e2666078ca1f00085ad5a344288e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d03029d28de3a649eaad5ed13b4c4f419f1c4865b87650092005a19f21371473",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:313bb21e90c743defd0f98f778d536d70b9ae2996a205300d3dffaebfff692f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b759b7bfeae0
wire blob d03029d28de3
wire blob 313bb21e90c7
call 5 attempt 0 · /messages · status 200 · 8.315 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, 0.7982, 0.6029, -0.411, -0.0189, -0.0319, 0.9992, 0.4728, 1.4216, 0.625, -0.036, 0.3885, 0.2623, 0.9993]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1719 left_yaw=0.0009 left_pitch=-0.0271 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3424 right_y=0.104 right_z=0.0672 right_yaw=-0.0033 right_pitch=-0.1658 right_roll=-0.0964 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.3607, 7.3231, 1.7802, -0.0366, -0.0708, -0.0122, -0.294, -5.8188, 6.4342, 1.9902, 0.2759, -0.0317, -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, 0.7986, 0.6029, -0.4274, -0.0189, -0.0315, 0.9992, 0.4587, 1.4849, 0.6159, 0.0395, 0.3695, 0.2287, 0.9993]\nstate[eef_state]: left_x=0.2883 left_y=0.0015 left_z=0.1685 left_yaw=0.0007 left_pitch=-0.0439 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3494 right_y=0.1054 right_z=0.0536 right_yaw=0.0167 right_pitch=-0.1711 right_roll=-0.1069 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -1.2513, 7.1316, 1.8437, -0.0708, -0.0659, -0.0073, -0.1026, -5.8598, 5.7231, 1.6728, 0.2955, 0.149, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6029, -0.429, -0.0189, -0.0311, 0.9992, 0.4587, 1.4853, 0.6159, 0.0395, 0.3695, 0.2283, 0.9993]\nstate[eef_state]: left_x=0.2881 left_y=0.0015 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0454 left_roll=0.0 left_gripper=0.9992 right_x=0.3494 right_y=0.1054 right_z=0.0535 right_yaw=0.0169 right_pitch=-0.1715 right_roll=-0.1073 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.7265, -0.0415, -0.0415, -0.0122, -0.1709, -5.8462, 5.6547, 1.6777, 0.2564, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b759b7bfeae09ecdbdcdbb3a1f3d0eb82e03e2666078ca1f00085ad5a344288e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d03029d28de3a649eaad5ed13b4c4f419f1c4865b87650092005a19f21371473",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:313bb21e90c743defd0f98f778d536d70b9ae2996a205300d3dffaebfff692f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b759b7bfeae0]
[blob d03029d28de3]
[blob 313bb21e90c7]
{
  "content": [
    {
      "signature": "CAIStwcKjgEIEhgCKkB3FwVzJ5Kpq+0/vSab4btGBt5V6K+wHl2aj2BZT8tpcoKuacBc6I8gti7+KP1HCs7TWaCn+P6qUgxBb0ulFbtTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbzEzNUGEgzTE4rhfcsly8+ckGkaDGavLLgglJaWL6pLDSIwYqf76xCaXQFZL4pDb6zg34BylaYjF9fPUDe1zLHwDCeZ1IalffFlaWh1eH5Gzx3bKtUFImF3lQmahd/cwmuo8olWBJ56phz1n/kkCLS+pQNQP/GbulCop3cTuWmMuK2qHBpQVy4noiiDOxyCGj77iqQlYwUzxO+YS4fB4lwSH0qIanMqMMM2y2L3jRwH0wqiE0tirQkO7k050ZEXkd5xdBE5r9hGLO5HfbfEcZ5gc3oMRcI39h3bNCUAVlgWF2zzXSfNwYIreMCXMWV16ODivkSTGX+fSvjgCX7/CYwuiUVjfvvUiHSQYIE+OYEUXBvAaWoze2uvAWq++akuqqSLpSA+AWDAsXVSrIwutUeqk2ov56tPznZN6DopXPHU5rwyPJJMlY1iEP0GAGofeD95MlhnuhyY6nYDT+U33JaBDaBlaDYgt37rj2MVMGfouniL8QLj7Uj+ZB22Z70djcPjwIi41uHYmHAgwPdDhTF3acgAxT3dlfpnB/X//XkQMNsYFCmKJF9uwQTjcrd4jILpo5pKNcqTG8ttSLJORfLS6iBRhMt9wY1RPcWyruY14geX+cAnDy2UIDCbuoWDx5ASrJTTUaZ0TlczoM2Ewx8B2qyplPHI0lrpJiJxSCFskTTNGnPgh7PeMRYcCqgaS5lCZ71x1KjVOccAS9onOM35YVrVVXNg645JEakqJOlcnQPgG9yC73OBecV27SFQQsglWHrJ3Lsi+4AKNh5OVDU0LjxafobhU4pmo2Y9fyvjS8guJrkmw241BOdAERhGtv/o0BH2vHZDtYKcyPf3IHy6t4aYtWLWgIX6gLld0ZXG5i1euYo42Yk6CBph19m1w2lwNHdsGe/TOyQ27X7iPfQWCyevsI3gjfc40GgyevRMmEn3rTbW7pW5NId50E3WwXXyxs2k/gI2GTtPax2KalFfQJ3ewTrzdwmYSmbr70t7c92ZpKAgvb3rK3OPhC80e3FZGNZr4VglkkCd/GFM4fJzmi9FFq+8h4VN51R1vN+puT6dRhrAbo30m6UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TQaze7vZnRKDoeE5BHRqzW",
      "input": {
        "note": "The arm stalled at x=0.349 with a drifted pitch/roll; re-commanding a smaller forward step with pitch, roll and yaw explicitly zeroed to unstick the IK.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.37,
          "right_y": 0.105,
          "right_yaw": 0.0,
          "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_01TQaze7vZnRKDoeE5BHRqzW",
      "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, 0.6029, -0.4358, -0.0189, -0.0349, 0.9992, 0.4263, 1.6005, 0.4908, 0.2771, 0.3504, 0.2356, 0.9993]\nstate[eef_state]: left_x=0.2872 left_y=0.0015 left_z=0.1667 left_yaw=0.0026 left_pitch=-0.053 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3418 right_y=0.0926 right_z=0.0087 right_yaw=-0.0047 right_pitch=-0.1795 right_roll=-0.0902 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -1.2513, 7.2137, 1.7265, -0.0562, -0.0464, -0.0122, -0.0889, -6.9265, 6.4752, 2.3077, 0.1441, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceee164ceb735f7e404a3bf097a678462af729c760609fdec7c8d7e6cd38a9d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9226cefa8961253ce3b40198d0de52dd074202442671237f54d33fdbfabd490",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d964363e4d3e5d42869e8d4fda058a79f5e7865c26d6cc34cde8abcd5248d356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ceee164ceb73
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 6.381 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, 0.7986, 0.6029, -0.4274, -0.0189, -0.0315, 0.9992, 0.4587, 1.4849, 0.6159, 0.0395, 0.3695, 0.2287, 0.9993]\nstate[eef_state]: left_x=0.2883 left_y=0.0015 left_z=0.1685 left_yaw=0.0007 left_pitch=-0.0439 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3494 right_y=0.1054 right_z=0.0536 right_yaw=0.0167 right_pitch=-0.1711 right_roll=-0.1069 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -1.2513, 7.1316, 1.8437, -0.0708, -0.0659, -0.0073, -0.1026, -5.8598, 5.7231, 1.6728, 0.2955, 0.149, -0.0073]\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, 0.7986, 0.6029, -0.429, -0.0189, -0.0311, 0.9992, 0.4587, 1.4853, 0.6159, 0.0395, 0.3695, 0.2283, 0.9993]\nstate[eef_state]: left_x=0.2881 left_y=0.0015 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0454 left_roll=0.0 left_gripper=0.9992 right_x=0.3494 right_y=0.1054 right_z=0.0535 right_yaw=0.0169 right_pitch=-0.1715 right_roll=-0.1073 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.7265, -0.0415, -0.0415, -0.0122, -0.1709, -5.8462, 5.6547, 1.6777, 0.2564, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6029, -0.4358, -0.0189, -0.0349, 0.9992, 0.4263, 1.6005, 0.4908, 0.2771, 0.3504, 0.2356, 0.9993]\nstate[eef_state]: left_x=0.2872 left_y=0.0015 left_z=0.1667 left_yaw=0.0026 left_pitch=-0.053 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3418 right_y=0.0926 right_z=0.0087 right_yaw=-0.0047 right_pitch=-0.1795 right_roll=-0.0902 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -1.2513, 7.2137, 1.7265, -0.0562, -0.0464, -0.0122, -0.0889, -6.9265, 6.4752, 2.3077, 0.1441, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceee164ceb735f7e404a3bf097a678462af729c760609fdec7c8d7e6cd38a9d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9226cefa8961253ce3b40198d0de52dd074202442671237f54d33fdbfabd490",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d964363e4d3e5d42869e8d4fda058a79f5e7865c26d6cc34cde8abcd5248d356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ceee164ceb73]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlgYKjgEIEhgCKkAwEe3SaQOc26Qh5ov2qqDJGsMGm8em698z2drLLL6vHIsIabESwvwiOya6Y5S8g3Wfg2MMdcp3FtCiLAnUdb4bMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcTEzNUGEgztK7JOoXPxvVZhS2gaDBH1XVti23cFHcP9OiIwzBUlRVXElyZEo0kDrXV5DWd7tnkAYKiCjmAMdI+7nbS4f9VImdAOhuNtJfRHSossKrQE58XTNUpLrFCbkZuzkiYWRkmHk/d4+BuubsWdYYwdrtt7/hNgKciI5bCI1m+ELGtfW8SpM4EWs/J6kHOFImkAKpnBEuqJUla5KavmofauCKhtjE4vgZ0h2YABqvrE2+4H+BvVNCOZAVOiJGb2Ogur+V59Jm0E/w9LEZ+aljyj7sbwNgxn8MogvB9Lp6rGvfzQojb1Tt6qsTKK/EfSIW7ULSbdL41k22yoNEHOb6fIoZdrtiQyIjgdFURbzuYtQXxCr4Qjq87L2xK4fswdxuRgKNcObVJ6fEwLrsESqKvPEvrNYCFtddJp0SN96bZvKQR2V3GJyfRyFcOA8FiEL2+OBs8KSzsshBV0SqChEeGzMGxUrCrHORkJHhXzFE27tpMNebi29eWzjq2airvfSRV4A8X9LxGR6ocsWroQclW2WYjBQ19Bm6RQfcrToyBslB6UGZNLdWF0KCEnHwf3opB2vyL9O9tpy3sgycYO4RNA2HlSegVH7R3b2N4AhslbYbjLGYCjNUWgItvRCchHeEf3px8fKHRi01k35B8iQmvGrovGn88sgYNi0GCdPEzlK8lMg1/82iq7RVe63V4noTdx4p2NTQg4dGu+19G2fEpubkaatmwXT70h9zInoK3wzEbNALPm4tVuASxVt9eg2RXQ2grW8ePoMcpsaRFCPoyOHrGHA+mFHC56+9BLfUYX0GQytZLoGexEPdXPpMNxRwNe2lChDDLoMDc9EwXviugxRgIgZkQuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HvUZhRPGa2ZA28PPAvq4EZ",
      "input": {
        "note": "Gripper is now at table height but the lemon is still well ahead in the wrist view; commanding a larger forward reach to close the gap.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.1,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01HvUZhRPGa2ZA28PPAvq4EZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6029, -0.4538, -0.0189, -0.0353, 0.9992, 0.3199, 1.8694, 0.8902, 0.1276, 0.2752, 0.1516, 0.9993]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1622 left_yaw=0.0028 left_pitch=-0.0744 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4338 right_y=0.0969 right_z=0.0139 right_yaw=-0.0044 right_pitch=-0.2222 right_roll=-0.1044 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.4564, 6.9949, 1.8584, -0.0659, -0.0171, -0.0073, -0.335, -8.4308, 7.4872, 1.6044, 0.1783, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38b5baaeb2eba9799067b7203934fda7960356ba7fa5593e23a60a782e9de727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:add3f0c991a1790e4dfb7a3809feca014cb45fe09b6573e946dec7900fd66e3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4826244b6595795de5ae5fa4c822c63fea95004a843c02f4beb7e350b1593c0b",
        "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 · 10.22 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, 0.7986, 0.6029, -0.429, -0.0189, -0.0311, 0.9992, 0.4587, 1.4853, 0.6159, 0.0395, 0.3695, 0.2283, 0.9993]\nstate[eef_state]: left_x=0.2881 left_y=0.0015 left_z=0.1682 left_yaw=0.0005 left_pitch=-0.0454 left_roll=0.0 left_gripper=0.9992 right_x=0.3494 right_y=0.1054 right_z=0.0535 right_yaw=0.0169 right_pitch=-0.1715 right_roll=-0.1073 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.7265, -0.0415, -0.0415, -0.0122, -0.1709, -5.8462, 5.6547, 1.6777, 0.2564, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6029, -0.4358, -0.0189, -0.0349, 0.9992, 0.4263, 1.6005, 0.4908, 0.2771, 0.3504, 0.2356, 0.9993]\nstate[eef_state]: left_x=0.2872 left_y=0.0015 left_z=0.1667 left_yaw=0.0026 left_pitch=-0.053 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3418 right_y=0.0926 right_z=0.0087 right_yaw=-0.0047 right_pitch=-0.1795 right_roll=-0.0902 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -1.2513, 7.2137, 1.7265, -0.0562, -0.0464, -0.0122, -0.0889, -6.9265, 6.4752, 2.3077, 0.1441, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6029, -0.4538, -0.0189, -0.0353, 0.9992, 0.3199, 1.8694, 0.8902, 0.1276, 0.2752, 0.1516, 0.9993]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1622 left_yaw=0.0028 left_pitch=-0.0744 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4338 right_y=0.0969 right_z=0.0139 right_yaw=-0.0044 right_pitch=-0.2222 right_roll=-0.1044 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.4564, 6.9949, 1.8584, -0.0659, -0.0171, -0.0073, -0.335, -8.4308, 7.4872, 1.6044, 0.1783, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38b5baaeb2eba9799067b7203934fda7960356ba7fa5593e23a60a782e9de727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:add3f0c991a1790e4dfb7a3809feca014cb45fe09b6573e946dec7900fd66e3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4826244b6595795de5ae5fa4c822c63fea95004a843c02f4beb7e350b1593c0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISqgUKjgEIEhgCKkBeyofLoVaAbxUBIIMhLng4PXXC1u8kiiOaBYIy9OL5Bx/NIIDSWRMZcyOdeyyBNMKgzpn+I7G6hw7Ale7YepbHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAczEzNUGEgxX+gum9NSrjmL4K8YaDB21tCJS/tnFN/D/yiIwkD6aHEo9P2EEXZnFmwl54WXYcqkOMC66Kjfr3vvg0HAeVgOIc/6LlNHE+dhSuqA7KsgD7r+Wvw9bq7aOE4gVSHd+ZsYV9YFzbbXUF59Rg4E7TEwxLWoU/jG76XCwg85/yrpFqlENU6gToo8bSqXzTdYmj5AAPBOdJjWXEUEPg8U3eBI+riXB3UQu8A5A+ceKu8LCTtlcJMkiSqsDNh8uMHhevV1lQjuqLSGZUNAH9as6acPKq4HWVh8s5akqijG0C8l4XK3UaldFJ9LoITyUboW2Qp5o0hmUUUlEElhu8x6VBSv9+gs89tAewKVuQ0Tr+Ew4U770xiixE+GF/I+59o4WcpNvqd1pjwK1vNu1jhuqFCpOKv56GZdmYIUnI/kstEQjGWjxR1XvmXkoCQEDcJHkugP4kg3F2vhvJUB18X/Cwij8uXWWnbsduiB6OCXmIrrBd+qYjGhvXD3/pTztqd0a3bQDi3/mthj0eFQyzic2L1rGna+ziTNux0r+TeL1e91Z11ZwbY5Qb+ZBub2bqYg8+clLo47n8ARULbn/i+eG8nWy5taWWEkg3FVNkDYS7iUujEoNeEggunz5OQ+GQ11hyFRZJThxgMaY2hBZWadOI/YG4oPI1L5QZg6BDEoePOWLyMW4miltgA4loX+qr75i3fbPAQnai9J9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tv4xN2iGtFMLs9LNpfoYEa",
      "input": {
        "note": "The lemon now fills the bottom of the right wrist view right at the jaws; nudging 1 cm left to centre it and closing the gripper.",
        "targets": {
          "right_gripper": 0.0,
          "right_y": 0.105
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Tv4xN2iGtFMLs9LNpfoYEa",
      "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, 0.6029, -0.458, -0.0189, -0.0383, 0.9992, 0.3393, 1.8824, 0.8955, 0.1013, 0.2756, 0.1574, 0.4991]\nstate[eef_state]: left_x=0.2841 left_y=0.0016 left_z=0.1613 left_yaw=0.0045 left_pitch=-0.0789 left_roll=-0.0051 left_gripper=0.9992 right_x=0.4279 right_y=0.1038 right_z=0.0062 right_yaw=0.0089 right_pitch=-0.254 right_roll=-0.1119 right_gripper=0.4991\nstate[joint_eff]: [-0.0479, -1.2786, 7.3641, 1.7265, -0.0464, -0.0073, -0.0122, 0.1709, -9.2786, 6.0103, 1.5263, 0.2808, 0.1001, 0.9206]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7556db00f07c2be66890ac340b76a3e84772f7d2707ca58a7706a3789a0edb9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df9e52713edec4e66251ca0a70ff45e7dc9483c268cce19f1313d1cd5119ef83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5ce7013c2cb76fc96a1f005a17508a1761e41899223b64f2d082f51212294bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 6.387 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, 0.6029, -0.4358, -0.0189, -0.0349, 0.9992, 0.4263, 1.6005, 0.4908, 0.2771, 0.3504, 0.2356, 0.9993]\nstate[eef_state]: left_x=0.2872 left_y=0.0015 left_z=0.1667 left_yaw=0.0026 left_pitch=-0.053 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3418 right_y=0.0926 right_z=0.0087 right_yaw=-0.0047 right_pitch=-0.1795 right_roll=-0.0902 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -1.2513, 7.2137, 1.7265, -0.0562, -0.0464, -0.0122, -0.0889, -6.9265, 6.4752, 2.3077, 0.1441, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6029, -0.4538, -0.0189, -0.0353, 0.9992, 0.3199, 1.8694, 0.8902, 0.1276, 0.2752, 0.1516, 0.9993]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1622 left_yaw=0.0028 left_pitch=-0.0744 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4338 right_y=0.0969 right_z=0.0139 right_yaw=-0.0044 right_pitch=-0.2222 right_roll=-0.1044 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.4564, 6.9949, 1.8584, -0.0659, -0.0171, -0.0073, -0.335, -8.4308, 7.4872, 1.6044, 0.1783, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.6029, -0.458, -0.0189, -0.0383, 0.9992, 0.3393, 1.8824, 0.8955, 0.1013, 0.2756, 0.1574, 0.4991]\nstate[eef_state]: left_x=0.2841 left_y=0.0016 left_z=0.1613 left_yaw=0.0045 left_pitch=-0.0789 left_roll=-0.0051 left_gripper=0.9992 right_x=0.4279 right_y=0.1038 right_z=0.0062 right_yaw=0.0089 right_pitch=-0.254 right_roll=-0.1119 right_gripper=0.4991\nstate[joint_eff]: [-0.0479, -1.2786, 7.3641, 1.7265, -0.0464, -0.0073, -0.0122, 0.1709, -9.2786, 6.0103, 1.5263, 0.2808, 0.1001, 0.9206]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7556db00f07c2be66890ac340b76a3e84772f7d2707ca58a7706a3789a0edb9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df9e52713edec4e66251ca0a70ff45e7dc9483c268cce19f1313d1cd5119ef83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5ce7013c2cb76fc96a1f005a17508a1761e41899223b64f2d082f51212294bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AkKjgEIEhgCKkBmQggqArtYf8oXpjMZBktw41WaFQtGBbC+jjdF/mi9lES3j1wLkbUAr4O91xarE16vNucszgcFVY/qMk96Wj+EMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdfEzNUGEgxxRZ2kxWww0lDCuncaDJ8Lrd9Gk2P8WJCHVyIw3KjAQ5vY9LglNo01PShTicUdOeuS63WeIUGvhX2GPfcMe0dBHA05upE8UdxiIdK6KvoHwM77/eh8hdcrDtF6+YrP/1Am0fkDk9s+mDZ/DpM0WyllAb9k55jQQ+gEPIk0iawO3ocpCPYMaLQjhUi7TRhrIC483EO2vTz2K98NaaqE61k8rNphmzJbonTZ31BLUkOUpMvPdZhWLpDdqnxNlj/Yp1/+y1pLUcgUsHmnPl2DbSu20eFnPCNpjiINdzqu6R+UFx1aXA3RBEAHaWzUSIdhsAbK/0r6CRYgWOAgQJRO8vpomt2Izr2Al6sMUk7FAQhSfpBJ+QIv7RzwSeyif2eU+HBHjoDJa7iJ8O62/7w1oItI/EEeNPKum3YhIrCROkdzBOs7DeHrzKWVTr1wU+6eN5cGMShxDnDwdJhGcCq7KfdeObYy4RCmzVn+u+W2Pt58SEcQKuk6Piag5poMmx+6xMMnxtd1P7KUxxm8DYXTB69yvmQky3XiNeIcZFyoo3pChmyuIBQaVCyJJD7H8dJQ5U2QhfmVD11pmNfJjnMjDGUWzjFOmGwU+y2O9x7F7DdxBbg0ZhaEROOPxrSWkr6C4G/dRRLlfkYMhW+9Q2MQLvFR5gWs+46JIc+viL89NGDqkrSeYqI0WsPgXC/b5+3vKlEgl4A9Ex80qbC9DVVERK7b/IAbogMU56kFnHT61m/yevs+uJNFnBd6uulp7Cn+x012bM+SLHxvQdJiE6ag2APv8Hq85HLahxbsh8UQa8Y3V1mftGprWzxrypGFcFnSUt16HHVKgezhVKDB0WnGr8Z1WMuAlM0N1XqvVHZzt+Rvfix+MCuA7cS0DIuDc5qpyUwMAASZrZpzWGfi0jSlTeVdCipwLtNPGgxNNIXR4DbA5QsFK+b8Uforp0O/HL4TXPJCfkmuBb8h+e3Fo5HglXtCXBi43Epvub7/RLKU5ZiEdpgAufZFQA8G2I8EGN8hJG4+si+0eYfeQ7bckFORaH/KqC6GM0FaW8osXKf4eikGB9j5BymcB7f9nRq2T0pYSnsavgr7ubFfZgJkWxLn0cc4bb6w//PjsRwS9YP0IMq0AT2u/+tRS0EGoq8xanxpy3/1oTL4QszxYO8wRPFKxmWCMdVscIhC6FjdUhu8mC8YgbEMgmxmVrnrwxAY2Ic47D4yp6METTw5a4unw3+x2swah/k+8qfPsMNCHkKbzInJ4CdTjSryzpjygrzWlMtKB8g5Fey6XZZmHBdxOuVcaaiTVTVs2SwQBwi7tr2WCchOGFviJciPSC1OuMogvjuC8UD0DwwGVcSCXMlYPjGds23YSn0sQy1G/sZo6EmQEfCC7bFhrhw4X4RxmSt+lR+umtW0vsx2OX8ha4g8fzHRs5K6lS8IpH82oyrxlrrrl/8m6Qvu/LJKLlIG6RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TX9zwT5xSS32nedr6g2VWn",
      "input": {
        "note": "Gripper settled at 0.50 (~4.7 cm) — the lemon is grasped. Lifting 17 cm to clear the table before carrying it to the safe.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01TX9zwT5xSS32nedr6g2VWn",
      "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, 0.6029, -0.4728, -0.0189, -0.0383, 0.9992, 0.3393, 1.6573, 1.2999, -0.5816, 0.271, 0.1493, 0.5012]\nstate[eef_state]: left_x=0.2818 left_y=0.0016 left_z=0.1584 left_yaw=0.0045 left_pitch=-0.0938 left_roll=-0.0047 left_gripper=0.9992 right_x=0.425 right_y=0.1037 right_z=0.1517 right_yaw=0.0123 right_pitch=-0.3062 right_roll=-0.1317 right_gripper=0.5012\nstate[joint_eff]: [-0.1983, -1.2239, 6.9538, 1.7949, -0.0366, -0.0464, -0.0122, -0.253, -10.4, 8.841, 1.58, 0.1685, 0.105, 0.2125]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:615e55a75e6a46736027f506fb066aad85c1e1e67653afc132d4ceabd11983b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32c997b49ed104a66a2999b2408de51a5ba7df878b1fe628306888bfa306450f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:508705365534466b06c874abd8ffcab1b6c6b92179eb0ae967cd6d18e5da74a1",
        "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 · 7.693 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, 0.8028, 0.6029, -0.4538, -0.0189, -0.0353, 0.9992, 0.3199, 1.8694, 0.8902, 0.1276, 0.2752, 0.1516, 0.9993]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1622 left_yaw=0.0028 left_pitch=-0.0744 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4338 right_y=0.0969 right_z=0.0139 right_yaw=-0.0044 right_pitch=-0.2222 right_roll=-0.1044 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.4564, 6.9949, 1.8584, -0.0659, -0.0171, -0.0073, -0.335, -8.4308, 7.4872, 1.6044, 0.1783, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.6029, -0.458, -0.0189, -0.0383, 0.9992, 0.3393, 1.8824, 0.8955, 0.1013, 0.2756, 0.1574, 0.4991]\nstate[eef_state]: left_x=0.2841 left_y=0.0016 left_z=0.1613 left_yaw=0.0045 left_pitch=-0.0789 left_roll=-0.0051 left_gripper=0.9992 right_x=0.4279 right_y=0.1038 right_z=0.0062 right_yaw=0.0089 right_pitch=-0.254 right_roll=-0.1119 right_gripper=0.4991\nstate[joint_eff]: [-0.0479, -1.2786, 7.3641, 1.7265, -0.0464, -0.0073, -0.0122, 0.1709, -9.2786, 6.0103, 1.5263, 0.2808, 0.1001, 0.9206]",
      "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, 0.6029, -0.4728, -0.0189, -0.0383, 0.9992, 0.3393, 1.6573, 1.2999, -0.5816, 0.271, 0.1493, 0.5012]\nstate[eef_state]: left_x=0.2818 left_y=0.0016 left_z=0.1584 left_yaw=0.0045 left_pitch=-0.0938 left_roll=-0.0047 left_gripper=0.9992 right_x=0.425 right_y=0.1037 right_z=0.1517 right_yaw=0.0123 right_pitch=-0.3062 right_roll=-0.1317 right_gripper=0.5012\nstate[joint_eff]: [-0.1983, -1.2239, 6.9538, 1.7949, -0.0366, -0.0464, -0.0122, -0.253, -10.4, 8.841, 1.58, 0.1685, 0.105, 0.2125]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:615e55a75e6a46736027f506fb066aad85c1e1e67653afc132d4ceabd11983b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32c997b49ed104a66a2999b2408de51a5ba7df878b1fe628306888bfa306450f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:508705365534466b06c874abd8ffcab1b6c6b92179eb0ae967cd6d18e5da74a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISiwMKjgEIEhgCKkCVvs/SdEP71g2O+ZK/wdRiqHFY3KI0IbtzMnG6w+o17OpJmqxMoeqjnQkGpbKYQ12oakxoO9LDesh5ykGYOohcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd7EzNUGEgyt3GrP1ybwr4l0nOYaDEsiBMGG1QrTtfx/TyIw1zUZSmSmNhKYrq21dq754tqXgueTPKVfPvLLNPDnuWWArYL1Sw/4RYf7UYyhNrCnKqkBWHTfwrKvSmMIiHbfXB1i5KyGqujum9RzFaBAKigP1Dr2B0upsScSQiyV3rFmH2ENiUAaTgz4Sb3o/3v59xARRKwv3RYo3PJm4JhOrJfUJ63gWwxLRjIalggjo0vZ7FvAOdMQ23KOH3Iwk/NvKi3mk+2cltUTQwGt7oPCnMd1cAdKb4gzzSEDf3iT3lrzDSiP1ZXxWjxc/jJL6roDObhFjW/c2fSdq5teHhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WKhhikV8HbLu4d6kWBpdab",
      "input": {
        "note": "Holding the lemon above the table; moving left over the open safe (visible at the left edge of the wrist view) to drop it in.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.28,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01WKhhikV8HbLu4d6kWBpdab",
      "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, 0.6029, -0.4812, -0.0189, -0.0383, 0.9992, 0.709, 2.1139, 2.0983, -1.0603, 0.4461, 0.4492, 0.5041]\nstate[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1566 left_yaw=0.0046 left_pitch=-0.103 left_roll=-0.0045 left_gripper=0.9992 right_x=0.4354 right_y=0.2777 right_z=0.1924 right_yaw=0.0478 right_pitch=-0.3343 right_roll=-0.1438 right_gripper=0.5041\nstate[joint_eff]: [-0.1299, -1.2376, 6.9675, 1.6972, -0.022, -0.022, -0.0073, 0.3624, -10.947, 8.2803, 1.1111, 0.315, 0.2173, 0.2857]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59412207891e9bb0a973b5497da6931261525057126af4dd25a89735a6c5b9cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e053313cf92c25430f735276bd3e21ae3277d9eb43f88b940eee49683c9abd8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b16040b92fc6ff25cc000f9172d7f22e9a1a392cd7173d08152b928ac85a979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 8.783 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, 0.6029, -0.458, -0.0189, -0.0383, 0.9992, 0.3393, 1.8824, 0.8955, 0.1013, 0.2756, 0.1574, 0.4991]\nstate[eef_state]: left_x=0.2841 left_y=0.0016 left_z=0.1613 left_yaw=0.0045 left_pitch=-0.0789 left_roll=-0.0051 left_gripper=0.9992 right_x=0.4279 right_y=0.1038 right_z=0.0062 right_yaw=0.0089 right_pitch=-0.254 right_roll=-0.1119 right_gripper=0.4991\nstate[joint_eff]: [-0.0479, -1.2786, 7.3641, 1.7265, -0.0464, -0.0073, -0.0122, 0.1709, -9.2786, 6.0103, 1.5263, 0.2808, 0.1001, 0.9206]",
      "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, 0.6029, -0.4728, -0.0189, -0.0383, 0.9992, 0.3393, 1.6573, 1.2999, -0.5816, 0.271, 0.1493, 0.5012]\nstate[eef_state]: left_x=0.2818 left_y=0.0016 left_z=0.1584 left_yaw=0.0045 left_pitch=-0.0938 left_roll=-0.0047 left_gripper=0.9992 right_x=0.425 right_y=0.1037 right_z=0.1517 right_yaw=0.0123 right_pitch=-0.3062 right_roll=-0.1317 right_gripper=0.5012\nstate[joint_eff]: [-0.1983, -1.2239, 6.9538, 1.7949, -0.0366, -0.0464, -0.0122, -0.253, -10.4, 8.841, 1.58, 0.1685, 0.105, 0.2125]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.804, 0.6029, -0.4812, -0.0189, -0.0383, 0.9992, 0.709, 2.1139, 2.0983, -1.0603, 0.4461, 0.4492, 0.5041]\nstate[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1566 left_yaw=0.0046 left_pitch=-0.103 left_roll=-0.0045 left_gripper=0.9992 right_x=0.4354 right_y=0.2777 right_z=0.1924 right_yaw=0.0478 right_pitch=-0.3343 right_roll=-0.1438 right_gripper=0.5041\nstate[joint_eff]: [-0.1299, -1.2376, 6.9675, 1.6972, -0.022, -0.022, -0.0073, 0.3624, -10.947, 8.2803, 1.1111, 0.315, 0.2173, 0.2857]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59412207891e9bb0a973b5497da6931261525057126af4dd25a89735a6c5b9cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e053313cf92c25430f735276bd3e21ae3277d9eb43f88b940eee49683c9abd8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b16040b92fc6ff25cc000f9172d7f22e9a1a392cd7173d08152b928ac85a979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzwUKjgEIEhgCKkDt/8B384Kty7PxzPHcVQZfo7qyjNZzLLCfX7ZyzBw5824lPQdcqfoH0ydimLX4oUMzvTfbO8CC/Une63W+llugMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAefEzNUGEgxYtK08VS5HmltYSNQaDDDikBxjEF4+8mHHcSIwuVKOEDh55uI8VqJxAYdUZpQcwSbAzgBl468hBIjibYbt9u6qpPJu0ktH2pIOOkgSKu0DjR3zN4gNO+pyPCZdZ937Cs5KysENf1WGwP11xCvRN0s06bZ0elO9Tnz64uLmhrOi/n2vaOPgx6eZnNqE+jBgHBnQla4R1OL6+vRqrWhjv9QHEjm6s9pkZQiH194KOarqhskYBkAS7j/YiJjilcsc2DQljUc3TYlitNd7hAPniqmTYzmKGyNXOqYKgJVmOXAerX+xC66yNeteaJc2by1DS0A7TBmyxqpHdCR+WMi8j1lACBqpJhpauWqYe6JSJqUoLbYtXx0zFLukgsl6rAM75rkMqvv1bVxMwX0WnQWyExEwaPVeNTdv9NIAHscbEwcEBR2UQPF//UfW54G3IfRuSphRblcq6vY3S0/yGsJZ32PQRgq7FTEGW0Y9IY+mLsvo+Wqen340i+8D3CpclDm8JKb60qc//aUTY6VRTwalCaA2Ujh52QOzSSAOPMW9PypjizMmq9dWTkWsQRd03GblYiULWYMJwEvBdEbgg62RK9Se7qbxeaemZY8lo0GQIHNA9w3ePBbtsB/Gs57HBSSzvMkZkVuN4ltU6/sVk2gzIU6cxc0W9wCeFF2Sd46h8iks51aGUnOF5lO0TBeMn2UqEUxqFMuU9rdLWNbn7IyrNIGvr0wGdqIAsXyKP4BoKVwqikjsq81NdDZDhbQATxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BNgx3gTbFJkomQ6aLAPmBL",
      "input": {
        "note": "Top view shows the gripper just right of the safe opening; shifting 6 cm further left to centre the lemon over the red interior.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.34
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BNgx3gTbFJkomQ6aLAPmBL",
      "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, 0.6029, -0.4969, -0.0189, -0.0383, 0.9992, 0.8173, 2.3882, 2.5557, -1.2942, 0.469, 0.5217, 0.505]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1536 left_yaw=0.0046 left_pitch=-0.1186 left_roll=-0.0041 left_gripper=0.9992 right_x=0.4264 right_y=0.343 right_z=0.1872 right_yaw=0.0859 right_pitch=-0.3544 right_roll=-0.1492 right_gripper=0.505\nstate[joint_eff]: [-0.0615, -1.2103, 7.1726, 1.7705, -0.0611, -0.0513, -0.0122, -0.5128, -12.6701, 7.4051, 0.8913, 0.4762, 0.1245, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bcdca03cec1938284e97b8e3f082a136dfb434026bbf66d70bdbd34938d1a0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97e1708ab3583d5220266ef2432da55a961e08a5bf5aa2acd74bd65b9154ac7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1e4fd6ac70458acadd669cb9e29fb913bb783e190855cb905956cd944d961c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 6.643 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, 0.6029, -0.4728, -0.0189, -0.0383, 0.9992, 0.3393, 1.6573, 1.2999, -0.5816, 0.271, 0.1493, 0.5012]\nstate[eef_state]: left_x=0.2818 left_y=0.0016 left_z=0.1584 left_yaw=0.0045 left_pitch=-0.0938 left_roll=-0.0047 left_gripper=0.9992 right_x=0.425 right_y=0.1037 right_z=0.1517 right_yaw=0.0123 right_pitch=-0.3062 right_roll=-0.1317 right_gripper=0.5012\nstate[joint_eff]: [-0.1983, -1.2239, 6.9538, 1.7949, -0.0366, -0.0464, -0.0122, -0.253, -10.4, 8.841, 1.58, 0.1685, 0.105, 0.2125]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.804, 0.6029, -0.4812, -0.0189, -0.0383, 0.9992, 0.709, 2.1139, 2.0983, -1.0603, 0.4461, 0.4492, 0.5041]\nstate[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1566 left_yaw=0.0046 left_pitch=-0.103 left_roll=-0.0045 left_gripper=0.9992 right_x=0.4354 right_y=0.2777 right_z=0.1924 right_yaw=0.0478 right_pitch=-0.3343 right_roll=-0.1438 right_gripper=0.5041\nstate[joint_eff]: [-0.1299, -1.2376, 6.9675, 1.6972, -0.022, -0.022, -0.0073, 0.3624, -10.947, 8.2803, 1.1111, 0.315, 0.2173, 0.2857]",
      "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, 0.804, 0.6029, -0.4969, -0.0189, -0.0383, 0.9992, 0.8173, 2.3882, 2.5557, -1.2942, 0.469, 0.5217, 0.505]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1536 left_yaw=0.0046 left_pitch=-0.1186 left_roll=-0.0041 left_gripper=0.9992 right_x=0.4264 right_y=0.343 right_z=0.1872 right_yaw=0.0859 right_pitch=-0.3544 right_roll=-0.1492 right_gripper=0.505\nstate[joint_eff]: [-0.0615, -1.2103, 7.1726, 1.7705, -0.0611, -0.0513, -0.0122, -0.5128, -12.6701, 7.4051, 0.8913, 0.4762, 0.1245, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bcdca03cec1938284e97b8e3f082a136dfb434026bbf66d70bdbd34938d1a0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97e1708ab3583d5220266ef2432da55a961e08a5bf5aa2acd74bd65b9154ac7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1e4fd6ac70458acadd669cb9e29fb913bb783e190855cb905956cd944d961c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0QYKjgEIEhgCKkC379/6lmhAJHQTDylntCsLWbmzH0RDKmwqWH4aSOOPO9c8W0mFy9fcvDXaJ9JD1wQFlrfiojZMxsYbdtqBIqBqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfHEzNUGEgyOzht+JoynQkOn1KwaDHWBjg4zfD2/Q/LDNSIwPzIJfSiQbcHJ309M3tsmKDci3plNIFhV4hw7ll1gj04+13HMccs+bQz9w7zG7Y3jKu8EsSue3inxgTO8NyW4zCw0oAdd5+iB5+ZUXOCYEk9qk7tvv5A0aa8ZPbTI8Fkc5MQHtAc0yORgQaoRZ5gBK3eS2TythNol9ZS4Dt9sdhHPAARSf/BUObE9MuyaNSsczSwoMUfnFP+5oAllgO8ykvVJKi9GZtZemDL3fDJRMdkNShTEdcLVwY0iv+gKDZvulBKcjbUQ1X634ypUCZxsFOCOq4O1SMwjqbjNXWya0BR7gDpJSxJWp5FdxBsZbQBdvKRJpxAqey2QZnkJ0ySrVyJYyVSgGkWJwEYOmmgs3V176wLbf7+s0raZHEsdnj/e4F4MDWt7qt8zZ1jwEE8ICxVmM8RA75TUKYGuGaafbAaD1kzXOhWf6cWha/q6bYDVjWkrvqGZY2ddGxrg0RHtnIH75rwif7TUugkV0I4KpBSy8aCJbCLoV0AXnbuTIc8yK4cgP3SX9qpCCpuVZO3dqJUHooJ3IyNTN2fVzmVL95hR0lS05DR+jso14PBRhrwVR4uE2qjVAzTx4vwR14dWwwKWmaFnbzvkmJnggZBwqxij9PBFZ+PTiugrdz/F7+71xtvbDBhVm98GD10upEwjfMfQ0eRY1PwcBxn45Ios6E+EsXkaQQ5VldHINwYS7CLw2xNzFRVVam9HbrZCD6JJ9PRX4WTT97MzPlKU8bXlDwhslNIJ9rABOMOslQ5eMC+jUwKXX5RUiTfQ0oep1/Q6dUmw8dif/xF+4krqZmLo0lJpvGp9nS0utoV4WiSJ2tFX6BSS1W2NLWjJkoGAX/76j1z3tPnxczoomtALGxhO+FHiP156FDJrXJO6AK0zPmazn50YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LvjxNMzUbZFPxQffwcmP5f",
      "input": {
        "note": "The safe opening sits ahead of the jaws in the wrist view; advancing 3 cm and lowering to 13 cm so the lemon is inside the box before release.",
        "targets": {
          "right_x": 0.455,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LvjxNMzUbZFPxQffwcmP5f",
      "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, 0.6025, -0.511, -0.0189, -0.0383, 0.9992, 0.7822, 2.3943, 2.3398, -1.1519, 0.4488, 0.4927, 0.5063]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1508 left_yaw=0.0047 left_pitch=-0.1331 left_roll=-0.0038 left_gripper=0.9992 right_x=0.4368 right_y=0.331 right_z=0.1239 right_yaw=0.0599 right_pitch=-0.4292 right_roll=-0.209 right_gripper=0.5063\nstate[joint_eff]: [-0.0068, -1.2239, 7.1316, 1.7753, -0.0659, -0.0513, -0.0122, -0.4718, -13.2718, 7.2137, 1.4237, 0.2418, -0.0366, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2802def45bd181327812e84d581560a0d2739c28207bdf0abbacff1fe1746132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7c8901f4ffd2f903b8cbc30cb2d5d65d88f4e906c52365d50dae20dd8fe9bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b7ad454e3df745a283fdc7cbc3a706a37eb2b6fc01626d2e3db6f208c646380",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 8.196 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, 0.804, 0.6029, -0.4812, -0.0189, -0.0383, 0.9992, 0.709, 2.1139, 2.0983, -1.0603, 0.4461, 0.4492, 0.5041]\nstate[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1566 left_yaw=0.0046 left_pitch=-0.103 left_roll=-0.0045 left_gripper=0.9992 right_x=0.4354 right_y=0.2777 right_z=0.1924 right_yaw=0.0478 right_pitch=-0.3343 right_roll=-0.1438 right_gripper=0.5041\nstate[joint_eff]: [-0.1299, -1.2376, 6.9675, 1.6972, -0.022, -0.022, -0.0073, 0.3624, -10.947, 8.2803, 1.1111, 0.315, 0.2173, 0.2857]",
      "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, 0.804, 0.6029, -0.4969, -0.0189, -0.0383, 0.9992, 0.8173, 2.3882, 2.5557, -1.2942, 0.469, 0.5217, 0.505]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1536 left_yaw=0.0046 left_pitch=-0.1186 left_roll=-0.0041 left_gripper=0.9992 right_x=0.4264 right_y=0.343 right_z=0.1872 right_yaw=0.0859 right_pitch=-0.3544 right_roll=-0.1492 right_gripper=0.505\nstate[joint_eff]: [-0.0615, -1.2103, 7.1726, 1.7705, -0.0611, -0.0513, -0.0122, -0.5128, -12.6701, 7.4051, 0.8913, 0.4762, 0.1245, 0.0806]",
      "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, 0.804, 0.6025, -0.511, -0.0189, -0.0383, 0.9992, 0.7822, 2.3943, 2.3398, -1.1519, 0.4488, 0.4927, 0.5063]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1508 left_yaw=0.0047 left_pitch=-0.1331 left_roll=-0.0038 left_gripper=0.9992 right_x=0.4368 right_y=0.331 right_z=0.1239 right_yaw=0.0599 right_pitch=-0.4292 right_roll=-0.209 right_gripper=0.5063\nstate[joint_eff]: [-0.0068, -1.2239, 7.1316, 1.7753, -0.0659, -0.0513, -0.0122, -0.4718, -13.2718, 7.2137, 1.4237, 0.2418, -0.0366, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2802def45bd181327812e84d581560a0d2739c28207bdf0abbacff1fe1746132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7c8901f4ffd2f903b8cbc30cb2d5d65d88f4e906c52365d50dae20dd8fe9bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b7ad454e3df745a283fdc7cbc3a706a37eb2b6fc01626d2e3db6f208c646380",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAYKjgEIEhgCKkC69tk2ijPk5MMyc//v/3L26nbw/MrDFUf0JxeVVeYx8V9TE/GO2HbAkLXPiizG4a48DYVcupq4FidTz/38C175Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfjEzNUGEgzvXoHpNl4T5SDTLM4aDGVH9bE9G79MUgUw1CIwX0slNu99SQnabd9GUoncYFas88jYpbeB/dxlMjvj35jCjUDDbMCzDiClimgLApjEKp4EYxS57AY7NcpHObEnayyHuySynRrvJ/0O4CoOPfSk80ICL9D2ifmTU9r4Fc8JTOd94gZ/eUFyTlDRqBXhonj9xrEo1rstCNaTzVNnoguBhWS5ekDULD3Ejk7SFQV460llxwstss2zOAKvO2kzeSMEfv4t+pT5Ti2MyxSsSbhnG04gxiebdZTq72kYQpFv9tj0JEvN643pgZMgOzh7XWEGT4V2dLDWMfmrk5wiTG1lw/h3RVGvA1wwTq2ls+LhGbtqlNsYi/M9e9pcZ2FWFNOYvUBtHb6j0jX1WiMWNCLSYMjavYsb5UoutB8XsUl2gN29QFCnEP8gh5P90umKN6FLkbIDXqDJI8srIKDIH2zyvTGlyzzLC67meYP6cxyJ502cyfMHd+FRBUYo+BcL5ZpzpOKzJOUiOiBrSY4nRo8K2L9vdQ+jK9BywLOLfPO2xp8wiyZm+P1xwjUiI+3BVFEPE/JQZwF6EZh1HReVoa+vgKjr8XwsK0X8PxCcpv0TtxTGnv5oyJSzGM77XyhL+ESDW7oPDRGj+Y+19EfNMwaVBrY9couqIXEVlt3CgJrR6fgbo8MYObkSWZMJy+gvdixGU3EFRKw8Y3nYZNn6ZpBKxlfP+clV9719Xw5+J3CVJJrWmbqAqIB/6EBPEO1qmUUX8iPrQ0ICKhvTGC5PpBUXtzrwCMDrPvDYNmVeuFkNs/6IIjJofNk1VOhxj8KzEFYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KKayXUV7waqBdy2MFZzrLo",
      "input": {
        "note": "The lemon is over the red interior of the safe; lowering it into the box before opening the jaws.",
        "targets": {
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KKayXUV7waqBdy2MFZzrLo",
      "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, 0.6025, -0.5182, -0.0189, -0.0383, 0.9992, 0.7803, 2.3787, 2.2326, -1.029, 0.4561, 0.4904, 0.5078]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1494 left_yaw=0.0047 left_pitch=-0.1403 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4431 right_y=0.3342 right_z=0.1073 right_yaw=0.0635 right_pitch=-0.4015 right_roll=-0.1933 right_gripper=0.5078\nstate[joint_eff]: [0.0205, -1.2239, 6.8991, 1.6386, -0.0513, -0.0464, -0.0122, 0.3487, -14.7214, 5.2444, 0.7155, 0.2955, 0.022, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2075f941392fbf637812612b6ba286b1e39c1b7d63ebf3041a4e66575dc70d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f46470c60d74a62f7f8addca6468f2c0dcb92e64ff3f587cb468e936e284ff98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a1538767a8182b607e7d3da954d396bd5f454e084c77de4f2f0c7f4cae7d23e",
        "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 · 9.91 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, 0.804, 0.6029, -0.4969, -0.0189, -0.0383, 0.9992, 0.8173, 2.3882, 2.5557, -1.2942, 0.469, 0.5217, 0.505]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1536 left_yaw=0.0046 left_pitch=-0.1186 left_roll=-0.0041 left_gripper=0.9992 right_x=0.4264 right_y=0.343 right_z=0.1872 right_yaw=0.0859 right_pitch=-0.3544 right_roll=-0.1492 right_gripper=0.505\nstate[joint_eff]: [-0.0615, -1.2103, 7.1726, 1.7705, -0.0611, -0.0513, -0.0122, -0.5128, -12.6701, 7.4051, 0.8913, 0.4762, 0.1245, 0.0806]",
      "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, 0.804, 0.6025, -0.511, -0.0189, -0.0383, 0.9992, 0.7822, 2.3943, 2.3398, -1.1519, 0.4488, 0.4927, 0.5063]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1508 left_yaw=0.0047 left_pitch=-0.1331 left_roll=-0.0038 left_gripper=0.9992 right_x=0.4368 right_y=0.331 right_z=0.1239 right_yaw=0.0599 right_pitch=-0.4292 right_roll=-0.209 right_gripper=0.5063\nstate[joint_eff]: [-0.0068, -1.2239, 7.1316, 1.7753, -0.0659, -0.0513, -0.0122, -0.4718, -13.2718, 7.2137, 1.4237, 0.2418, -0.0366, 0.1294]",
      "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, 0.804, 0.6025, -0.5182, -0.0189, -0.0383, 0.9992, 0.7803, 2.3787, 2.2326, -1.029, 0.4561, 0.4904, 0.5078]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1494 left_yaw=0.0047 left_pitch=-0.1403 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4431 right_y=0.3342 right_z=0.1073 right_yaw=0.0635 right_pitch=-0.4015 right_roll=-0.1933 right_gripper=0.5078\nstate[joint_eff]: [0.0205, -1.2239, 6.8991, 1.6386, -0.0513, -0.0464, -0.0122, 0.3487, -14.7214, 5.2444, 0.7155, 0.2955, 0.022, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2075f941392fbf637812612b6ba286b1e39c1b7d63ebf3041a4e66575dc70d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f46470c60d74a62f7f8addca6468f2c0dcb92e64ff3f587cb468e936e284ff98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a1538767a8182b607e7d3da954d396bd5f454e084c77de4f2f0c7f4cae7d23e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmAcKjgEIEhgCKkAzkcHJt3rgZ5ZOuZG9xp7HFmXrhR64eAUdg2nun1kb7cismRa8FOSUaSO6U9oSujB12neRmpmxOhrR/c/920vRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYDFzNUGEgzXsT0YSDQsNQoa8B4aDPiwAWBu8i6mPwwNuyIw5IL75wdoXmvrTQ0SbN5NJglfC6Nq31kwRDGX7b2s6KXLWq30Fa6UgzznBXbKMhBPKrYF0ksPQQ4sbQGIVPySOrMmfQ/4W1k+u1EFH1ymDOtNIMR2oL8QvuyxOVcGRIp00onKeutQeGAxN9IYrCeESu4qIDSGgoquWH71MkgBBQxCBo7axAPLJsxYPbQE1fmhR164kvGfD8/kSLYu/CdUnf68FN3ivusGtlUwR/l8/7lWxB0JaO4hePLq0t7bxDSWlts9D3IiKvGao9VR9+ZNu9Nn6z+Qw+YjsIbpyh9dgOigff5mPTwCwggFaTZGRKpnEReqIzkAQtLUPF2sM3WAp83r3KoVsH2JhtZdLp3PIl6cO9r3Hofj7HnS13YT+m4e+Yu6lG/sZk0uGp2uM1Xo3ekdSZ32FOFZOtcABtKk73A/6X8gZKzx1ZOysDMHy8gz+FkfWxP35R0PcCtTxxmnVx9C3kgscYBl/Y5SxlmNHCewOMTE2NeEMmEUw+j1SR1Lb7sU5fhjXZvbrc57IrJZ5mT/JjybwSnyCayvZHTtsfQGodaW/UIDcezyKGE61cf3SoYvUsEmVjt2txgDI+BujE2qqlYIa691pc1TCi0krtTBn0qEXqQUZqWF1Z2nwTYcfamhGbw4Pfpelj0FL31MOGuGxGHFkqfFgI94XDIpJcKcUhLkO9hXfjiO4ewfcuIhVVtbmyVKMD7W62F/oTsk9kD34w76YDsDkOMuyeZDqPRxxnvlHZFwG/zOZhEguWGpb3hheAT/04grsDSl7GCNjhPanZBcqpH9D6E0PTcnoo0Pu6o1/iYcU3tmwvkWSMCV8VacFZJ78tqkyhiGMkpqCCZe/AoHWagjQ5EEyRILKxXl4CEDg5UiYexKNAROcJh1Ry7CQYa8/ohMJSNZJoZLw0vvpDCSODFp5FI5cVycdDWfoIEilbIUjF4K71kKKw3W0EYuAZieGUQtDbfKREszzzK1YU9BTeGfEhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NqxovZv8eYranKzn6BrbNM",
      "input": {
        "note": "The descent stalled and the wrist view shows the safe's near rim between the lemon and the red interior, so the lemon is still short of the opening; lifting slightly and reaching 4 cm further forward.",
        "targets": {
          "right_x": 0.48,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NqxovZv8eYranKzn6BrbNM",
      "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, 0.6025, -0.5251, -0.0189, -0.0387, 0.9992, 0.7803, 2.3787, 2.2326, -1.0286, 0.4557, 0.4904, 0.5093]\nstate[eef_state]: left_x=0.2735 left_y=0.0018 left_z=0.1482 left_yaw=0.0049 left_pitch=-0.1472 left_roll=-0.0037 left_gripper=0.9992 right_x=0.4431 right_y=0.3343 right_z=0.1073 right_yaw=0.0639 right_pitch=-0.4014 right_roll=-0.1928 right_gripper=0.5093\nstate[joint_eff]: [-0.0479, -1.1829, 7.0906, 1.6386, -0.0415, -0.0513, -0.0122, 0.294, -14.7897, 5.2444, 0.7204, 0.1929, -0.0122, 0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8fba7878536f8c550bb2320bc6e4c9bec9e205c05762b3a248e7290ca8b7879",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8541a52668d2890167a15b635ff988cd60e7540a9f064d8a37e9930a9b243720",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed9a604ee2fd2fd56aac611ab0a17f50a25d54eaa4f97675595bc1f046892524",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 12.12 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, 0.804, 0.6025, -0.511, -0.0189, -0.0383, 0.9992, 0.7822, 2.3943, 2.3398, -1.1519, 0.4488, 0.4927, 0.5063]\nstate[eef_state]: left_x=0.2758 left_y=0.0017 left_z=0.1508 left_yaw=0.0047 left_pitch=-0.1331 left_roll=-0.0038 left_gripper=0.9992 right_x=0.4368 right_y=0.331 right_z=0.1239 right_yaw=0.0599 right_pitch=-0.4292 right_roll=-0.209 right_gripper=0.5063\nstate[joint_eff]: [-0.0068, -1.2239, 7.1316, 1.7753, -0.0659, -0.0513, -0.0122, -0.4718, -13.2718, 7.2137, 1.4237, 0.2418, -0.0366, 0.1294]",
      "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, 0.804, 0.6025, -0.5182, -0.0189, -0.0383, 0.9992, 0.7803, 2.3787, 2.2326, -1.029, 0.4561, 0.4904, 0.5078]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1494 left_yaw=0.0047 left_pitch=-0.1403 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4431 right_y=0.3342 right_z=0.1073 right_yaw=0.0635 right_pitch=-0.4015 right_roll=-0.1933 right_gripper=0.5078\nstate[joint_eff]: [0.0205, -1.2239, 6.8991, 1.6386, -0.0513, -0.0464, -0.0122, 0.3487, -14.7214, 5.2444, 0.7155, 0.2955, 0.022, 0.149]\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, 0.804, 0.6025, -0.5251, -0.0189, -0.0387, 0.9992, 0.7803, 2.3787, 2.2326, -1.0286, 0.4557, 0.4904, 0.5093]\nstate[eef_state]: left_x=0.2735 left_y=0.0018 left_z=0.1482 left_yaw=0.0049 left_pitch=-0.1472 left_roll=-0.0037 left_gripper=0.9992 right_x=0.4431 right_y=0.3343 right_z=0.1073 right_yaw=0.0639 right_pitch=-0.4014 right_roll=-0.1928 right_gripper=0.5093\nstate[joint_eff]: [-0.0479, -1.1829, 7.0906, 1.6386, -0.0415, -0.0513, -0.0122, 0.294, -14.7897, 5.2444, 0.7204, 0.1929, -0.0122, 0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8fba7878536f8c550bb2320bc6e4c9bec9e205c05762b3a248e7290ca8b7879",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8541a52668d2890167a15b635ff988cd60e7540a9f064d8a37e9930a9b243720",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed9a604ee2fd2fd56aac611ab0a17f50a25d54eaa4f97675595bc1f046892524",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAgKjgEIEhgCKkAbme1QY0ANUnhN7uNI9URD6jJwpFmDq4FibACZuHOVgQmC3LJnGonTiUalMnKnXVUDF/1V+xEbWVWElZV9fc4bMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYrFzNUGEgz8lXmzweQqZFaf12caDEVvV1NZ2SBiLTS6SSIwO74xNHqcHJRvy/qkpLdayLluHL3e2AMr04JhYiQOms8FUfLYDSxiam7nm1XFjRLYKuYGirS1tACzHXt7FAZ0Ol8wB+Vs/yZ08s6fPlKOQOOovQmmqLOy/itZr8knfsqV6PtL3plsjU/bU5MQhdHwbqXdZvLj0cKyuXMMMs55dIVpf0cEny3gM2H9m0ZrVZ+7o/INnUNnPkAXNlHrprpt3JxKf2XFlTcdfhlzaDAP/c/u+9gjcy3hwLa2Or3FOGzl0KtVWetu2diT3HozXLB647Fbu4GvE6mvIKRhWUqR9KS4SxFaxmYpjmGRjHjEd6Duqw5/Jj+1vzVapDolY0RQZMrdbgmgMoV6joyFKNIMzhfTiD/knJmhser2GWj5jYu9l4RXlnU95Ma/1m2SmqvvgDXuDpZfFsSqqHeGhX6NCaqMwwmPsiM/gbkiS4RDNVg7CUpwkl6AKo5akkOjEKUlpAeUnRGkCiOP8/QuBUxLTYWfeL5xr7aRLLh2wrStTN8YgiDaNOftqhu649whfbawG53T+ZSD5kFQQyzaVh1DsRPHPBmJ7MOR+XYa4tEGk0hmjCrTNM94/XQaruvNqFiMQMMbEdPbOadJliXKUehD1Eb6Vrewymu1oZDfDqKtfFLUFtWfgK9Tzy1lqwJZwV1XCfMtJl0nlOJ5nq0BpaFT610QK0i/tdzQNLWuskibsLDkM1kf3jxErsbGGEfI0P0nOqHkOvN2MYzaxzAQuWYvfzY/ay5valPMqWKyXamVCVjliZZ+oeH17NKmGCf7xjL9njs64NlBp9RVFfviw7auuOSmh/gp8oSZNQdhoXyQtUGCWcQMPQWHW7yrASJ4r2SZTIetrpsOM6r8umKZXXfv6a4+e8kPohkX1bsO3J33P3boVZaxduffJiAD27WMALr+ru4zC2wYGIQUXlN1z6ziteY2Ci31xw152Z+InsPIy/0VYUOmGYlAaL0LSRgTZ+/NtMc7ypcijMWByqyl6LK0UTyDWYuh4uFrxBNDx5dNfliyGhu8JPbPIyg3sjtBJwF+BfWDvfy+r4ohrzvyXPc0mS32aRH/0a8XyYbMskfD4TzPYXmmmkaAlgnE4mTjmDZDEf3j/QyKkfLYs2A3RKj0WoZfOoKx83L09z1vX7N/8no/4KrP9xDvbfAgyToVEMMQho7QjVF7JdLy2ekg7aFFVg7xgBRvmbe5cvbGDn32FaEbWTnoXczSN8TKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RjvJuSCxFesxzAp8AR3CbF",
      "input": {
        "note": "The arm is stalled against something (large shoulder effort, no motion); lifting straight up to free it before re-approaching the safe opening.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01RjvJuSCxFesxzAp8AR3CbF",
      "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, 0.8051, 0.6025, -0.5373, -0.0189, -0.0383, 0.9992, 0.7784, 2.5477, 2.8117, -1.4677, 0.4515, 0.4824, 0.5095]\nstate[eef_state]: left_x=0.2715 left_y=0.0018 left_z=0.1456 left_yaw=0.0048 left_pitch=-0.1606 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4374 right_y=0.3281 right_z=0.168 right_yaw=0.0612 right_pitch=-0.4267 right_roll=-0.2151 right_gripper=0.5095\nstate[joint_eff]: [-0.1573, -1.265, 6.8855, 1.7167, -0.0562, 0.0073, -0.0073, -0.3487, -11.8222, 5.4085, 0.7741, 0.1929, -0.0317, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec9f2c36ddb5c52a4955de94322d26cbcca037d25b74d49e753de6c1c53b40eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b51e65e38b3668480f0dbe3a7053d370e47b58b76a8b0f32a03f155bd0bcc54d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04157184226d6bfc8bb13fe9b05ca00233fbf72111873330fe27648a0c3898a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 7.831 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, 0.804, 0.6025, -0.5182, -0.0189, -0.0383, 0.9992, 0.7803, 2.3787, 2.2326, -1.029, 0.4561, 0.4904, 0.5078]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1494 left_yaw=0.0047 left_pitch=-0.1403 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4431 right_y=0.3342 right_z=0.1073 right_yaw=0.0635 right_pitch=-0.4015 right_roll=-0.1933 right_gripper=0.5078\nstate[joint_eff]: [0.0205, -1.2239, 6.8991, 1.6386, -0.0513, -0.0464, -0.0122, 0.3487, -14.7214, 5.2444, 0.7155, 0.2955, 0.022, 0.149]\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, 0.804, 0.6025, -0.5251, -0.0189, -0.0387, 0.9992, 0.7803, 2.3787, 2.2326, -1.0286, 0.4557, 0.4904, 0.5093]\nstate[eef_state]: left_x=0.2735 left_y=0.0018 left_z=0.1482 left_yaw=0.0049 left_pitch=-0.1472 left_roll=-0.0037 left_gripper=0.9992 right_x=0.4431 right_y=0.3343 right_z=0.1073 right_yaw=0.0639 right_pitch=-0.4014 right_roll=-0.1928 right_gripper=0.5093\nstate[joint_eff]: [-0.0479, -1.1829, 7.0906, 1.6386, -0.0415, -0.0513, -0.0122, 0.294, -14.7897, 5.2444, 0.7204, 0.1929, -0.0122, 0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8051, 0.6025, -0.5373, -0.0189, -0.0383, 0.9992, 0.7784, 2.5477, 2.8117, -1.4677, 0.4515, 0.4824, 0.5095]\nstate[eef_state]: left_x=0.2715 left_y=0.0018 left_z=0.1456 left_yaw=0.0048 left_pitch=-0.1606 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4374 right_y=0.3281 right_z=0.168 right_yaw=0.0612 right_pitch=-0.4267 right_roll=-0.2151 right_gripper=0.5095\nstate[joint_eff]: [-0.1573, -1.265, 6.8855, 1.7167, -0.0562, 0.0073, -0.0073, -0.3487, -11.8222, 5.4085, 0.7741, 0.1929, -0.0317, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec9f2c36ddb5c52a4955de94322d26cbcca037d25b74d49e753de6c1c53b40eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b51e65e38b3668480f0dbe3a7053d370e47b58b76a8b0f32a03f155bd0bcc54d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04157184226d6bfc8bb13fe9b05ca00233fbf72111873330fe27648a0c3898a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8goKjgEIEhgCKkDd4mMhxPpr4p+PCmYyZ/7QpHO6pXTvJ5y6wJjhpBJW8Orx7zumGnKANpy7NcUPHlVeAtHa37fEyJkq20KuQAcHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZfFzNUGEgxVBP7joRhLvOx30HgaDOnn+lhcJyWjhlLCpiIwXAxT1cAVJ48Eqrlmn5y5ZuuTQlduYUc1OY24xBiu/G0KSvZlz7biJ95Xj4LEIl4JKpAJlyXE1CzRchjn9n4ifNdJwodTRXGKNHTuW0jsikz0roXB7rbFViIhl5U52VOh8JwQJrW2e1ofB+LVUv1Z+1IzeQ0X2bfuO+7m7lQLd6CatbIuy70fEoVh9fNiVn7yCZc/4cnYkN7ZVsezbAPm5nG6tToALrjUMlucPNzyeyK7sZmqabHbYSsWqNPnoshfz5j74eURl8TSbUtPYT43usCYTjplbkuBVYJ0UxWpPkJtxQRpDAdDjolqaw+Jmsp5YBFWUaBmDsuzHf3QsnBu/MDlrdwzNGz8/l5ueY5JD8xi/dGOt8W/PTu1biay0axrSMclb+7fcgD7A0alLLw0pnOviedCpZlWJbd+O+g9lOcmm0Zq8yQwyAfGIB6ngcBqYeNKmwzMNi4iUldYKiqBqaNlej62bfzcE/hCcULL0F4sCbpsJkD3Uu5J0Vmb9ah65Fyfygbh1yAd9dtSPs30rGaWkb6Um5Qxi1YvwYN0e033Y2gYNjpdUnwDm9Fzcul/FoGIU/lNoKcgHC2y5KKjgzEbMGBLNeGH7ekYF2Y24IqEBFZCVbUu0edu2Yz34JdVYUyiHy57SmowELlPL6MZGtwlQ5qrdLGrvUA+S0Ss/wJ6ACin0Pr5TX9JmZ9ZaIWQJAgSeZv/+k2y8h6W/9EKDU85XaaEi0izzbFcY8E5Dw0/r8VkcacUlLsO9Bdoy1RqkfnCvVwOqij0QFetMTZ6+552PCNF0BtIorJZESNK61ud4DJVSDiI71Bb5cf1ZUbKZli5ZfMGGig8WsJ2N9FskCoJjgah8K1TT98R86cuMUB0d0ggk+JZ3Y+w10xbqW2jEOPRUxCv8/4pb9FNW+x3OkOwUhAyps5muXa0kDMVBRg7+L9m7GFM27FGG+H1du7tOTI49SMQi48k0XUgJdnHcW6QOqu9HbBhY3H2CiR7Z6hmzLT+LBs2QtYHfi7gkH4rAh916NRYzNON41sYXLG24NbciLsCPadji0i/ihNILhTerYvvOuKwokdpXaLoutsCvw8yAlLeJzewXarV2inFRZX3YhRayOnI/6U/7EWH612VFQF/zYXkT4VCIDGCvu58hBF58UkHfGN5B+O3RRvAncVHElLgg7TvVjdqNpqC+vwFfTxG3grNAX4+hRHK+z7Lw1kzAIxBeqoUMjqhKEnjau32Drs09n84BW/XSxmS+Ac+Js8XOUVT6IWGsZEuIj57cbxzCwuDs5bRHsGxfeF5Sg9LOFF3x20R8ADnYZWeS4O31lCpOnPtum0nnCSQuBJ3LIny7l2x00pfhwZBQcYu9dbKM2SXhjqFa8CY8Qn/Da0rQ98xKD5I0Ng1PawVxeAf00GMFoPE3+fBCorgYPIWihXoFK5Xf9aSI0rfWIJOoZwuoz6p5UdLFraOHJoWMHTM8AEX5IdkdLbwgJqh0waNH5eZJMgN5P5a1L2CcypsAf7xZfypaYxZpfEMx1mZpwSD1vSvP5wn9d0TWruo+wDeXL5cVEJVInm8SzxPuCjqmKb2fxNFLCDKt1xoZvY4EjcX/5b9VwdCqKrWJbCc/1LQW8dA2hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015fYLqDLTiiAh3CiPmSqBea",
      "input": {
        "note": "Top view suggests the jaws are still to the right of the safe's opening; shifting ~6 cm further left at a safe height to centre over the red interior.",
        "targets": {
          "right_y": 0.39,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015fYLqDLTiiAh3CiPmSqBea",
      "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, 0.8051, 0.6025, -0.5404, -0.0189, -0.0383, 0.9992, 0.7784, 2.5641, 2.814, -1.5738, 0.4488, 0.482, 0.51]\nstate[eef_state]: left_x=0.271 left_y=0.0018 left_z=0.1451 left_yaw=0.0048 left_pitch=-0.1636 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4213 right_y=0.3128 right_z=0.1527 right_yaw=0.022 right_pitch=-0.5175 right_roll=-0.3038 right_gripper=0.51\nstate[joint_eff]: [-0.0205, -1.1556, 6.8855, 1.6386, -0.0659, -0.022, -0.0122, -0.4581, -13.2581, 5.7504, 0.8327, 0.2271, 0.0073, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c09aa89ae7da0fccb1cc9959d8aa65160b8f6da6f6e6c68c6316fee002239592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9b40664e243e83f018c89da2d69230696689b9146292b8623fef7037502daaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9500a25baf8304f9019191ff73e75a297317f61c09f889d25f9bd250c1db1010",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 7.046 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, 0.804, 0.6025, -0.5251, -0.0189, -0.0387, 0.9992, 0.7803, 2.3787, 2.2326, -1.0286, 0.4557, 0.4904, 0.5093]\nstate[eef_state]: left_x=0.2735 left_y=0.0018 left_z=0.1482 left_yaw=0.0049 left_pitch=-0.1472 left_roll=-0.0037 left_gripper=0.9992 right_x=0.4431 right_y=0.3343 right_z=0.1073 right_yaw=0.0639 right_pitch=-0.4014 right_roll=-0.1928 right_gripper=0.5093\nstate[joint_eff]: [-0.0479, -1.1829, 7.0906, 1.6386, -0.0415, -0.0513, -0.0122, 0.294, -14.7897, 5.2444, 0.7204, 0.1929, -0.0122, 0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8051, 0.6025, -0.5373, -0.0189, -0.0383, 0.9992, 0.7784, 2.5477, 2.8117, -1.4677, 0.4515, 0.4824, 0.5095]\nstate[eef_state]: left_x=0.2715 left_y=0.0018 left_z=0.1456 left_yaw=0.0048 left_pitch=-0.1606 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4374 right_y=0.3281 right_z=0.168 right_yaw=0.0612 right_pitch=-0.4267 right_roll=-0.2151 right_gripper=0.5095\nstate[joint_eff]: [-0.1573, -1.265, 6.8855, 1.7167, -0.0562, 0.0073, -0.0073, -0.3487, -11.8222, 5.4085, 0.7741, 0.1929, -0.0317, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8051, 0.6025, -0.5404, -0.0189, -0.0383, 0.9992, 0.7784, 2.5641, 2.814, -1.5738, 0.4488, 0.482, 0.51]\nstate[eef_state]: left_x=0.271 left_y=0.0018 left_z=0.1451 left_yaw=0.0048 left_pitch=-0.1636 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4213 right_y=0.3128 right_z=0.1527 right_yaw=0.022 right_pitch=-0.5175 right_roll=-0.3038 right_gripper=0.51\nstate[joint_eff]: [-0.0205, -1.1556, 6.8855, 1.6386, -0.0659, -0.022, -0.0122, -0.4581, -13.2581, 5.7504, 0.8327, 0.2271, 0.0073, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c09aa89ae7da0fccb1cc9959d8aa65160b8f6da6f6e6c68c6316fee002239592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9b40664e243e83f018c89da2d69230696689b9146292b8623fef7037502daaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9500a25baf8304f9019191ff73e75a297317f61c09f889d25f9bd250c1db1010",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzAYKjgEIEhgCKkDWJyVXbUbvtKh0R8tG6/YNFc4EEU7/1/8ZLU62rrzl8wDLFMnsJfTO97TfCrB60tseX0BFH92kJLU+MyGDcPNzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaDFzNUGEgzNHlg0DKhIGmPAIIIaDGZfNWWuu2AHjjVHNyIwQfsISgjmtvQgLlg4geHEi8ZVNfCeNG6obhU0is6duRNtjykhlVxS/v18y5MlrBbEKuoE4yi2WihEXzqOYok0nvc5xczv26lgwXys4aKlCELXR3cjFKJylrLXFbLi9i6FrfVFCDY9raflhylFFJVpZy2bzDx53HenAmzAfszKw6NEz0l/Z0Dwlptbacr96qxsVGIZuLe4Y2KIj/n+NmBm9km57zZV6S7Dd/UZlSSUYTqnHXWT+FPnbi9rg7tcDh+Fm7NSkLk2WqgV45tz/+Azwg1nQZ/dw+3Zj+e0xfRQqO0+gx5upbFLx9pq5SPCmu3Z+LVVZPXI6V9xBatZb5UQyk/uDuaHbtgVNslnYwG4fbqt5kcJcVCs65BLsBxX24pFXOFwSt8IAwVbYR9jiHtDdBoVL61j9x5ikOaKcRSkwCQdZXYT1ip3cL0ehJ7HDuhUt3vBJ3eZW62CKA2Hebtbvt4Mypjl1IHX35qErcCynPsamX7iLnDwAY983LnESL8deP8L/Mw67e0c0E64mOdUzidellwWaDK+7Qgebk4ZY/ewVhDR5RIYgi7rESlAs+fUpJyfj7XWvWTbSIWJpBVs5Z9i0rQjxYTKU7R33MgSynxk/ms3BrF9z+OPv2A86yHcgKzgavl5rgCpsQSEhBCwBPDufRyFjU3uKd7/rKIY0KYlm6WDp2D3EaPg5XdPQKIh1yvWT3ovUPatTUv1cucM5l6J29QFqJPTDyMi7Bq376tzwYIiFiU6gvg5Ub64/ZI4Pabkx+UyGZph+T74fLAvicN8Csf5fZfMLKIyarcaX4AQoecuPHZCzu49sv8FHah19d1H6rGPrGBf3uzz6mfyxcvkJ3FjoBPyJrDX3UZ3nWDYlJGb4r8Flo4Nn0vrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01StQFvwtdQ2avv5s6pgwvnX",
      "input": {
        "note": "The wrist view now shows the open safe interior directly ahead of the jaws; moving forward ~5 cm to get the lemon over the red floor.",
        "targets": {
          "right_x": 0.47,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01StQFvwtdQ2avv5s6pgwvnX",
      "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, 0.8051, 0.6025, -0.5556, -0.0189, -0.0387, 0.9992, 0.7784, 2.5641, 2.814, -1.5738, 0.4488, 0.482, 0.5101]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1423 left_yaw=0.005 left_pitch=-0.1789 left_roll=-0.003 left_gripper=0.9992 right_x=0.4213 right_y=0.3128 right_z=0.1527 right_yaw=0.022 right_pitch=-0.5175 right_roll=-0.3038 right_gripper=0.5101\nstate[joint_eff]: [-0.0479, -1.1829, 6.9812, 1.7363, -0.0806, -0.0513, -0.0122, -0.335, -13.2171, 5.8598, 0.7546, 0.2515, -0.0073, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6992c61a690e8cb95bb6d945bfb3b2835253c6af8fc1197e3b231574495bc172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc381b0f6c0a37f1ee9d8125d7689519b8f3c9550392ab25d8d454727459b0c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13cc8b07aaeb00519d98acaccc259b7da9696f8abde9b1f85b387d494ea8abd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 8.921 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, 0.8051, 0.6025, -0.5373, -0.0189, -0.0383, 0.9992, 0.7784, 2.5477, 2.8117, -1.4677, 0.4515, 0.4824, 0.5095]\nstate[eef_state]: left_x=0.2715 left_y=0.0018 left_z=0.1456 left_yaw=0.0048 left_pitch=-0.1606 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4374 right_y=0.3281 right_z=0.168 right_yaw=0.0612 right_pitch=-0.4267 right_roll=-0.2151 right_gripper=0.5095\nstate[joint_eff]: [-0.1573, -1.265, 6.8855, 1.7167, -0.0562, 0.0073, -0.0073, -0.3487, -11.8222, 5.4085, 0.7741, 0.1929, -0.0317, 0.0122]\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, 0.8051, 0.6025, -0.5404, -0.0189, -0.0383, 0.9992, 0.7784, 2.5641, 2.814, -1.5738, 0.4488, 0.482, 0.51]\nstate[eef_state]: left_x=0.271 left_y=0.0018 left_z=0.1451 left_yaw=0.0048 left_pitch=-0.1636 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4213 right_y=0.3128 right_z=0.1527 right_yaw=0.022 right_pitch=-0.5175 right_roll=-0.3038 right_gripper=0.51\nstate[joint_eff]: [-0.0205, -1.1556, 6.8855, 1.6386, -0.0659, -0.022, -0.0122, -0.4581, -13.2581, 5.7504, 0.8327, 0.2271, 0.0073, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6025, -0.5556, -0.0189, -0.0387, 0.9992, 0.7784, 2.5641, 2.814, -1.5738, 0.4488, 0.482, 0.5101]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1423 left_yaw=0.005 left_pitch=-0.1789 left_roll=-0.003 left_gripper=0.9992 right_x=0.4213 right_y=0.3128 right_z=0.1527 right_yaw=0.022 right_pitch=-0.5175 right_roll=-0.3038 right_gripper=0.5101\nstate[joint_eff]: [-0.0479, -1.1829, 6.9812, 1.7363, -0.0806, -0.0513, -0.0122, -0.335, -13.2171, 5.8598, 0.7546, 0.2515, -0.0073, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6992c61a690e8cb95bb6d945bfb3b2835253c6af8fc1197e3b231574495bc172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc381b0f6c0a37f1ee9d8125d7689519b8f3c9550392ab25d8d454727459b0c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13cc8b07aaeb00519d98acaccc259b7da9696f8abde9b1f85b387d494ea8abd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AQKjgEIEhgCKkCYiMxZeT2qPpdX26EEt55JlsCIsjby194s1bPMNovRAnDW9UkuDYNOOG8DWC7fofIXb3yUSbZBL2EY4TDn9M7/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAafFzNUGEgx+/KIphEChhw0F77saDBLzp7cZY1vuNc82tyIwocm3Wpx/GC+yEek/hI7ZLtKSVEFLtfZRPncSaSnyLFMz4FAXLL54DjuxDspszMBiKvoCC7LFgBTTzYtbqAk90nY9wcaMXNDmyCy+YwcdbSkP0eqoNgZB8IpjMM/qPwJYwXL+8o1Y9HoAO54d0P1eUGX2guMaWCA1rc8oVEJ52M1YmABQvFyfE2n4dl5A4yDHZQUIsqjmAHdv2ObzQBEKlFrqj/pjKh2FEvDd8AuVNx1Ayg76jv0HAEocBSQ2sbUUCerYTMfE5iPxMY2XXEGrRAFe9UI2HoMWWvODvs+ElZxBHzzp6zYgcbm0YaFOf/T9LRlwr/vb/VdkprUQB2rxa6D1BHAoXfzLSi2I7rcGjW1qMB1897KIZeG0eiJmwoIMW1tD2C70r+4W7+t5+TPtzdRXVBMIkuwud1HqNcnmRk37kMnM7hOKUfxIHgkFPynQEswtKJ0es8QG+8fwvGvy9D+Rob0oX0CIgeZ6yZ92k6Q7EUo+b7NBoz0o2efam3GXsaezQPRQWUAJHMDNOsjZCjgWKgloSns6liT1ou7Y1IGgM46H+qAeYdLFgfMMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AJ9swxrSkwEzXw86FxJTQL",
      "input": {
        "note": "The arm is frozen again with pitch drifted near its -0.6 limit; re-commanding the forward move with pitch/roll/yaw explicitly zeroed, which unstuck it last time.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.46,
          "right_yaw": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01AJ9swxrSkwEzXw86FxJTQL",
      "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, 0.8051, 0.6025, -0.5632, -0.0189, -0.0383, 0.9992, 0.7868, 2.7403, 3.11, -1.2781, 0.5999, 0.5232, 0.5102]\nstate[eef_state]: left_x=0.2671 left_y=0.0019 left_z=0.141 left_yaw=0.0049 left_pitch=-0.1865 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4936 right_y=0.3588 right_z=0.1895 right_yaw=0.002 right_pitch=-0.1194 right_roll=-0.0776 right_gripper=0.5102\nstate[joint_eff]: [-0.0205, -1.1692, 7.0906, 1.6484, -0.0708, -0.022, -0.0122, 0.1983, -13.4906, 7.9795, 1.9609, 0.5397, -0.0122, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5029e8b235273b5649d881e368c9150855ded8ee02641e98c7d7cecc970de09d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2776112d0c7071c40685b8d10134fc98c4e05782fb607850018cd711262ec228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc908e59383e1ee677f99b95b745b5985c0e6c3cc0e25404ccc51c8d3194eb72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 4.718 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, 0.8051, 0.6025, -0.5404, -0.0189, -0.0383, 0.9992, 0.7784, 2.5641, 2.814, -1.5738, 0.4488, 0.482, 0.51]\nstate[eef_state]: left_x=0.271 left_y=0.0018 left_z=0.1451 left_yaw=0.0048 left_pitch=-0.1636 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4213 right_y=0.3128 right_z=0.1527 right_yaw=0.022 right_pitch=-0.5175 right_roll=-0.3038 right_gripper=0.51\nstate[joint_eff]: [-0.0205, -1.1556, 6.8855, 1.6386, -0.0659, -0.022, -0.0122, -0.4581, -13.2581, 5.7504, 0.8327, 0.2271, 0.0073, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6025, -0.5556, -0.0189, -0.0387, 0.9992, 0.7784, 2.5641, 2.814, -1.5738, 0.4488, 0.482, 0.5101]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1423 left_yaw=0.005 left_pitch=-0.1789 left_roll=-0.003 left_gripper=0.9992 right_x=0.4213 right_y=0.3128 right_z=0.1527 right_yaw=0.022 right_pitch=-0.5175 right_roll=-0.3038 right_gripper=0.5101\nstate[joint_eff]: [-0.0479, -1.1829, 6.9812, 1.7363, -0.0806, -0.0513, -0.0122, -0.335, -13.2171, 5.8598, 0.7546, 0.2515, -0.0073, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8051, 0.6025, -0.5632, -0.0189, -0.0383, 0.9992, 0.7868, 2.7403, 3.11, -1.2781, 0.5999, 0.5232, 0.5102]\nstate[eef_state]: left_x=0.2671 left_y=0.0019 left_z=0.141 left_yaw=0.0049 left_pitch=-0.1865 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4936 right_y=0.3588 right_z=0.1895 right_yaw=0.002 right_pitch=-0.1194 right_roll=-0.0776 right_gripper=0.5102\nstate[joint_eff]: [-0.0205, -1.1692, 7.0906, 1.6484, -0.0708, -0.022, -0.0122, 0.1983, -13.4906, 7.9795, 1.9609, 0.5397, -0.0122, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5029e8b235273b5649d881e368c9150855ded8ee02641e98c7d7cecc970de09d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2776112d0c7071c40685b8d10134fc98c4e05782fb607850018cd711262ec228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc908e59383e1ee677f99b95b745b5985c0e6c3cc0e25404ccc51c8d3194eb72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISrQYKjgEIEhgCKkBQv/C+xNPnFYFopMn4r3GJtSAJYKceHHKxrd3rCvK1iX/DKvFhqTKQ9Y4IE98fj1C/h1PYStJmyuJXlItOTayKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbHFzNUGEgyVS69ihsxpWJRnf44aDDGGaW/lJYJczBN8hSIwpelXSPFyFfmhMZxwCB5H2Fyibcdv84TL2xqiBAue+xKRv2XC1O6/StKzHT4WaBh+KssEbcjsRYwpptR/Viuyg2+MtSF0jTSUQnBmDBmJjXMy2NpPnqVrLpinWf10SpqeXrfpaFmtXTRKRtLx2dIAj+6IsswBIaY5Jm8FaK+L9VFJ7sjAtwpvnUeGDFSNjiE+E8IlzRJGGri442AZm+eq6KtfWoO4l7s5VmwYij87dJ2gK5V9mRYg70AAFcw+eEr6OjIPrDUsRValJiaPu0EDIwFAncup3o4XTKELAs4WPEGjBz7eqB51mJnKSrVKOXWlWcuUSjiOq3VN0pZTrE0s6sQYGIjJVJ6ZSmG9x230jSa2hT5F28o8etsbAcgmz9WlQnrx/GRivlJjVIQ1OxWaUDouAL5wCgfKjZVj5cnJmzPXJ3kDfZiCK169i9QxCniFbzwRdZmb1zaQeHSj42GoUme85oe+54VNz1YIfGrCg9TmALLOoZwW09sLHq8FHyg9O4sTUfmnenLN7xFgwHUx8zCddijxm2a7ZCOU/yxJ0eXR/K/TcjNCe9HWY9+GRnTyux9KApd+02SNiBj9YLHoZ6/NZlbO9+uVoPYJZZfCoP7LGieq7O7NgBjOQbRzVUcNT7NWmtVWrdLq/xOGUDBeY8XbBJG5FLXL/OZVN2ZEgvtrOfg77buqc/012y1D/ADkoSKsja7U7OXZHGkRcY5EsSftY/p+rwwhYabZ7+k+FgyH3N3l5EFrvfViGQc10Ff9gygfXWEM0HNLXQQO4zmYg3yysHiAL8JXBNTObsgoWJE3VuD+uM04aiATaXuekAuUTFWdrBipuBcwXb5c/ZgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013wCHMa1tNFyF5jnnsRjTtM",
      "input": {
        "note": "Now the lemon is just over the safe's far rim; backing off 2 cm and lowering into the red interior.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.47,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013wCHMa1tNFyF5jnnsRjTtM",
      "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, 0.8051, 0.6025, -0.5781, -0.0189, -0.0387, 0.9992, 0.8371, 2.9311, 3.1245, -1.0859, 0.6449, 0.5446, 0.5109]\nstate[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1383 left_yaw=0.0051 left_pitch=-0.2014 left_roll=-0.0024 left_gripper=0.9992 right_x=0.5045 right_y=0.4064 right_z=0.1088 right_yaw=0.0112 right_pitch=-0.082 right_roll=-0.074 right_gripper=0.5109\nstate[joint_eff]: [-0.1846, -1.1556, 7.0359, 1.6923, -0.0366, -0.0366, -0.0122, 0.3214, -14.0786, 7.3778, 1.7509, 0.4762, 0.188, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eed072ef25a8031687b2ad204bf0cff80a5503b55944335d52783d0fa1e038aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff8384132c61f546ae818da1a31898e52e93830e1ed4ae0f62ea156126ed3c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3b5beeccf2339a83e3a1df89eb295ac3e645442cb71b21d48ba4f9ad6b1844a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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