adhoc

completed
2026-09-22T19:01:58.293150+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-5-5
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
232.7 s
total steps
336
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: open red safe in the middle, teddy bear to its left, lemon to its right, brown plush in front. Moving the left arm above the teddy bear first.
move_to
left_x0.3700left_y-0.1500left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6075, -0.403, -0.0189, -0.033, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.0007 right_z=0.177 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.5538, -1.4154, 10.359, 1.9463, -0.0806, 0.1636, -0.0904, -0.3624, -1.4701, 9.6479, 2.0586, -0.0611, 0.1587, -0.0513] 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": {"left_x": 0.37, "left_y": -0.15, "left_z": 0.15, "left_gripper": 1}, "note": "Scene: open red safe in the middle, teddy bear to its left, lemon to its right, brown plush in front. Moving the left arm above the teddy bear first."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteTeddy appears slightly left of the jaw column and close under the fingertips. Shifting left ~2.5 cm and descending to grasp it.
move_to
left_y-0.1200left_x0.3600left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5999, 1.3899, 0.7895, -0.149, -0.4698, -0.3779, 0.9993, -0.0212, 0.7998, 0.6094, -0.4332, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.3569 left_y=-0.1429 left_z=0.1279 left_yaw=-0.0205 left_pitch=-0.0742 left_roll=0.0335 left_gripper=0.9993 right_x=0.2884 right_y=0.0008 right_z=0.17 right_yaw=0.0008 right_pitch=-0.0347 right_roll=0.0003 right_gripper=0.9996 state[joint_eff]: [-0.253, -6.0513, 9.1282, 1.7851, -0.525, -0.0464, -0.0904, -0.1162, -1.6615, 6.8444, 1.9951, -0.022, -0.0366, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.12, "left_x": 0.36, "left_z": 0.03}, "note": "Teddy appears slightly left of the jaw column and close under the fingertips. Shifting left ~2.5 cm and descending to grasp it."})
tool
executing move_to over 7 steps (0.7s)
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 noteTeddy is between the jaws in the wrist view. Closing the gripper on it.
move_to
left_gripper0.0000left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.524, 1.607, 0.5373, 0.2691, -0.4221, -0.3321, 0.9992, -0.0212, 0.8005, 0.6094, -0.4549, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.3505 left_y=-0.1148 left_z=0.024 left_yaw=-0.0041 left_pitch=-0.1366 left_roll=0.0674 left_gripper=0.9992 right_x=0.2853 right_y=0.0009 right_z=0.1655 right_yaw=0.0008 right_pitch=-0.0572 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [0.1709, -6.106, 4.9436, 1.7558, -0.0562, 0.0659, -0.022, -0.0205, -1.306, 6.9812, 1.8584, -0.0366, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0, "left_z": 0.02}, "note": "Teddy is between the jaws in the wrist view. Closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
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 noteEmpty close: the teddy sits just beyond the fingertips. Opening and lifting slightly before advancing.
move_to
left_gripper1.0000left_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5228, 1.6283, 0.5224, 0.2726, -0.416, -0.3378, 0.0166, -0.0212, 0.8009, 0.6094, -0.4782, -0.0185, -0.0338, 0.9996] state[eef_state]: left_x=0.3446 left_y=-0.112 left_z=0.0121 left_yaw=-0.002 left_pitch=-0.167 left_roll=0.0757 left_gripper=0.0166 right_x=0.2818 right_y=0.0009 right_z=0.1608 right_yaw=0.0005 right_pitch=-0.0809 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [-0.1846, -6.5026, 5.6547, 1.6288, -0.2369, 0.0122, 1.0818, -0.212, -1.2376, 7.0632, 1.8681, -0.022, -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": {"left_gripper": 1, "left_z": 0.06}, "note": "Empty close: the teddy sits just beyond the fingertips. Opening and lifting slightly before advancing."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteTeddy is centred on the jaw column but ahead of the fingertips. Advancing ~6 cm and descending to straddle it.
move_to
left_x0.4000left_y-0.1050left_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5228, 1.4876, 0.5846, 0.0261, -0.4156, -0.3462, 0.9949, -0.0212, 0.8009, 0.6094, -0.5003, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.3364 left_y=-0.1074 left_z=0.0419 left_yaw=0.0064 left_pitch=-0.2044 left_roll=0.0914 left_gripper=0.9949 right_x=0.2784 right_y=0.001 right_z=0.1566 right_yaw=0.0009 right_pitch=-0.103 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [-0.0889, -7.3915, 8.4991, 1.5263, -0.2418, 0.0317, 0.1001, -0.0752, -1.0188, 6.9538, 1.8388, -0.0562, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.105, "left_z": 0.01}, "note": "Teddy is centred on the jaw column but ahead of the fingertips. Advancing ~6 cm and descending to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteTeddy now fills the jaw area. Closing the gripper.
move_to
left_gripper0.0000left_x0.4000left_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4191, 1.7653, 0.7105, 0.1585, -0.3656, -0.2916, 0.9962, -0.0212, 0.8051, 0.6094, -0.524, -0.0185, -0.0338, 0.9996] state[eef_state]: left_x=0.3843 left_y=-0.0981 left_z=0.0041 left_yaw=0.0425 left_pitch=-0.243 left_roll=0.1049 left_gripper=0.9962 right_x=0.2747 right_y=0.001 right_z=0.1511 right_yaw=0.0006 right_pitch=-0.1308 right_roll=0.0022 right_gripper=0.9996 state[joint_eff]: [0.294, -7.1043, 6.065, 1.3797, -0.0122, 0.2125, 0.1245, -0.0342, -1.2103, 6.9538, 1.8828, -0.0464, -0.0317, -0.0073] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0, "left_x": 0.4, "left_z": 0.0}, "note": "Teddy now fills the jaw area. Closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteGripper settled at 0.20, so the teddy is held. Lifting it clear before moving over the safe.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4099, 1.7851, 0.725, 0.2066, -0.3527, -0.2665, 0.2041, -0.0212, 0.8043, 0.6094, -0.5537, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.3957 left_y=-0.1015 left_z=0.0079 left_yaw=0.0229 left_pitch=-0.2102 left_roll=0.0946 left_gripper=0.2041 right_x=0.2698 right_y=0.0012 right_z=0.1458 right_yaw=0.001 right_pitch=-0.1598 right_roll=0.0031 right_gripper=0.9996 state[joint_eff]: [-0.0068, -7.2547, 6.4068, 1.4872, -0.105, 0.0659, 0.8327, -0.0752, -1.1145, 6.8991, 1.9072, -0.0171, -0.0757, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Gripper settled at 0.20, so the teddy is held. Lifting it clear before moving over the safe."})
tool
executing move_to over 13 steps (1.3s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteTeddy is held above the table left of the safe. Moving it right over the safe's red interior.
move_to
left_y-0.2400left_x0.4200left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4107, 1.5085, 1.1995, -0.585, -0.355, -0.2745, 0.2071, -0.0212, 0.8055, 0.6094, -0.588, -0.0185, -0.0338, 0.9996] state[eef_state]: left_x=0.3953 left_y=-0.1013 left_z=0.1745 left_yaw=0.0325 left_pitch=-0.2456 left_roll=0.1081 left_gripper=0.2071 right_x=0.2639 right_y=0.0013 right_z=0.1394 right_yaw=0.0008 right_pitch=-0.1953 right_roll=0.0036 right_gripper=0.9996 state[joint_eff]: [-0.1299, -9.0051, 9.2923, 1.5409, -0.1929, 0.0757, 0.2955, -0.0752, -1.2239, 7.0906, 1.8535, -0.0269, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.24, "left_x": 0.42, "left_z": 0.2}, "note": "Teddy is held above the table left of the safe. Moving it right over the safe's red interior."})
tool
executing move_to over 13 steps (1.3s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe wrist camera shows red safe interior around the held teddy. Lowering before releasing.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7033, 1.8915, 1.7172, -0.8707, -0.4995, -0.5381, 0.2093, -0.0212, 0.8097, 0.6086, -0.6128, -0.0185, -0.0338, 0.9996] state[eef_state]: left_x=0.4139 left_y=-0.2353 left_z=0.1845 left_yaw=0.0213 left_pitch=-0.289 left_roll=0.1164 left_gripper=0.2093 right_x=0.2595 right_y=0.0014 right_z=0.1338 right_yaw=0.001 right_pitch=-0.225 right_roll=0.0043 right_gripper=0.9996 state[joint_eff]: [-0.4171, -10.0855, 9.1966, 1.0769, -0.5885, -0.0269, 0.2173, -0.1846, -1.265, 6.8855, 1.7021, -0.0122, -0.0611, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1}, "note": "The wrist camera shows red safe interior around the held teddy. Lowering before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteTeddy is hanging over the safe interior. Releasing it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7082, 1.9079, 1.4387, -0.6254, -0.4908, -0.5468, 0.2121, -0.0208, 0.8101, 0.6083, -0.6346, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.4032 left_y=-0.231 left_z=0.1033 left_yaw=0.0259 left_pitch=-0.3305 left_roll=0.1393 left_gripper=0.2121 right_x=0.2555 right_y=0.0016 right_z=0.1299 right_yaw=0.0018 right_pitch=-0.2475 right_roll=0.0051 right_gripper=0.9996 state[joint_eff]: [0.5538, -8.6222, 6.5162, 1.3162, -0.3004, 0.0855, 0.2759, -0.0889, -1.1419, 6.8171, 1.6581, -0.0611, -0.0513, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Teddy is hanging over the safe interior. Releasing it."})
tool
executing move_to over 8 steps (0.8s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteTeddy is inside the safe. Parking the left arm home and moving the right arm above the lemon, which sits right of the safe.
move_to
left_z0.2000left_x0.2900left_y0.0000right_x0.4300right_y0.1700right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7063, 1.919, 1.4208, -0.6327, -0.487, -0.5545, 0.9958, -0.0212, 0.8101, 0.6083, -0.6571, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.3985 left_y=-0.2266 left_z=0.0913 left_yaw=0.0383 left_pitch=-0.359 left_roll=0.1576 left_gripper=0.9958 right_x=0.2513 right_y=0.0016 right_z=0.1263 right_yaw=0.0016 right_pitch=-0.27 right_roll=0.0056 right_gripper=0.9996 state[joint_eff]: [-0.253, -11.0291, 7.7744, 1.1209, -0.359, 0.0513, -0.1441, -0.0479, -0.8274, 6.8034, 1.6386, -0.0513, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.29, "left_y": 0.0, "right_x": 0.43, "right_y": 0.17, "right_z": 0.15, "right_gripper": 1}, "note": "Teddy is inside the safe. Parking the left arm home and moving the right arm above the lemon, which sits right of the safe."})
tool
executing move_to over 21 steps (2.1s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteLemon is just ahead of the jaws, slightly right, long axis pointing away from the base. Advancing ~3 cm and descending to grasp across it.
move_to
right_x0.4500right_y0.1600right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1452, 1.1152, 1.0531, -0.8967, -0.2203, -0.0822, 0.9969, 0.4801, 1.7241, 1.3247, -0.5709, 0.281, 0.3309, 0.9996] state[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.1954 left_yaw=0.0826 left_pitch=-0.3568 left_roll=0.1526 left_gripper=0.9969 right_x=0.4155 right_y=0.1652 right_z=0.1352 right_yaw=0.0262 right_pitch=-0.3267 right_roll=-0.0217 right_gripper=0.9996 state[joint_eff]: [-0.0615, -3.7538, 7.1453, 1.4872, 0.0073, 0.1685, 0.105, 0.0615, -8.6085, 8.8274, 1.4774, 0.3785, 0.232, -0.0513] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.16, "right_z": 0.02}, "note": "Lemon is just ahead of the jaws, slightly right, long axis pointing away from the base. Advancing ~3 cm and descending to grasp across it."})
tool
executing move_to over 8 steps (0.8s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteLemon fills the view but is still slightly ahead and right of the jaws. Advancing 2 cm, nudging right, and lowering to table level.
move_to
right_x0.4700right_y0.1480right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1172, 1.0531, -0.9211, -0.2062, -0.0834, 0.9971, 0.4286, 1.9526, 1.1755, -0.226, 0.2607, 0.2882, 0.9996] state[eef_state]: left_x=0.2897 left_y=-0.0019 left_z=0.1911 left_yaw=0.074 left_pitch=-0.3849 left_roll=0.1459 left_gripper=0.9971 right_x=0.44 right_y=0.1549 right_z=0.0251 right_yaw=0.0115 right_pitch=-0.3643 right_roll=-0.0471 right_gripper=0.9996 state[joint_eff]: [-0.1026, -3.1795, 6.6256, 1.5018, -0.2759, -0.0317, 0.0024, -0.1983, -8.8, 5.4632, 1.4969, 0.0317, -0.0952, -0.0171] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.148, "right_z": 0.01}, "note": "Lemon fills the view but is still slightly ahead and right of the jaws. Advancing 2 cm, nudging right, and lowering to table level."})
tool
executing move_to over 3 steps (0.3s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteLemon now sits down between the jaws. Closing to grasp it.
move_to
right_gripper0.0000right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1175, 1.0531, -0.9245, -0.2054, -0.0834, 0.9971, 0.392, 2.0365, 1.2366, -0.2092, 0.2359, 0.2577, 0.9996] state[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1905 left_yaw=0.0736 left_pitch=-0.3888 left_roll=0.1461 left_gripper=0.9971 right_x=0.459 right_y=0.1489 right_z=0.0094 right_yaw=0.013 right_pitch=-0.3789 right_roll=-0.0477 right_gripper=0.9996 state[joint_eff]: [-0.1162, -3.1248, 6.5436, 1.2869, -0.149, -0.0073, -0.0122, -0.2803, -9.8667, 7.788, 1.3162, 0.1392, -0.0806, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0, "right_z": 0.0}, "note": "Lemon now sits down between the jaws. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper settled at 0.46, so the lemon is held. Lifting it clear of the safe walls.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9249, -0.2054, -0.0868, 0.9971, 0.3801, 2.0502, 1.2457, -0.2073, 0.2276, 0.2394, 0.4586] state[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1904 left_yaw=0.0757 left_pitch=-0.3893 left_roll=0.1442 left_gripper=0.9971 right_x=0.4623 right_y=0.1457 right_z=0.0061 right_yaw=0.0188 right_pitch=-0.3844 right_roll=-0.0528 right_gripper=0.4586 state[joint_eff]: [-0.0615, -3.2068, 6.5026, 1.2283, -0.1441, -0.0415, -0.0171, 0.0752, -9.8803, 7.9111, 1.3407, 0.105, 0.0464, 1.0379] 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_z": 0.2}, "note": "Gripper settled at 0.46, so the lemon is held. Lifting it clear of the safe walls."})
tool
executing move_to over 13 steps (1.3s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteLemon lifted; the safe's right wall is visible just left in the wrist view. Moving left ~11 cm over the safe interior.
move_to
right_y0.2600right_x0.4700right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9249, -0.2054, -0.0872, 0.9971, 0.3801, 1.9205, 1.7851, -0.9092, 0.2207, 0.2352, 0.4586] state[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1904 left_yaw=0.0759 left_pitch=-0.3892 left_roll=0.1439 left_gripper=0.9971 right_x=0.4616 right_y=0.1467 right_z=0.1769 right_yaw=0.0223 right_pitch=-0.4173 right_roll=-0.0618 right_gripper=0.4586 state[joint_eff]: [-0.1983, -3.1385, 6.4889, 1.2332, -0.1734, -0.0415, -0.0122, -0.1846, -11.5897, 8.9641, 1.3358, 0.1685, -0.0122, 1.0379] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.26, "right_x": 0.47, "right_z": 0.2}, "note": "Lemon lifted; the safe's right wall is visible just left in the wrist view. Moving left ~11 cm over the safe interior."})
tool
executing move_to over 10 steps (1.0s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteLemon is near the safe's back-right corner. Shifting 5 cm left and 3 cm back to be well inside the box before dropping.
move_to
right_y0.3100right_x0.4400right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0902, 0.9971, 0.5972, 2.2761, 2.4252, -1.2541, 0.3035, 0.4011, 0.4586] state[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0781 left_pitch=-0.3927 left_roll=0.143 left_gripper=0.9971 right_x=0.4673 right_y=0.2583 right_z=0.1957 right_yaw=0.0572 right_pitch=-0.4343 right_roll=-0.0664 right_gripper=0.4586 state[joint_eff]: [-0.1573, -3.1385, 6.7897, 1.3065, -0.1685, -0.0122, -0.0122, 0.1709, -11.8906, 7.5692, 0.9499, 0.3785, 0.2076, 1.033] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.31, "right_x": 0.44, "right_z": 0.19}, "note": "Lemon is near the safe's back-right corner. Shifting 5 cm left and 3 cm back to be well inside the box before dropping."})
tool
executing move_to over 5 steps (0.5s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteLemon is framed inside the safe walls in the wrist view. Lowering before release.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7181, 2.3558, 2.542, -1.3411, 0.3305, 0.4839, 0.4586] state[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.436 right_y=0.3096 right_z=0.1862 right_yaw=0.0927 right_pitch=-0.4594 right_roll=-0.0727 right_gripper=0.4586 state[joint_eff]: [-0.1026, -3.1385, 6.4752, 1.2283, -0.149, -0.0269, -0.0122, -0.6496, -11.7538, 7.8974, 1.0134, 0.4322, 0.1441, 1.033] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.11}, "note": "Lemon is framed inside the safe walls in the wrist view. Lowering before release."})
tool
executing move_to over 5 steps (0.5s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteArm won't descend further here (likely a reach limit), but the lemon is over the safe interior. Releasing 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]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7227, 2.3665, 2.5546, -1.3712, 0.3439, 0.5022, 0.4635] state[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.4325 right_y=0.3068 right_z=0.1828 right_yaw=0.0673 right_pitch=-0.4739 right_roll=-0.0925 right_gripper=0.4635 state[joint_eff]: [-0.335, -3.1658, 6.5573, 1.2576, -0.1685, -0.0415, -0.0122, -0.1846, -12.4513, 7.8017, 1.1502, 0.2759, 0.1636, 1.0281] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Arm won't descend further here (likely a reach limit), but the lemon is over the safe interior. Releasing it."})
tool
executing move_to over 6 steps (0.6s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteLemon and teddy are in the safe. Moving the right arm back over the brown plush lying in front of the safe.
move_to
right_x0.2800right_y0.3000right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7227, 2.3665, 2.5546, -1.3716, 0.3443, 0.5056, 0.9948] state[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.4325 right_y=0.3067 right_z=0.1828 right_yaw=0.0647 right_pitch=-0.4738 right_roll=-0.0912 right_gripper=0.9948 state[joint_eff]: [-0.0752, -3.1521, 6.4752, 1.2186, -0.1441, -0.0269, -0.0122, -0.3624, -12.465, 7.8017, 1.1697, 0.2418, 0.0757, -0.2418] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.3, "right_z": 0.15}, "note": "Lemon and teddy are in the safe. Moving the right arm back over the brown plush lying in front of the safe."})
tool
executing move_to over 12 steps (1.2s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe brown plush is centred just ahead of the jaws. Descending onto it to grab the body.
move_to
right_x0.2900right_y0.3100right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.0906, 0.9971, 0.9833, 1.8732, 1.6165, -1.0859, 0.4103, 0.7368, 0.9953] state[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0785 left_pitch=-0.3953 left_roll=0.1434 left_gripper=0.9971 right_x=0.2792 right_y=0.2985 right_z=0.1339 right_yaw=0.0732 right_pitch=-0.5273 right_roll=-0.148 right_gripper=0.9953 state[joint_eff]: [-0.1436, -3.2205, 6.5299, 1.2332, -0.1636, -0.0073, -0.0122, 0.1846, -11.8496, 7.0769, 0.8962, 0.4274, 0.1929, 0.0415] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.31, "right_z": 0.01}, "note": "The brown plush is centred just ahead of the jaws. Descending onto it to grab the body."})
tool
executing move_to over 8 steps (0.8s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteJaws are pressed into the plush. Closing to grab it.
move_to
right_gripper0.0000right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.091, 0.9971, 0.9802, 2.0045, 1.3621, -0.7174, 0.4072, 0.733, 0.9954] state[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0787 left_pitch=-0.3952 left_roll=0.1432 left_gripper=0.9971 right_x=0.2843 right_y=0.3049 right_z=0.0258 right_yaw=0.0663 right_pitch=-0.5405 right_roll=-0.1636 right_gripper=0.9954 state[joint_eff]: [-0.0889, -3.1385, 6.4752, 1.2234, -0.1587, -0.0757, -0.0122, -0.3761, -7.9385, 4.8479, 0.6764, 0.1685, -0.0952, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0, "right_z": 0.0}, "note": "Jaws are pressed into the plush. Closing to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteGripper settled at 0.11, so it has a fold of the plush. Lifting high so the dangling plush clears the safe's front wall.
move_to
right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.0906, 0.9971, 0.9806, 2.0163, 1.3357, -0.625, 0.4152, 0.7296, 0.1106] state[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0785 left_pitch=-0.3953 left_roll=0.1434 left_gripper=0.9971 right_x=0.2914 right_y=0.3134 right_z=0.0192 right_yaw=0.0886 right_pitch=-0.5011 right_roll=-0.1219 right_gripper=0.1106 state[joint_eff]: [-0.1983, -3.1521, 6.4752, 1.243, -0.1734, -0.0757, -0.0122, -0.1026, -7.788, 3.8632, 0.7741, 0.0952, -0.0122, 0.7106] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25}, "note": "Gripper settled at 0.11, so it has a fold of the plush. Lifting high so the dangling plush clears the safe's front wall."})
tool
executing move_to over 15 steps (1.5s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent notePlush is held and the safe interior (teddy and lemon) is straight ahead in the wrist view. Carrying it forward over the safe.
move_to
right_x0.4000right_y0.3100right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9287, -0.205, -0.0906, 0.9971, 0.9806, 2.0254, 2.2616, -1.5074, 0.4004, 0.7223, 0.1107] state[eef_state]: left_x=0.2884 left_y=-0.002 left_z=0.1893 left_yaw=0.0781 left_pitch=-0.395 left_roll=0.143 left_gripper=0.9971 right_x=0.2928 right_y=0.3198 right_z=0.2426 right_yaw=0.1165 right_pitch=-0.4906 right_roll=-0.0853 right_gripper=0.1107 state[joint_eff]: [-0.2256, -2.8103, 6.5162, 1.2967, -0.0952, -0.0611, -0.0122, -0.4855, -9.265, 6.7487, 0.735, 0.2955, 0.0269, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.31, "right_z": 0.25}, "note": "Plush is held and the safe interior (teddy and lemon) is straight ahead in the wrist view. Carrying it forward over the safe."})
tool
executing move_to over 9 steps (0.9s)
step 231
top_cam
camera top_cam step 231
assistant
agent notePlush is over the front half of the safe. Nudging forward and lowering so it lands inside.
move_to
right_x0.4200right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1202, 1.0527, -0.9295, -0.2054, -0.0906, 0.9971, 0.7723, 2.2902, 2.6541, -1.6009, 0.3241, 0.5213, 0.1107] state[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.189 left_yaw=0.0786 left_pitch=-0.396 left_roll=0.1436 left_gripper=0.9971 right_x=0.3801 right_y=0.2967 right_z=0.2296 right_yaw=0.1017 right_pitch=-0.5267 right_roll=-0.1034 right_gripper=0.1107 state[joint_eff]: [-0.1846, -3.0154, 6.5846, 1.2186, -0.1783, -0.0806, -0.0122, -0.2393, -10.9197, 7.7333, 1.1404, 0.2466, -0.1001, -0.0122] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_z": 0.18}, "note": "Plush is over the front half of the safe. Nudging forward and lowering so it lands inside."})
tool
executing move_to over 4 steps (0.4s)
step 235
assistant
agent notePlush is hanging over the safe interior. Releasing 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]: [-0.1444, 1.1202, 1.0531, -0.9295, -0.2054, -0.0906, 0.9971, 0.7181, 2.2986, 2.4432, -1.4544, 0.2996, 0.4728, 0.1107] state[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1892 left_yaw=0.0786 left_pitch=-0.3956 left_roll=0.1435 left_gripper=0.9971 right_x=0.4016 right_y=0.2865 right_z=0.1732 right_yaw=0.0697 right_pitch=-0.6021 right_roll=-0.1578 right_gripper=0.1107 state[joint_eff]: [-0.1436, -3.1521, 6.4615, 1.2381, -0.1245, -0.0562, -0.0073, -0.2667, -12.6017, 6.7077, 1.3016, 0.2173, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Plush is hanging over the safe interior. Releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 244
assistant
agent noteAll three objects are now inside the safe. Raising the right arm with the gripper closed so it can reach behind the upright lid.
move_to
right_z0.3000right_x0.4500right_y0.3000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9325, -0.2054, -0.091, 0.9971, 0.712, 2.3085, 2.4336, -1.3949, 0.2943, 0.4515, 0.9946] state[eef_state]: left_x=0.2876 left_y=-0.0018 left_z=0.1888 left_yaw=0.0791 left_pitch=-0.3986 left_roll=0.144 left_gripper=0.9971 right_x=0.4127 right_y=0.2932 right_z=0.1692 right_yaw=0.0978 right_pitch=-0.5745 right_roll=-0.1344 right_gripper=0.9946 state[joint_eff]: [-0.1299, -3.1385, 6.6667, 1.2479, -0.1636, -0.0611, -0.0122, -0.4171, -13.4222, 6.9812, 1.1453, 0.2222, 0.0122, -0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.3, "right_x": 0.45, "right_y": 0.3, "right_gripper": 0}, "note": "All three objects are now inside the safe. Raising the right arm with the gripper closed so it can reach behind the upright lid."})
tool
executing move_to over 10 steps (1.0s)
step 254
assistant
agent noteThe lid stands upright behind the safe. Reaching over its top edge so I can then pull it toward the base to close it.
move_to
right_x0.5600right_y0.3100right_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.944, -0.205, -0.0906, 0.9971, 0.6613, 2.315, 2.6102, -1.5829, 0.2745, 0.3916, 0.0086] state[eef_state]: left_x=0.2853 left_y=-0.0015 left_z=0.1873 left_yaw=0.0796 left_pitch=-0.4098 left_roll=0.1466 left_gripper=0.9971 right_x=0.4082 right_y=0.2615 right_z=0.2045 right_yaw=0.0962 right_pitch=-0.6047 right_roll=-0.1552 right_gripper=0.0086 state[joint_eff]: [-0.1573, -3.1385, 6.4752, 1.3211, -0.1392, -0.0757, -0.0122, -0.6632, -15.3641, 5.4496, 0.9304, 0.1587, -0.0317, 0.6276] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.56, "right_y": 0.31, "right_z": 0.24}, "note": "The lid stands upright behind the safe. Reaching over its top edge so I can then pull it toward the base to close it."})
tool
executing move_to over 12 steps (1.2s)
step 266
assistant
agent noteThe arm stalled against the upright lid's face. Backing off, raising and pitching the tool forward so the fingertips can reach over the lid's top edge.
move_to
right_x0.4200right_z0.2800right_pitch0.4000right_y0.2800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1202, 1.0527, -0.9504, -0.2054, -0.0906, 0.9971, 0.5659, 2.5439, 2.87, -1.5986, 0.2455, 0.2852, 0.0104] state[eef_state]: left_x=0.2839 left_y=-0.0012 left_z=0.1863 left_yaw=0.0806 left_pitch=-0.4165 left_roll=0.1486 left_gripper=0.9971 right_x=0.4617 right_y=0.2467 right_z=0.1653 right_yaw=0.1025 right_pitch=-0.6144 right_roll=-0.1643 right_gripper=0.0104 state[joint_eff]: [-0.1299, -3.0974, 6.4479, 1.2869, -0.1245, -0.0415, -0.0122, -0.5538, -12.5333, 8.1026, 1.1648, 0.1294, -0.0562, 0.1685] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_z": 0.28, "right_pitch": 0.4, "right_y": 0.28}, "note": "The arm stalled against the upright lid's face. Backing off, raising and pitching the tool forward so the fingertips can reach over the lid's top edge."})
tool
executing move_to over 34 steps (3.4s)
step 300
assistant
agent noteThe wrist camera now shows the lid's top edge just below and ahead of the jaws. Reaching past it and dropping behind the edge so I can hook it.
move_to
right_x0.5400right_y0.3400right_z0.2400right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1236, 1.0527, -0.9512, -0.2054, -0.0906, 0.9971, 0.8574, 2.5866, 3.134, -0.9768, 0.8101, 0.0853, 0.0124] state[eef_state]: left_x=0.284 left_y=-0.0013 left_z=0.1853 left_yaw=0.081 left_pitch=-0.4206 left_roll=0.1497 left_gripper=0.9971 right_x=0.4847 right_y=0.37 right_z=0.3502 right_yaw=0.1222 right_pitch=0.2851 right_roll=-0.2136 right_gripper=0.0124 state[joint_eff]: [-0.1983, -3.3026, 6.5709, 1.1941, -0.1734, -0.0611, -0.0122, 0.0342, -13.012, 6.1197, 2.1807, 0.3639, 0.0269, 0.1978] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.54, "right_y": 0.34, "right_z": 0.24, "right_pitch": 0.4}, "note": "The wrist camera now shows the lid's top edge just below and ahead of the jaws. Reaching past it and dropping behind the edge so I can hook it."})
tool
executing move_to over 8 steps (0.8s)
step 308
assistant
agent noteThe gripper is now behind the upright lid (top view shows it just past the lid). Dropping down behind the lid so a pull toward the base will swing it shut.
move_to
right_z0.1400right_y0.3100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.1236, 1.0527, -0.9516, -0.205, -0.0906, 0.9971, 0.7551, 2.8319, 3.1317, -0.6636, 0.7387, -0.038, 0.0138] state[eef_state]: left_x=0.2839 left_y=-0.0013 left_z=0.1852 left_yaw=0.0807 left_pitch=-0.421 left_roll=0.1494 left_gripper=0.9971 right_x=0.571 right_y=0.379 right_z=0.251 right_yaw=0.1363 right_pitch=0.3027 right_roll=-0.2708 right_gripper=0.0138 state[joint_eff]: [-0.1709, -3.1795, 6.7214, 1.2186, -0.1197, -0.0513, -0.0122, -0.6769, -14.4752, 6.8171, 2.1563, 0.0855, -0.0464, 0.1441] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14, "right_y": 0.31}, "note": "The gripper is now behind the upright lid (top view shows it just past the lid). Dropping down behind the lid so a pull toward the base will swing it shut."})
tool
executing move_to over 8 steps (0.8s)
step 316
assistant
agent noteGripper sits behind the lid top. Pulling back toward the base and down to swing the lid over the safe.
move_to
right_x0.3800right_z0.1200right_y0.3100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.124, 1.0527, -0.9516, -0.2054, -0.0906, 0.9971, 0.688, 2.952, 3.1466, -0.4294, 0.6575, -0.0532, 0.0144] state[eef_state]: left_x=0.2839 left_y=-0.0012 left_z=0.1852 left_yaw=0.0811 left_pitch=-0.4213 left_roll=0.1499 left_gripper=0.9971 right_x=0.6167 right_y=0.3718 right_z=0.2194 right_yaw=0.1224 right_pitch=0.3944 right_roll=-0.1889 right_gripper=0.0144 state[joint_eff]: [-0.0342, -3.0017, 6.4342, 1.199, -0.1783, -0.0513, -0.0122, -1.8667, -10.441, 6.5026, 0.8669, 0.1636, -0.1832, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_z": 0.12, "right_y": 0.31}, "note": "Gripper sits behind the lid top. Pulling back toward the base and down to swing the lid over the safe."})
tool
executing move_to over 19 steps (1.9s)
step 335
assistant
agent noteThe pull slid off to the left side and the lid is still open, with the gripper in front of it. Raising above the lid again to get properly behind its top edge.
move_to
right_x0.4500right_y0.3000right_z0.3300right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.124, 1.0527, -0.9516, -0.2054, -0.0906, 0.9971, 0.9874, 3.0184, 3.1359, -0.5198, 0.947, 0.0959, 0.0146] state[eef_state]: left_x=0.2839 left_y=-0.0012 left_z=0.1852 left_yaw=0.0811 left_pitch=-0.4213 left_roll=0.1499 left_gripper=0.9971 right_x=0.4901 right_y=0.4888 right_z=0.1651 right_yaw=0.1272 right_pitch=0.3448 right_roll=-0.2231 right_gripper=0.0146 state[joint_eff]: [-0.0205, -3.1658, 6.4205, 1.1844, -0.1783, -0.0708, -0.0122, 0.4444, -16.5812, 6.9128, 1.7167, 0.3101, 0.0904, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.3, "right_z": 0.33, "right_pitch": 0.4}, "note": "The pull slid off to the left side and the lid is still open, with the gripper in front of it. Raising above the lid again to get properly behind its top edge."})
tool
executing move_to over 16 steps (1.6s)
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 · 13.77 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6075, -0.403, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.0007 right_z=0.177 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -1.4154, 10.359, 1.9463, -0.0806, 0.1636, -0.0904, -0.3624, -1.4701, 9.6479, 2.0586, -0.0611, 0.1587, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dfc2a4aeadae5dd7f0bd00c079e9bd812e2d33013ec7010a4c60fe217b4af5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30a6959b6b3cec80eb9d646d554f317cac9593b8840b6876978770e8e5d007f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f2a96c0ac56e7afaf23bda96137601d912a2d8b0fa65ecd395c15ca30d8fe46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 4.174 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6075, -0.403, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.0007 right_z=0.177 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -1.4154, 10.359, 1.9463, -0.0806, 0.1636, -0.0904, -0.3624, -1.4701, 9.6479, 2.0586, -0.0611, 0.1587, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dfc2a4aeadae5dd7f0bd00c079e9bd812e2d33013ec7010a4c60fe217b4af5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30a6959b6b3cec80eb9d646d554f317cac9593b8840b6876978770e8e5d007f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f2a96c0ac56e7afaf23bda96137601d912a2d8b0fa65ecd395c15ca30d8fe46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0114enVKKjZjo4vwS8dTR8F4",
      "input": {
        "note": "Scene: open red safe in the middle, teddy bear to its left, lemon to its right, brown plush in front. Moving the left arm above the teddy bear first.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.37,
          "left_y": -0.15,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_0114enVKKjZjo4vwS8dTR8F4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5999, 1.3899, 0.7895, -0.149, -0.4698, -0.3779, 0.9993, -0.0212, 0.7998, 0.6094, -0.4332, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3569 left_y=-0.1429 left_z=0.1279 left_yaw=-0.0205 left_pitch=-0.0742 left_roll=0.0335 left_gripper=0.9993 right_x=0.2884 right_y=0.0008 right_z=0.17 right_yaw=0.0008 right_pitch=-0.0347 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -6.0513, 9.1282, 1.7851, -0.525, -0.0464, -0.0904, -0.1162, -1.6615, 6.8444, 1.9951, -0.022, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3c42046f1d256b562f66d6bf6ab99e9ad7a924929929d9584ab82f519fb55c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e571d7cc94f9af5615bf488b6e10c1346d7e96ae0f63f787e027b9a3740348ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b0cdad20148b30fbc279311c39b3bf282c528d5966eca37e9733e76d3899c31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.562 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6075, -0.403, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.0007 right_z=0.177 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -1.4154, 10.359, 1.9463, -0.0806, 0.1636, -0.0904, -0.3624, -1.4701, 9.6479, 2.0586, -0.0611, 0.1587, -0.0513]",
      "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]: [-0.5999, 1.3899, 0.7895, -0.149, -0.4698, -0.3779, 0.9993, -0.0212, 0.7998, 0.6094, -0.4332, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3569 left_y=-0.1429 left_z=0.1279 left_yaw=-0.0205 left_pitch=-0.0742 left_roll=0.0335 left_gripper=0.9993 right_x=0.2884 right_y=0.0008 right_z=0.17 right_yaw=0.0008 right_pitch=-0.0347 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -6.0513, 9.1282, 1.7851, -0.525, -0.0464, -0.0904, -0.1162, -1.6615, 6.8444, 1.9951, -0.022, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3c42046f1d256b562f66d6bf6ab99e9ad7a924929929d9584ab82f519fb55c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e571d7cc94f9af5615bf488b6e10c1346d7e96ae0f63f787e027b9a3740348ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b0cdad20148b30fbc279311c39b3bf282c528d5966eca37e9733e76d3899c31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QcKEAgSGAI4AUIIdGhpbmtpbmcSDE7awli3KF/hie4PchoMayO4mbY1nBh9WD8YIjBq6Le2nJNl7WAp7DBO16U5WprEvTS0wsdbZl3Pm6vJviJ+rBl69sEn0K0VKL2MHZIqggcet45x4zbYO4NMr4JrobMkP9TSWXgLbo7bjSYnH6slDBPUuqkPHmGQeImKv6+huUwfK2Nkz+rTUxutN+k4xAmobPVdo/NzZvFE131KIMMUu0ChN8OQklL3PiH5rqXDKSkRacMIXzZdFO08NE9tla6pddtDia8pi4bRh5KooAIxNne2zDHOJfdbtD5yrDQBAJJUiyvg5Ma0sYc0CkkCPznj4dF9GcbCYr8Ewh7hgOex9trSaGn71BFtLvCmNrPMVYqAa/3KyKSWKdGNHFeL9V+/TgeOYPWKRA9g7F2gbF4Y1Jc6vLbxmtnF568UP/Zym2C45yiC+v665k0qw/aPSHi+k37eeDK8yh3c3VJbxfDN8U5nHcrFC4Fb4JcF3JPqB//4TKZpS7fnnw2Eda23Dve9Ly7ccomMBmkMmi0cQOzgIJc3Z57P1kI4vBQBBosmKQUo5uTgOqkKpZwoiSQ1u1p0VWACewUcvLH1Kztxg5QmJCUdSaztulv6GevVLzskXqWQjO8V0WZ2R6bR1QoukdxdJjpZSkL4wS0fFBmquN6IlgGRHz6co3NiwRBesKhX6bTeAXOpgaZ6JBnR3xCgrLTclkpcDXfPu8WyGA//NivN+yeYLWzIlbJgQU6LCpPrCXcOXuC/DqL8vdu+ZaYgCCJcsyCaUgNhd8QkxECTlEP/BnWwqXCmff6AMKZ+8qmKltSbu2J6jlb6vDhU2Dxhf7V8vwIM17rtnlDV5QFdrdGoM3urlPeNAurttcY4O4BLsPmNCcGN8L/26VDQ3XrfLX3CaUyQ5m7Zp17HVwbBLm/wCbRnUrBzvr06PvgWhmbBO6eGiBGcQo99VzDuEuSGbjCLH5NiBKDDhxnXecfiStZIFVsqHCBzeFIdZxXXz1zqqIvcm41MbxEheBjTKG3xvwGi06ANp0VzTyvjP5Ch44vCCLKDY/kuQzSMwcJ9M8vQMpACTUycSzvBjYn8VzJUWaD5q6as7K+oGOdHa+nA7GcxKbZq2uPp/dloO0fhbPnLbYwiZsJdykEdx6XJePIg9+CArGNtgz/IHnnbx87fAClpVjZZZlNq1x40Ag55Ac7vV/NHtge2I6xabraelbYga99MGG7O5L5qEp0LT9B5QYJM+WvOK8YeVb0iEvNaO+64JF1YQrGw/gdPUc4M6Cco/OpLnn25fJE8bCz8GYGnvA7qu7oVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DWZYqxr8MxMj8bfmCmDkXU",
      "input": {
        "note": "Teddy appears slightly left of the jaw column and close under the fingertips. Shifting left ~2.5 cm and descending to grasp it.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.12,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01DWZYqxr8MxMj8bfmCmDkXU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.524, 1.607, 0.5373, 0.2691, -0.4221, -0.3321, 0.9992, -0.0212, 0.8005, 0.6094, -0.4549, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3505 left_y=-0.1148 left_z=0.024 left_yaw=-0.0041 left_pitch=-0.1366 left_roll=0.0674 left_gripper=0.9992 right_x=0.2853 right_y=0.0009 right_z=0.1655 right_yaw=0.0008 right_pitch=-0.0572 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -6.106, 4.9436, 1.7558, -0.0562, 0.0659, -0.022, -0.0205, -1.306, 6.9812, 1.8584, -0.0366, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea385aabe0fade496f8eee6ae90624781e59167467b82fd0eb6ebce9b965343f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ed381bf251539072b484fdb30c151387767fa400825b5e0473009d216f631a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48dbf444c81b398d953f178ecead2300d67c3a1158e56a4c33edb515591ce921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.325 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6075, -0.403, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.0007 right_z=0.177 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -1.4154, 10.359, 1.9463, -0.0806, 0.1636, -0.0904, -0.3624, -1.4701, 9.6479, 2.0586, -0.0611, 0.1587, -0.0513]",
      "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]: [-0.5999, 1.3899, 0.7895, -0.149, -0.4698, -0.3779, 0.9993, -0.0212, 0.7998, 0.6094, -0.4332, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3569 left_y=-0.1429 left_z=0.1279 left_yaw=-0.0205 left_pitch=-0.0742 left_roll=0.0335 left_gripper=0.9993 right_x=0.2884 right_y=0.0008 right_z=0.17 right_yaw=0.0008 right_pitch=-0.0347 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -6.0513, 9.1282, 1.7851, -0.525, -0.0464, -0.0904, -0.1162, -1.6615, 6.8444, 1.9951, -0.022, -0.0366, -0.0171]",
      "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]: [-0.524, 1.607, 0.5373, 0.2691, -0.4221, -0.3321, 0.9992, -0.0212, 0.8005, 0.6094, -0.4549, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3505 left_y=-0.1148 left_z=0.024 left_yaw=-0.0041 left_pitch=-0.1366 left_roll=0.0674 left_gripper=0.9992 right_x=0.2853 right_y=0.0009 right_z=0.1655 right_yaw=0.0008 right_pitch=-0.0572 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -6.106, 4.9436, 1.7558, -0.0562, 0.0659, -0.022, -0.0205, -1.306, 6.9812, 1.8584, -0.0366, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea385aabe0fade496f8eee6ae90624781e59167467b82fd0eb6ebce9b965343f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ed381bf251539072b484fdb30c151387767fa400825b5e0473009d216f631a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48dbf444c81b398d953f178ecead2300d67c3a1158e56a4c33edb515591ce921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSggcKEAgSGAI4AUIIdGhpbmtpbmcSDMuw9dod221GQ8e5WxoMvjzlWqRX79BNOvrrIjD3+9Mx/EU45VFseUZT/hE3g6SACDkX4Y/wbZmcYtjrc8o5L+AB/SQZ7LQ84sm3ntcqnwb4UV5Xvzcy25cUbKh+5eq8Ek9+2KvEFmotzmKA3LFIihaa56KbtvA/siYotYV1ZHVOcevwuG16skzIpVr/06HKqYAYOX4kRpvb1LnIwdwZYL56/CzjCBFD0dFupsNz/hGyfzH0qFvC86EUFVVo8PJplBsVcybe+X/KelqfIoIVeLTUk1ZuhL187B7iH8dMerBbUcJh8lQN5aXD20CvJyMhgDT9/D0nr1ayY6ogUGnlmnZe7psVNG+O0EKjoGie9nDZfVk5qqWkqZ5Y8VFkRmerSWfFYl6C2vx4qLL9/QSMk8bLNlVKkzIv/Hfvpvb7hLca1FEoRptb0ClDpN45m3wAs+qXBnyzRY9oJuTcdoHIZVKPrZUrQEbAD4kz+M/5H96H1tWDxxp8IOD9DieF/5lfw0+bGxZmI9+IWMWuB4XDXIlqaQEhnJsiGVcIc263s6up4BWBZeIJhFPvWQXpJitgdr7TCTFCR4bjFeA6aySqf7pHuP7htv/0P+f4gE53vOxdlqyzZjcnVfVXUglRNl9kURQHwkWaDQBARsiRi5Gzl8hf92kHYGnpphxZqwmJ4OTDDOHE7blgVocjcIOg3N2mSMqKE+Dz7yepsqiSO2zpaFhljfsjkqMsB0U4LkeM+asVRs8WrJlkEd1ThYtlnNt9Bj37JoD7sQJCEKK2W90xP6zhaP9rkJSCsq9Qjpn2qjN+/IAr/boaRyCoJp/EzZht983xzmO1tAvEdalgksXXmhUw6+3nhJecBGdAOtFD4WBru4s+Hsb/Of8HoEA/KSNos7Y88WcsqWnQ4eiw8C9bLieVi/7lv/AdVCIu3ulf7+AthGT5QRY3jWT2HVpPQQa9yNysL0G0txWY9h5J3k+rN/9OJNDmE/cPsUU7GYvCyVDixb/3ckoO6+51GiTMIMqd0QK0mDlJfMdTqfGe/d5zX4ULLLS61GT6g3Z1VphZ6sftvrTqtou2dRBMRcVP/5vgmG3hva18G/m6lm+Il+9ve+4BBjFmp7tA2TwvIqAuZtAij/7ssGc9EcK/azYqbHuLJI/sxkTD3XCuSOBwgGlrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YPrmJKEvbA1SCQLaaNaptF",
      "input": {
        "note": "Teddy is between the jaws in the wrist view. Closing the gripper on it.",
        "targets": {
          "left_gripper": 0,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YPrmJKEvbA1SCQLaaNaptF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5228, 1.6283, 0.5224, 0.2726, -0.416, -0.3378, 0.0166, -0.0212, 0.8009, 0.6094, -0.4782, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3446 left_y=-0.112 left_z=0.0121 left_yaw=-0.002 left_pitch=-0.167 left_roll=0.0757 left_gripper=0.0166 right_x=0.2818 right_y=0.0009 right_z=0.1608 right_yaw=0.0005 right_pitch=-0.0809 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -6.5026, 5.6547, 1.6288, -0.2369, 0.0122, 1.0818, -0.212, -1.2376, 7.0632, 1.8681, -0.022, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec75dd034d3121ddb256a2685f33208c9675594fe85985aa4cbfad2e0a2f753c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2808f39a22796a91e890eb2bae6b888920a2fa44f3c86b17633f65faa83878a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9450651008b21259ccbaa0728e37e68545b0c680b122f5a7c0df9432a39427d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 3.676 s
model
claude-opus-5-5
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]: [-0.5999, 1.3899, 0.7895, -0.149, -0.4698, -0.3779, 0.9993, -0.0212, 0.7998, 0.6094, -0.4332, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3569 left_y=-0.1429 left_z=0.1279 left_yaw=-0.0205 left_pitch=-0.0742 left_roll=0.0335 left_gripper=0.9993 right_x=0.2884 right_y=0.0008 right_z=0.17 right_yaw=0.0008 right_pitch=-0.0347 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -6.0513, 9.1282, 1.7851, -0.525, -0.0464, -0.0904, -0.1162, -1.6615, 6.8444, 1.9951, -0.022, -0.0366, -0.0171]",
      "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]: [-0.524, 1.607, 0.5373, 0.2691, -0.4221, -0.3321, 0.9992, -0.0212, 0.8005, 0.6094, -0.4549, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3505 left_y=-0.1148 left_z=0.024 left_yaw=-0.0041 left_pitch=-0.1366 left_roll=0.0674 left_gripper=0.9992 right_x=0.2853 right_y=0.0009 right_z=0.1655 right_yaw=0.0008 right_pitch=-0.0572 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -6.106, 4.9436, 1.7558, -0.0562, 0.0659, -0.022, -0.0205, -1.306, 6.9812, 1.8584, -0.0366, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5228, 1.6283, 0.5224, 0.2726, -0.416, -0.3378, 0.0166, -0.0212, 0.8009, 0.6094, -0.4782, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3446 left_y=-0.112 left_z=0.0121 left_yaw=-0.002 left_pitch=-0.167 left_roll=0.0757 left_gripper=0.0166 right_x=0.2818 right_y=0.0009 right_z=0.1608 right_yaw=0.0005 right_pitch=-0.0809 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -6.5026, 5.6547, 1.6288, -0.2369, 0.0122, 1.0818, -0.212, -1.2376, 7.0632, 1.8681, -0.022, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec75dd034d3121ddb256a2685f33208c9675594fe85985aa4cbfad2e0a2f753c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2808f39a22796a91e890eb2bae6b888920a2fa44f3c86b17633f65faa83878a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9450651008b21259ccbaa0728e37e68545b0c680b122f5a7c0df9432a39427d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wcKEAgSGAI4AUIIdGhpbmtpbmcSDPN2fKuBR+ZYBf9JvRoMc9oHByLbC0WwVLeCIjDM4wim0x/iikv1F39FWFbfjXNiJK21qhAFezL4Wba1lmzJAdAuGcP+vE0xjwZ+QP0qhAeKlrgz3+9+xlRNaD8TRVLR/dfbUrq1KuoK3lUb939/VXr0C1PCXXfGZ4Z6AP3UJ3Dtu6kbPxdt9w//XoVSQCC8/2ChM2tR0fArBIFZD5Ez4N/EuG+bN7DZVH876l06I/IwuOgHayMd8ShA7f1jrqO9PuIBwXLckkz2+b2dnIMdUC3/KffD2vUfVRwGGWpZHwg2NoB+LJ4QGqf1P8VYsJVjoHBlAfLbmZhMiwnJxVNOyGdnP90WRE26HN/ridoCxW6N7iu37DttXT5ayGKGe2xGx0un2NxufV+R7FnJuJ7EtUyHv+o8skhPwBjIA0UgrpdsldY78fohw0hIcJA2SLa5HGC4zKV01/qafS7MCzxno9v9DegBmvO/YS9SnSnmX4P9zIkwTOlI64b7E5vjphFt8jIV0CQGwq6QAHLO/LQ8hMJl2YvCBnTpTc2BRov87f3Lo6IjpZlqnjxYsYXDccYpySH3HgxzVsLPtjzeb2FjOB/NbRfKOn1sVqpGVeJwx1VhxKUBzy+ky8JO/0MCliKCmttEuiw/HzHKXp+1hTIeXYCEYk4zg9orcmU1EE1+TbaC9TBtc/9jQIZpVny45CPv3czZDJkTPkq4GSuw0jshbFgyQzluoqhGEdBz80fnnHgSkgDEG8js1XTeZr/xcZpIa6Ec7oW9ZZZsU6ZfJaqnAWCaHsVzxo4bSsfQSHQVjYKlo2o7OOa6XWOzC17CLm8CFMfpRELFZA8SjB3yWaEDwrbF8n62aEgZrfr3nHssoMbJtr/M85Fha+vePDi1yBwtbCGY9St6UeHaYFzfD8mOzGRuPQRcGEEazcvTGLDgw9mOITDTZUeWsU6Oymynp/lwzeEZ5hlZWstSie0pPeUVCLm9nMgXK8aFTIF0HPTecD1BddUI9KDzIGuxhqRtGxnGzaIKFo6Pt2+xf+P42xIf2yHvBCr7dcTqFFkFqfQJ1/o5LzkkOdS3VSqwFMUVB85tPuYEXOmNv8fpGKt7GyOfA0LZlVEZkFp26RU8tAmVTJDUZNGoWHCvEczzFFus7b4hDwulyYovrnX2eWSzCMYvacVSiSJc8ST3uNJSMFLfid2Tk6+LGhv1SJmMufVrqDlew2yHAgLfIDI84FxNoCT9nsPWc+t7UL63GP+vSrVVvZin4w7bdOn7VNPcBkdUvNqLoWoDdK8Liqed+y2OYnXIL2Ls4BoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kouchcv2F8YwTN6QW2Lzce",
      "input": {
        "note": "Empty close: the teddy sits just beyond the fingertips. Opening and lifting slightly before advancing.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Kouchcv2F8YwTN6QW2Lzce",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5228, 1.4876, 0.5846, 0.0261, -0.4156, -0.3462, 0.9949, -0.0212, 0.8009, 0.6094, -0.5003, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3364 left_y=-0.1074 left_z=0.0419 left_yaw=0.0064 left_pitch=-0.2044 left_roll=0.0914 left_gripper=0.9949 right_x=0.2784 right_y=0.001 right_z=0.1566 right_yaw=0.0009 right_pitch=-0.103 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.3915, 8.4991, 1.5263, -0.2418, 0.0317, 0.1001, -0.0752, -1.0188, 6.9538, 1.8388, -0.0562, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd2d28046738b6569d3f3e0520c8f5da1f712e2e694a59e1fc30327d8e104452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:999cc9ce75748fc6a3e7d03986bb2f549fde147bc8b8287b8714d0899734c1e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c671f47c866c5e5d95e0dfccf8f47b0d42a6fd3e447d252d62c6a98573f6675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.271 s
model
claude-opus-5-5
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]: [-0.524, 1.607, 0.5373, 0.2691, -0.4221, -0.3321, 0.9992, -0.0212, 0.8005, 0.6094, -0.4549, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3505 left_y=-0.1148 left_z=0.024 left_yaw=-0.0041 left_pitch=-0.1366 left_roll=0.0674 left_gripper=0.9992 right_x=0.2853 right_y=0.0009 right_z=0.1655 right_yaw=0.0008 right_pitch=-0.0572 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -6.106, 4.9436, 1.7558, -0.0562, 0.0659, -0.022, -0.0205, -1.306, 6.9812, 1.8584, -0.0366, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5228, 1.6283, 0.5224, 0.2726, -0.416, -0.3378, 0.0166, -0.0212, 0.8009, 0.6094, -0.4782, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3446 left_y=-0.112 left_z=0.0121 left_yaw=-0.002 left_pitch=-0.167 left_roll=0.0757 left_gripper=0.0166 right_x=0.2818 right_y=0.0009 right_z=0.1608 right_yaw=0.0005 right_pitch=-0.0809 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -6.5026, 5.6547, 1.6288, -0.2369, 0.0122, 1.0818, -0.212, -1.2376, 7.0632, 1.8681, -0.022, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5228, 1.4876, 0.5846, 0.0261, -0.4156, -0.3462, 0.9949, -0.0212, 0.8009, 0.6094, -0.5003, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3364 left_y=-0.1074 left_z=0.0419 left_yaw=0.0064 left_pitch=-0.2044 left_roll=0.0914 left_gripper=0.9949 right_x=0.2784 right_y=0.001 right_z=0.1566 right_yaw=0.0009 right_pitch=-0.103 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.3915, 8.4991, 1.5263, -0.2418, 0.0317, 0.1001, -0.0752, -1.0188, 6.9538, 1.8388, -0.0562, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd2d28046738b6569d3f3e0520c8f5da1f712e2e694a59e1fc30327d8e104452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:999cc9ce75748fc6a3e7d03986bb2f549fde147bc8b8287b8714d0899734c1e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c671f47c866c5e5d95e0dfccf8f47b0d42a6fd3e447d252d62c6a98573f6675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSgwcKEAgSGAI4AUIIdGhpbmtpbmcSDM6QgiTNkQz5sKm0ChoMwxzRA0FT4souzyWxIjBjhgWWYyEcd5Z3FveKQ54WViVU4eCj043sbqUWmQDihR5hHPA4V5k6jlQ5JtN5V1QqoAanN60sK/n8R5w1pvkbCNBGj4926WUwodMejM9kNCR5bhB7WuydcnVYoiLz1otx0Zs6YVjakc4xj7RyUC8taaIlUMTBt57GmEfEXFfzEQ7CGeozMGcdvnVjG9uveQRT7508QiuF2bv5Gwr77x6D6g42P7KULDeu7YBw/XPqbUfN79W1qpzs9bVdg03/xYwRastxr/Kk39KQNmKLqWwxU0EHo7nc6XOlUbFQBQazllorhQCsyY/mb4kg6lPuZGLKJKhLQ/IqN2yItGZ2KSwemsjG++WkGO5ducJnshDrFYpidOPzLN4626NcygRgoE8kYVthmR8Ik1CkIweEyAybF4ltBSEYLYnHQhUpVo50M7dh6zSySWtrvC9+dZrbm/aydcNFQu0l1549o3XlRkD/GVV6p+xU7yUq0mJqumZlOGe0XOm9xbkjcRB3bmK3GLBLqw3ATU2zYh4myUK1MFze3pyimK4UGmbFkVnDb1Rhedse7PAD5/PjlHx6UiNB9QUWeuHSOi1+tGTritAWc65qGNHBwmqoJPkrPO/65sR52/LVL/9jgagvA22ynprdtqYZ8ax19pSFlFVBlCX13Lp5T320MWvxn9zdiugTechuzxDglyXu+8goLkFfTd6QuMHUODOT+EZ/foFDzGV+iealiG6zj3Gq48foe2vNVobEQILsJWimoExeCNY5RuRq2WW2N9/WB04pi6PHHu5NXJGtAtLwCQqNBe43EEMWeGbhDwt7vNu8Rhp61YqVDS2C41xqZmmVmlT28Usl5/Y6GqzNRksnoUGreOeWU27jNA43PIX2jkaUfdg4r5Qgh09Agi4ac4Gb0tawKm6zyRad71t1PAeAXXsEmRcJdqL2s8v967cHDzZvovT7RuOlE5otG78CGaz8Ms/Q8+dn0MWx+UVL3EGdkdUX59g6CJ8UJHBPKaobY8E95r7r4gdNio1Cg0Va8tra2ECQJ4ap9TyD1GTbkCOqjTBKPwGAM1z7eIHwA8ipTLlY4rBadhxaMfVwUzqZyuQxmRTE+fMYlwqFHwHsM5ZzUYariVGj99WPl11g0vqkOBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XE8u3GB4FAvLPuk67cAqMR",
      "input": {
        "note": "Teddy is centred on the jaw column but ahead of the fingertips. Advancing ~6 cm and descending to straddle it.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.105,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XE8u3GB4FAvLPuk67cAqMR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4191, 1.7653, 0.7105, 0.1585, -0.3656, -0.2916, 0.9962, -0.0212, 0.8051, 0.6094, -0.524, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3843 left_y=-0.0981 left_z=0.0041 left_yaw=0.0425 left_pitch=-0.243 left_roll=0.1049 left_gripper=0.9962 right_x=0.2747 right_y=0.001 right_z=0.1511 right_yaw=0.0006 right_pitch=-0.1308 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.294, -7.1043, 6.065, 1.3797, -0.0122, 0.2125, 0.1245, -0.0342, -1.2103, 6.9538, 1.8828, -0.0464, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e5ca66d906a9d16f22cec236023f9782d0d98c95d83401147ce7cb19780b71e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cede59a783f9c2358dd7d5b8fba066710b50cf1fb65c9a976c36dea7e05aa4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c4264d45feed557fa3b0d634ba16ac34948b079bac5357441411bc30bae03dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 7.932 s
model
claude-opus-5-5
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]: [-0.5228, 1.6283, 0.5224, 0.2726, -0.416, -0.3378, 0.0166, -0.0212, 0.8009, 0.6094, -0.4782, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3446 left_y=-0.112 left_z=0.0121 left_yaw=-0.002 left_pitch=-0.167 left_roll=0.0757 left_gripper=0.0166 right_x=0.2818 right_y=0.0009 right_z=0.1608 right_yaw=0.0005 right_pitch=-0.0809 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -6.5026, 5.6547, 1.6288, -0.2369, 0.0122, 1.0818, -0.212, -1.2376, 7.0632, 1.8681, -0.022, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5228, 1.4876, 0.5846, 0.0261, -0.4156, -0.3462, 0.9949, -0.0212, 0.8009, 0.6094, -0.5003, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3364 left_y=-0.1074 left_z=0.0419 left_yaw=0.0064 left_pitch=-0.2044 left_roll=0.0914 left_gripper=0.9949 right_x=0.2784 right_y=0.001 right_z=0.1566 right_yaw=0.0009 right_pitch=-0.103 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.3915, 8.4991, 1.5263, -0.2418, 0.0317, 0.1001, -0.0752, -1.0188, 6.9538, 1.8388, -0.0562, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4191, 1.7653, 0.7105, 0.1585, -0.3656, -0.2916, 0.9962, -0.0212, 0.8051, 0.6094, -0.524, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3843 left_y=-0.0981 left_z=0.0041 left_yaw=0.0425 left_pitch=-0.243 left_roll=0.1049 left_gripper=0.9962 right_x=0.2747 right_y=0.001 right_z=0.1511 right_yaw=0.0006 right_pitch=-0.1308 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.294, -7.1043, 6.065, 1.3797, -0.0122, 0.2125, 0.1245, -0.0342, -1.2103, 6.9538, 1.8828, -0.0464, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e5ca66d906a9d16f22cec236023f9782d0d98c95d83401147ce7cb19780b71e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cede59a783f9c2358dd7d5b8fba066710b50cf1fb65c9a976c36dea7e05aa4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c4264d45feed557fa3b0d634ba16ac34948b079bac5357441411bc30bae03dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011XxEbtMbjkopDmbh1P6Ysa",
      "input": {
        "note": "Teddy now fills the jaw area. Closing the gripper.",
        "targets": {
          "left_gripper": 0,
          "left_x": 0.4,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011XxEbtMbjkopDmbh1P6Ysa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4099, 1.7851, 0.725, 0.2066, -0.3527, -0.2665, 0.2041, -0.0212, 0.8043, 0.6094, -0.5537, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3957 left_y=-0.1015 left_z=0.0079 left_yaw=0.0229 left_pitch=-0.2102 left_roll=0.0946 left_gripper=0.2041 right_x=0.2698 right_y=0.0012 right_z=0.1458 right_yaw=0.001 right_pitch=-0.1598 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -7.2547, 6.4068, 1.4872, -0.105, 0.0659, 0.8327, -0.0752, -1.1145, 6.8991, 1.9072, -0.0171, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee3afd4b113be23f2d4b7c25f813ba375dbd9c741ea399f0e5d69aa58ed26376",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7086ae060e59578c05513c3f772bf48556652984e23b151e6bb1619a2e14f226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9aff2f04dede2a91fcd599bd27d8263cdcab668d25fa1248625470569cba8fff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 8.277 s
model
claude-opus-5-5
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]: [-0.5228, 1.4876, 0.5846, 0.0261, -0.4156, -0.3462, 0.9949, -0.0212, 0.8009, 0.6094, -0.5003, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3364 left_y=-0.1074 left_z=0.0419 left_yaw=0.0064 left_pitch=-0.2044 left_roll=0.0914 left_gripper=0.9949 right_x=0.2784 right_y=0.001 right_z=0.1566 right_yaw=0.0009 right_pitch=-0.103 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.3915, 8.4991, 1.5263, -0.2418, 0.0317, 0.1001, -0.0752, -1.0188, 6.9538, 1.8388, -0.0562, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4191, 1.7653, 0.7105, 0.1585, -0.3656, -0.2916, 0.9962, -0.0212, 0.8051, 0.6094, -0.524, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3843 left_y=-0.0981 left_z=0.0041 left_yaw=0.0425 left_pitch=-0.243 left_roll=0.1049 left_gripper=0.9962 right_x=0.2747 right_y=0.001 right_z=0.1511 right_yaw=0.0006 right_pitch=-0.1308 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.294, -7.1043, 6.065, 1.3797, -0.0122, 0.2125, 0.1245, -0.0342, -1.2103, 6.9538, 1.8828, -0.0464, -0.0317, -0.0073]",
      "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]: [-0.4099, 1.7851, 0.725, 0.2066, -0.3527, -0.2665, 0.2041, -0.0212, 0.8043, 0.6094, -0.5537, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3957 left_y=-0.1015 left_z=0.0079 left_yaw=0.0229 left_pitch=-0.2102 left_roll=0.0946 left_gripper=0.2041 right_x=0.2698 right_y=0.0012 right_z=0.1458 right_yaw=0.001 right_pitch=-0.1598 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -7.2547, 6.4068, 1.4872, -0.105, 0.0659, 0.8327, -0.0752, -1.1145, 6.8991, 1.9072, -0.0171, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee3afd4b113be23f2d4b7c25f813ba375dbd9c741ea399f0e5d69aa58ed26376",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7086ae060e59578c05513c3f772bf48556652984e23b151e6bb1619a2e14f226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aff2f04dede2a91fcd599bd27d8263cdcab668d25fa1248625470569cba8fff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0128qoWGMyn6MWWJ8QuwBtMP",
      "input": {
        "note": "Gripper settled at 0.20, so the teddy is held. Lifting it clear before moving over the safe.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_0128qoWGMyn6MWWJ8QuwBtMP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4107, 1.5085, 1.1995, -0.585, -0.355, -0.2745, 0.2071, -0.0212, 0.8055, 0.6094, -0.588, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3953 left_y=-0.1013 left_z=0.1745 left_yaw=0.0325 left_pitch=-0.2456 left_roll=0.1081 left_gripper=0.2071 right_x=0.2639 right_y=0.0013 right_z=0.1394 right_yaw=0.0008 right_pitch=-0.1953 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -9.0051, 9.2923, 1.5409, -0.1929, 0.0757, 0.2955, -0.0752, -1.2239, 7.0906, 1.8535, -0.0269, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8eba3533db95f80a2e4aca14928e6564689e06d7112780c2b15d7663128dd48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a8e95715577fd616af3ad47cd2220d7d3dc12835540a0db55a6e2550211f7af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e3cabcbc4812dae284cee1abd052cb859bd07a66691a47a6d807b426545c765",
        "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 · 3.455 s
model
claude-opus-5-5
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]: [-0.4191, 1.7653, 0.7105, 0.1585, -0.3656, -0.2916, 0.9962, -0.0212, 0.8051, 0.6094, -0.524, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3843 left_y=-0.0981 left_z=0.0041 left_yaw=0.0425 left_pitch=-0.243 left_roll=0.1049 left_gripper=0.9962 right_x=0.2747 right_y=0.001 right_z=0.1511 right_yaw=0.0006 right_pitch=-0.1308 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.294, -7.1043, 6.065, 1.3797, -0.0122, 0.2125, 0.1245, -0.0342, -1.2103, 6.9538, 1.8828, -0.0464, -0.0317, -0.0073]",
      "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]: [-0.4099, 1.7851, 0.725, 0.2066, -0.3527, -0.2665, 0.2041, -0.0212, 0.8043, 0.6094, -0.5537, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3957 left_y=-0.1015 left_z=0.0079 left_yaw=0.0229 left_pitch=-0.2102 left_roll=0.0946 left_gripper=0.2041 right_x=0.2698 right_y=0.0012 right_z=0.1458 right_yaw=0.001 right_pitch=-0.1598 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -7.2547, 6.4068, 1.4872, -0.105, 0.0659, 0.8327, -0.0752, -1.1145, 6.8991, 1.9072, -0.0171, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4107, 1.5085, 1.1995, -0.585, -0.355, -0.2745, 0.2071, -0.0212, 0.8055, 0.6094, -0.588, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3953 left_y=-0.1013 left_z=0.1745 left_yaw=0.0325 left_pitch=-0.2456 left_roll=0.1081 left_gripper=0.2071 right_x=0.2639 right_y=0.0013 right_z=0.1394 right_yaw=0.0008 right_pitch=-0.1953 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -9.0051, 9.2923, 1.5409, -0.1929, 0.0757, 0.2955, -0.0752, -1.2239, 7.0906, 1.8535, -0.0269, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8eba3533db95f80a2e4aca14928e6564689e06d7112780c2b15d7663128dd48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a8e95715577fd616af3ad47cd2220d7d3dc12835540a0db55a6e2550211f7af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e3cabcbc4812dae284cee1abd052cb859bd07a66691a47a6d807b426545c765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/AoKEAgSGAI4AUIIdGhpbmtpbmcSDP9LzqxK80VJ434q3xoMH3iv7ryhxqr3Atq/IjA9864pOMO4wnVjyZWiXN0lWEqqpn2StJGBEkB6H+/pdNS7yCXr//p6xTPQ25juvLcqmQokZcVmyPTLEQhTQ1eoYdlS1tcIt0ENPvrF6EzhXhb1YRTlSyHxq0hin534QsKb0tp87fdAp0YjFFQHVRTOz3k7MVbEemx4t4sGXB5vLJ5PPmjnRXpR2aYsv6xEe1AvMmwRPOnPVATfcDNN+cuUNcI8C8NortUhv6adAZJEYjtWU9Raj3vAvZYi5JuIURnh3HmW4byXGLzNG4wyXmc7pe8XuL+061Bd5OPa/esppGl565YaIViKB5lI91X3N7af26Dhliat4yq486R2mq1PCuJsANULDc4c2f59wRYZo3RdjweyPvIEB1dVWDwH8K9bTOGq8+rVfiWn3+nTzrNyvnjcZG5Pyhm5yhtGmVF4nxI32e+Ww/Ul+nq/hqm2acbDKxFzQ6Ve6BZBDptA+e6gnJmnwSauKtJB1tJQOgJU9sSFcsJI1gvdWuTYWbQ5fbJJP4TX2tXZ5LlOYQlucgkFYkBdn2WAlZ3Ap5OnlKYFnw5gkdGnGBrxRFCvSGofknMy64NDhzaLAwpP3GvikjlsFRZ4HZzO/BhXQsWIRZwx+SoIR8y+GSYKWJIsS32eMfKhl4yQiH3nBudWqTfvrPrakd4Xwj64axPjrxtzIwAoJoqeAkw+mPpgz/QcJ0QYxkOcBYQVSSV5jdtttwj5+5VnrAW5BIcFHVGPSGiHvm6vDahIfwEeRwvIZRf9UBTiktQkH5qJEw5AokYFfG6fRvjb1SLqmRnJFTy4JC+lGQoPfN3ib1PkGCPiEHLI9SmzPRJOR8jC3szbX6jmN/LJzoQ3f3F3XNAsCGkWkuQ1afFPORMkvd8M4/hiLypeXVTEW1CytKWS30EHszLjjsxrka6c+zUpN84uof6sIB9uxuMWgFR5xbPe2ukEwSldnhYe/nYNfIn6aeVHdOds1SizEnMJPjeTDG3mNwXsEg5pDZVDr1H5x7FHGUIOshMHls1BsvXQE0b5/oR/B59X7iQKBNiqN6oAGirPBzQTG/DbB//Hbpr2hrxxyxlrufT6ssoc5qXi4igwNCO6OA8gX/EMe0d1SmimU8zdJATCbSLXRgeCFRHWmCaYcd8c7lHUyxdq8fXTCKHyyMzsaFM0NNvLMO+7T2t7JdPN/EAaD69MfALnkpgG3J2cdNZ2geKwpTEeGrQP0HSJcuHRHVhVnCss1wLYXmDUc4rCjy0Y+Uglhx9zfdW76P2m1R/wfwLWwH+m8YTKrSl6/knHPZ8mJnQBzBMYVVABc9hRZBdlJeNOCC52ljhcxtwVzRMIAJSdUPkN/PCVASJvcHlettrsEJr/RayRkruwVKQgm8v5X4YTUcfuCiTqGGLLzxz7JO8xuOfGetmPntpA2GUYaIKHQh4W14AfGFenEXIVJcihv0dC6aL2ALyQGIeFfy0EL/vhOATnaALYNjYUpF9tDd2V39/5KSbfHSm+JS3Rd/r7qq0TnhHiDOjBwLJf/WmLu4TETo/QP3QyXIwnlSHzQNOOEwBII79I9sOuJUuvNq6Ls1otl+jFpeDfbYPe6tKrGQx/KhngkaBJdHe2cxyUe6j/uczGGZaUV/0974dT6uBON3HGUXRUrLsT52O85AYgdF01V9ZNr9mDQMro2XZLPZ7QfMBdkeCuRs14jXbeBcHT0CwLuG0R2CtNgFYeDYkfyhy4239hZ1pHQsZ95XQry9mncFb/xXKFcnGzN907SHoZR9RcwV9SkcFnyUiAppsY4fJcYNN1kT918aoHFFSxOdyzHjkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nh2UwmGufxXzPnU7FZozHJ",
      "input": {
        "note": "Teddy is held above the table left of the safe. Moving it right over the safe's red interior.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.24,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Nh2UwmGufxXzPnU7FZozHJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7033, 1.8915, 1.7172, -0.8707, -0.4995, -0.5381, 0.2093, -0.0212, 0.8097, 0.6086, -0.6128, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4139 left_y=-0.2353 left_z=0.1845 left_yaw=0.0213 left_pitch=-0.289 left_roll=0.1164 left_gripper=0.2093 right_x=0.2595 right_y=0.0014 right_z=0.1338 right_yaw=0.001 right_pitch=-0.225 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -10.0855, 9.1966, 1.0769, -0.5885, -0.0269, 0.2173, -0.1846, -1.265, 6.8855, 1.7021, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42d0462aded202f5e78f16fc5bd85cb580f963860b900c255b62f331999d307c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69447bbe81f59ec56044ceb9bab661c6a9a8366f7471ad843d624b0ea707dd99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:794644df3f895ff11f7ebed2aa3349e63a75efc2a021f2c8770a36591b3d74da",
        "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 · 4.693 s
model
claude-opus-5-5
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]: [-0.4099, 1.7851, 0.725, 0.2066, -0.3527, -0.2665, 0.2041, -0.0212, 0.8043, 0.6094, -0.5537, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3957 left_y=-0.1015 left_z=0.0079 left_yaw=0.0229 left_pitch=-0.2102 left_roll=0.0946 left_gripper=0.2041 right_x=0.2698 right_y=0.0012 right_z=0.1458 right_yaw=0.001 right_pitch=-0.1598 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -7.2547, 6.4068, 1.4872, -0.105, 0.0659, 0.8327, -0.0752, -1.1145, 6.8991, 1.9072, -0.0171, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4107, 1.5085, 1.1995, -0.585, -0.355, -0.2745, 0.2071, -0.0212, 0.8055, 0.6094, -0.588, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3953 left_y=-0.1013 left_z=0.1745 left_yaw=0.0325 left_pitch=-0.2456 left_roll=0.1081 left_gripper=0.2071 right_x=0.2639 right_y=0.0013 right_z=0.1394 right_yaw=0.0008 right_pitch=-0.1953 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -9.0051, 9.2923, 1.5409, -0.1929, 0.0757, 0.2955, -0.0752, -1.2239, 7.0906, 1.8535, -0.0269, -0.0415, -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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7033, 1.8915, 1.7172, -0.8707, -0.4995, -0.5381, 0.2093, -0.0212, 0.8097, 0.6086, -0.6128, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4139 left_y=-0.2353 left_z=0.1845 left_yaw=0.0213 left_pitch=-0.289 left_roll=0.1164 left_gripper=0.2093 right_x=0.2595 right_y=0.0014 right_z=0.1338 right_yaw=0.001 right_pitch=-0.225 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -10.0855, 9.1966, 1.0769, -0.5885, -0.0269, 0.2173, -0.1846, -1.265, 6.8855, 1.7021, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42d0462aded202f5e78f16fc5bd85cb580f963860b900c255b62f331999d307c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69447bbe81f59ec56044ceb9bab661c6a9a8366f7471ad843d624b0ea707dd99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:794644df3f895ff11f7ebed2aa3349e63a75efc2a021f2c8770a36591b3d74da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+wYKEAgSGAI4AUIIdGhpbmtpbmcSDEvUwcJ2D8UDIUbAYhoMk1SIzm0kBXiW3x1SIjDKkpa1VC6XSgT6LywoatKK69lNCuJFRvkYnMX/nPfM55PkjGcGbqupLmRsre1K2L0qmAYtf4dWVvdFkZyhyg7v2RS3ByT4xa89AZj0/dHLck6XPDvDariU0GIXbI7iOoXhTPsknNeIMLBbLusINZB41W5pmvCal9qUHCaQpwkTrFKfk/qCXR+A014XeF93RUgN19JYtXJiqV0wsrVmwCnktLKlZOcCYuJV2RdPyzKuygPXhtNHsmezCD2bDTPqhvNKtOoTSZ8picEA8bPq+L0mckzM6FhomfNP2NlbRH7bfTlnHYf9LGp040pl/GjGnyVlWnSLwQQ8JxBKWrAFdmUdAPBAhZvLq1eFZ6TjTbUDK1WAAiLYIXnmWvuZmZE559I/nzirVCRKjIa7anitZFRv9phJlY9Y2YOY4UKZTl2eaI+mbF4orOo8QiuvvpBe2bzcLO/rL5oJkJqt3zNgqHS3JvYrZ/E/6iVWeYugjD/j2K+msTA0+6DDWVgrRhknD4ERr39msvRE6GSi0QxnE4FCTuvw6sAT3aXxBdZy7ul1/XCpBNEOhoL3GRX5o++EIFVNE7MQnfFWV3+JAeXkQQknV441tIieoVrG8K1wLEF5QZz6i12Wa94dkG0zkVlMZnAQCulugQSLtLc7zRKzAAA4JKh8hrn2EcqPfeSj+6ZXbE+GQVk/CH0vNV3/Nc/lR9DODRZ1L5dQUN3EXLKAIclcc8KGfR1ciRPi3T+F3wwnNndVTfhtQma5bhbis9wA/84Dl2fpRhz5EeslaBuNesoJiTS9NOl5A9aY0IXbh43HiPL9XWfBwOxl4jjWLgmmGmg3TluFkvG6fmpiOPw0V0W69tcvHZQI4G37BuSfZjynl2GAd/XHoRf76JKfNwyePLaCxkbUUd3NLXJFyQ4heIxNG5AQY+uLwEgAkI4X28BIJWd8KpncJu9jMt8jdxM7TuR1zXiI3mlOnZA9ra9SuKBLpYT8PCLH8yHHYZ3BbeFRogohfowc0GWHGiSMWA3yiyPIy94V6XFkYlF8OHZ8vRkOcOrblmrCoOPfoRwwzSIeR/9AZoGQFKyaAiUS1OOuRewFndXvFPmDP/g76a0QTQBPwHUQV8NZqsyUOR0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HEwUbwgYASp7emxJYeCtb8",
      "input": {
        "note": "The wrist camera shows red safe interior around the held teddy. Lowering before releasing.",
        "targets": {
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HEwUbwgYASp7emxJYeCtb8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7082, 1.9079, 1.4387, -0.6254, -0.4908, -0.5468, 0.2121, -0.0208, 0.8101, 0.6083, -0.6346, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4032 left_y=-0.231 left_z=0.1033 left_yaw=0.0259 left_pitch=-0.3305 left_roll=0.1393 left_gripper=0.2121 right_x=0.2555 right_y=0.0016 right_z=0.1299 right_yaw=0.0018 right_pitch=-0.2475 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -8.6222, 6.5162, 1.3162, -0.3004, 0.0855, 0.2759, -0.0889, -1.1419, 6.8171, 1.6581, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65d98b9550d0707473d5cb3303f143e65951fcd1d822bd160a80873e3b8a9b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce72e963b234d519b66cbb471e1989384710a68ad69844f5593aac17ee94673d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7bf5a9db7ad976f94ecd0cce551062c6326de1c8a325ac3c3199d20b7d1bd5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 7.168 s
model
claude-opus-5-5
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]: [-0.4107, 1.5085, 1.1995, -0.585, -0.355, -0.2745, 0.2071, -0.0212, 0.8055, 0.6094, -0.588, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3953 left_y=-0.1013 left_z=0.1745 left_yaw=0.0325 left_pitch=-0.2456 left_roll=0.1081 left_gripper=0.2071 right_x=0.2639 right_y=0.0013 right_z=0.1394 right_yaw=0.0008 right_pitch=-0.1953 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -9.0051, 9.2923, 1.5409, -0.1929, 0.0757, 0.2955, -0.0752, -1.2239, 7.0906, 1.8535, -0.0269, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7033, 1.8915, 1.7172, -0.8707, -0.4995, -0.5381, 0.2093, -0.0212, 0.8097, 0.6086, -0.6128, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4139 left_y=-0.2353 left_z=0.1845 left_yaw=0.0213 left_pitch=-0.289 left_roll=0.1164 left_gripper=0.2093 right_x=0.2595 right_y=0.0014 right_z=0.1338 right_yaw=0.001 right_pitch=-0.225 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -10.0855, 9.1966, 1.0769, -0.5885, -0.0269, 0.2173, -0.1846, -1.265, 6.8855, 1.7021, -0.0122, -0.0611, -0.0122]",
      "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]: [-0.7082, 1.9079, 1.4387, -0.6254, -0.4908, -0.5468, 0.2121, -0.0208, 0.8101, 0.6083, -0.6346, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4032 left_y=-0.231 left_z=0.1033 left_yaw=0.0259 left_pitch=-0.3305 left_roll=0.1393 left_gripper=0.2121 right_x=0.2555 right_y=0.0016 right_z=0.1299 right_yaw=0.0018 right_pitch=-0.2475 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -8.6222, 6.5162, 1.3162, -0.3004, 0.0855, 0.2759, -0.0889, -1.1419, 6.8171, 1.6581, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65d98b9550d0707473d5cb3303f143e65951fcd1d822bd160a80873e3b8a9b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce72e963b234d519b66cbb471e1989384710a68ad69844f5593aac17ee94673d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7bf5a9db7ad976f94ecd0cce551062c6326de1c8a325ac3c3199d20b7d1bd5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAcKEAgSGAI4AUIIdGhpbmtpbmcSDJPOwxqhxHMxcSlBWRoMDk40+1ZwsNb/Vt69IjDEMrmNAxA/mPsud8rYoxYnwytePGD5nIyXA9uNojSIih9NRnWWoZ5ipDLrFrIqv+gqxQbpFaILdZ2qxE/z/Ju00fw1Mi4LZp7OdqbvLjg4nruWAdBmCkWt2HHIAylyasmWwIfYyYeDgZYIBC1VRHKr2O4meGV4m3uG4Uzv2cYiQcpCUvM/Z61sUvvUQSzWB6j0eE9X6SJ88ZWQTqGvJbKFiLguM/jUfGeNo8kweXrAxNdxx94fmu1bdbz3ArRkFVhYb4++CpaCvjV5UE69PPtr0rfcU4Fw7d3jr2PmMzcYzPtWy1XUSxfgrqZqXixvVelBIkRw/HNl6c4f3KY/JaJ1lIXv994fNkidBXGweRpfpseVhCU5ZhLGcO14xK8JarPzGuPp5pK1Ibz/l3aoQbec3e7tZo5Dtp/AuPZeP7OlQLdcA5LLtIDlldQGwfTfSoyapwxqWVV+x1/lNdV39nB5WqoLiUzqYdW4CEKWfKi8jDWH+RdL3XJM1VRPB3bZCNMdcK2vnsghX+VBA4rf9sf3kcSbXYBdVUGXU/Z0+P05f6GZMRxQ7IyfLfVUf6G+TtfuieoDjLjdRfbk5Ewi5pro2R86Sq9eqj1DSo5fl2+EFr4cjN4bwIprIFXFKL+ZXhKWmP1bkSwEc6h6dh5LWSXWIoMVZRBPceIMCIiJxH+Ks+ahjbV2OtKV4H+xl3k++qMjtNtHIypi6zJ9NN1+Pru2G4HkvdCtEzFRGfcz34AsU0IZYk5WRD2ERHlnXtXkEXsbhNRhx8gTpiMGEvkOQITj6sB4cLjcVGQm6PgsQ31VCtMDtVpobMkV8pGpiMvxcTG839hafVYOx1WrcZZPxAUXzT5OmSh9B9mnX98OrOVT9FTyzDAAu/Ki+UPQs+2FA9Kl3eqaCgaHO+WBDgKlUtlfbzYro8xjaN2nzVDV50WDW70k+r39TcNWzmjtKGrh1lRuHjTCxrjBpKEQ9O80rYcOLfSnL2LJCr5KsCG3+Ta6ZCeBP7GRAZUjp49cK7Q9XTj8lCs6dY3hB82BCj1TRKKNt179boiIsCKnxbUr8T59ILlBRA/l31Wvg5Jd64UOwXhFrAsTNgzbyS3vOtfUzzSsik+FqZQIi71QNbs/Y0chnauljun0Go5Ny6zZHEwByIxxA6lgBmH83S7zcUOIIxJd3D4ksoMMwW0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UgBgZMuKmpKqk7gkB9K9aL",
      "input": {
        "note": "Teddy is hanging over the safe interior. Releasing it.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01UgBgZMuKmpKqk7gkB9K9aL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7063, 1.919, 1.4208, -0.6327, -0.487, -0.5545, 0.9958, -0.0212, 0.8101, 0.6083, -0.6571, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3985 left_y=-0.2266 left_z=0.0913 left_yaw=0.0383 left_pitch=-0.359 left_roll=0.1576 left_gripper=0.9958 right_x=0.2513 right_y=0.0016 right_z=0.1263 right_yaw=0.0016 right_pitch=-0.27 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -11.0291, 7.7744, 1.1209, -0.359, 0.0513, -0.1441, -0.0479, -0.8274, 6.8034, 1.6386, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:385bb98ff7ff57eb70b833480b115a455a596d8e6f00857ac5168d9265241d0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90183cd8507c11130782f61ae472118988ce75453ecce2289d86b0574c40edfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48d255149757ba976c80c934b3664fb1833a016283b0aeb821258c3456c28275",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.541 s
model
claude-opus-5-5
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]: [-0.7033, 1.8915, 1.7172, -0.8707, -0.4995, -0.5381, 0.2093, -0.0212, 0.8097, 0.6086, -0.6128, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4139 left_y=-0.2353 left_z=0.1845 left_yaw=0.0213 left_pitch=-0.289 left_roll=0.1164 left_gripper=0.2093 right_x=0.2595 right_y=0.0014 right_z=0.1338 right_yaw=0.001 right_pitch=-0.225 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -10.0855, 9.1966, 1.0769, -0.5885, -0.0269, 0.2173, -0.1846, -1.265, 6.8855, 1.7021, -0.0122, -0.0611, -0.0122]",
      "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]: [-0.7082, 1.9079, 1.4387, -0.6254, -0.4908, -0.5468, 0.2121, -0.0208, 0.8101, 0.6083, -0.6346, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4032 left_y=-0.231 left_z=0.1033 left_yaw=0.0259 left_pitch=-0.3305 left_roll=0.1393 left_gripper=0.2121 right_x=0.2555 right_y=0.0016 right_z=0.1299 right_yaw=0.0018 right_pitch=-0.2475 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -8.6222, 6.5162, 1.3162, -0.3004, 0.0855, 0.2759, -0.0889, -1.1419, 6.8171, 1.6581, -0.0611, -0.0513, -0.0122]",
      "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]: [-0.7063, 1.919, 1.4208, -0.6327, -0.487, -0.5545, 0.9958, -0.0212, 0.8101, 0.6083, -0.6571, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3985 left_y=-0.2266 left_z=0.0913 left_yaw=0.0383 left_pitch=-0.359 left_roll=0.1576 left_gripper=0.9958 right_x=0.2513 right_y=0.0016 right_z=0.1263 right_yaw=0.0016 right_pitch=-0.27 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -11.0291, 7.7744, 1.1209, -0.359, 0.0513, -0.1441, -0.0479, -0.8274, 6.8034, 1.6386, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:385bb98ff7ff57eb70b833480b115a455a596d8e6f00857ac5168d9265241d0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90183cd8507c11130782f61ae472118988ce75453ecce2289d86b0574c40edfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48d255149757ba976c80c934b3664fb1833a016283b0aeb821258c3456c28275",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017p7aZDMpuV3FXzNKAa9W3g",
      "input": {
        "note": "Teddy is inside the safe. Parking the left arm home and moving the right arm above the lemon, which sits right of the safe.",
        "targets": {
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_gripper": 1,
          "right_x": 0.43,
          "right_y": 0.17,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_017p7aZDMpuV3FXzNKAa9W3g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1452, 1.1152, 1.0531, -0.8967, -0.2203, -0.0822, 0.9969, 0.4801, 1.7241, 1.3247, -0.5709, 0.281, 0.3309, 0.9996]\nstate[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.1954 left_yaw=0.0826 left_pitch=-0.3568 left_roll=0.1526 left_gripper=0.9969 right_x=0.4155 right_y=0.1652 right_z=0.1352 right_yaw=0.0262 right_pitch=-0.3267 right_roll=-0.0217 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.7538, 7.1453, 1.4872, 0.0073, 0.1685, 0.105, 0.0615, -8.6085, 8.8274, 1.4774, 0.3785, 0.232, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b9a4386ddf19e51092de94bc40ed698dd214dc5358d576226ab8f307fc66e46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e05c7ea8d6773b44890dfefcf2aa49677a5c8052801c659cea779a3fac22ea4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6abe8ef2c8485c31e86bf08a748e0e2650ff132c4f5e775577c4afb202b08e92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 4.068 s
model
claude-opus-5-5
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]: [-0.7082, 1.9079, 1.4387, -0.6254, -0.4908, -0.5468, 0.2121, -0.0208, 0.8101, 0.6083, -0.6346, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4032 left_y=-0.231 left_z=0.1033 left_yaw=0.0259 left_pitch=-0.3305 left_roll=0.1393 left_gripper=0.2121 right_x=0.2555 right_y=0.0016 right_z=0.1299 right_yaw=0.0018 right_pitch=-0.2475 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -8.6222, 6.5162, 1.3162, -0.3004, 0.0855, 0.2759, -0.0889, -1.1419, 6.8171, 1.6581, -0.0611, -0.0513, -0.0122]",
      "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]: [-0.7063, 1.919, 1.4208, -0.6327, -0.487, -0.5545, 0.9958, -0.0212, 0.8101, 0.6083, -0.6571, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3985 left_y=-0.2266 left_z=0.0913 left_yaw=0.0383 left_pitch=-0.359 left_roll=0.1576 left_gripper=0.9958 right_x=0.2513 right_y=0.0016 right_z=0.1263 right_yaw=0.0016 right_pitch=-0.27 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -11.0291, 7.7744, 1.1209, -0.359, 0.0513, -0.1441, -0.0479, -0.8274, 6.8034, 1.6386, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1452, 1.1152, 1.0531, -0.8967, -0.2203, -0.0822, 0.9969, 0.4801, 1.7241, 1.3247, -0.5709, 0.281, 0.3309, 0.9996]\nstate[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.1954 left_yaw=0.0826 left_pitch=-0.3568 left_roll=0.1526 left_gripper=0.9969 right_x=0.4155 right_y=0.1652 right_z=0.1352 right_yaw=0.0262 right_pitch=-0.3267 right_roll=-0.0217 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.7538, 7.1453, 1.4872, 0.0073, 0.1685, 0.105, 0.0615, -8.6085, 8.8274, 1.4774, 0.3785, 0.232, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b9a4386ddf19e51092de94bc40ed698dd214dc5358d576226ab8f307fc66e46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e05c7ea8d6773b44890dfefcf2aa49677a5c8052801c659cea779a3fac22ea4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6abe8ef2c8485c31e86bf08a748e0e2650ff132c4f5e775577c4afb202b08e92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxAgKEAgSGAI4AUIIdGhpbmtpbmcSDG68it2lWe8gYABnkxoMLqy5huB+J7bVC8KdIjA2PTXTgIfIy3Tu6cd47WyyYEASSrKe8iadPEEuqo8dpc29AkhKfo0eGo0IsQ8pnrcq4QdiumfYaCdjOLnZ4mWHj6TcMiL940GQBrB1bCFDFeMQAMt+FYdy1r0kTn9cFbTziMytxyNmpoohQsJIw/JYxRhrSrCVmqbf5aHSzr7Fw3GuWRr0xjWo9cFuVvoXikJoEJYx5OHic4umqW6WLIF0plFRPJ3UTHtz/yXFN8S0HrKsmI+Jh6sgRlFj2NE6ISHO9Y43zVU+EN9WQxvprEFySHQj2Sy9rirS7zRzc1nthn9KAKwCZarIXP6fBmffYEiSwdn9UUFpC/hR2v/emHTOCUxEU8Ggw5BaMvmYgLbSWcpuaw/SK2mqMk8se56Am09+GV8/TKnvq40bK0IN7gP+sC+U9cadj+3XZOD4TzTkXz7ExT/ZKF9scr+UC48PAlKSIdXs+X1eUgVH4LmoqLYSTskMWxjUKoDL+GisgXYESl3xtSH9N0tQmbVeCLEkeMf+MgRyCBAWGBTFJz/KpQPcud2P/mtbCO1gx7utDumHy8fqrAJrckAM6Pk/QnRTWcpSxGoevfQiCLW273RkLwZ6t/UchUjWqhcsyi550OhLQo3tGmc0duBdxQkME6hF8178jKVv4KqeFWEAn9iItoPOk45+3lRge5Nr6z9ImCI+5U31dO9ZJtwF+Gpppi6wdFU+GMc6mLF89MOsNo14RwQ6rRc3A67Ep1xi6ys9B0PHcUQE7AMMObxyrMPbE3by2+rcsdhzuP2YCWrU/daTqbqKirLR9/lwnTPxhae9nxmvoNrxyTT7qKhEwELfGSvMhTfyTDvPZAW8BgkNJoE2R3ruHiMUHX1W4HoAoaM8QSS6z6JdUfzaKBg92lbGDNX1kDWuZCgs3e+p+DzKA2WmXuZXo6l/mfbwlmivEadOEsT7FRCR1DvvIuVZU+dxlRgYi1bK150tfGGPr5ZLjwZhmqm43++dES/yocOla8iwma1xOFslFlvO21hdphQO1H3cfzQ1XSS3L3pPJzpIayH6qL5XxiQlHL6+IEZhC5Vzuc/4mSjzLIDL7ow6cQcFfdtI5X7agaYM7VG7AqVyAVoHmXi0ci/CYHE3Bp6vNzLrCmtjqBGj6HnubabhTSBXWGfvok+ubajj+wi+ROzDDDYoPBoqE0/bee1OmaaGd1auMffKzAXKUzLHsNoH7paZ7bgEieSZln6MXNxLu4bUT6caWO1+YAGUtgotGSnzjpkr6Yv5C2sNdGN0NhBs0+yyKmxKXJbqlBlXTOMbmx53k1Ggzoj2wZnokUnrbs5IVB1Xp+8YOc26z3eTEmR+qMizzvVw2DNRjTTqHRJOnJB9mVCJpdMwnW2+Yfzg7C85k3TVD+J6obFdV84YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011QKvcj1bVfF6jiphVogBnq",
      "input": {
        "note": "Lemon is just ahead of the jaws, slightly right, long axis pointing away from the base. Advancing ~3 cm and descending to grasp across it.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.16,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_011QKvcj1bVfF6jiphVogBnq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1172, 1.0531, -0.9211, -0.2062, -0.0834, 0.9971, 0.4286, 1.9526, 1.1755, -0.226, 0.2607, 0.2882, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=-0.0019 left_z=0.1911 left_yaw=0.074 left_pitch=-0.3849 left_roll=0.1459 left_gripper=0.9971 right_x=0.44 right_y=0.1549 right_z=0.0251 right_yaw=0.0115 right_pitch=-0.3643 right_roll=-0.0471 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.1795, 6.6256, 1.5018, -0.2759, -0.0317, 0.0024, -0.1983, -8.8, 5.4632, 1.4969, 0.0317, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73ed70b92a01bc86eed80bbe45a688ddbe02a620285bab891faa6bf6954c06c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16e939ffeff5c1386154f70b0fb19db14db476777dd7c737915d4a18cf83aa31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:637255ea54d272599305a49d792402250f523e899df5f4770f96b23a90f11eda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.891 s
model
claude-opus-5-5
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]: [-0.7063, 1.919, 1.4208, -0.6327, -0.487, -0.5545, 0.9958, -0.0212, 0.8101, 0.6083, -0.6571, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3985 left_y=-0.2266 left_z=0.0913 left_yaw=0.0383 left_pitch=-0.359 left_roll=0.1576 left_gripper=0.9958 right_x=0.2513 right_y=0.0016 right_z=0.1263 right_yaw=0.0016 right_pitch=-0.27 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -11.0291, 7.7744, 1.1209, -0.359, 0.0513, -0.1441, -0.0479, -0.8274, 6.8034, 1.6386, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1452, 1.1152, 1.0531, -0.8967, -0.2203, -0.0822, 0.9969, 0.4801, 1.7241, 1.3247, -0.5709, 0.281, 0.3309, 0.9996]\nstate[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.1954 left_yaw=0.0826 left_pitch=-0.3568 left_roll=0.1526 left_gripper=0.9969 right_x=0.4155 right_y=0.1652 right_z=0.1352 right_yaw=0.0262 right_pitch=-0.3267 right_roll=-0.0217 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.7538, 7.1453, 1.4872, 0.0073, 0.1685, 0.105, 0.0615, -8.6085, 8.8274, 1.4774, 0.3785, 0.232, -0.0513]",
      "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]: [-0.1444, 1.1172, 1.0531, -0.9211, -0.2062, -0.0834, 0.9971, 0.4286, 1.9526, 1.1755, -0.226, 0.2607, 0.2882, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=-0.0019 left_z=0.1911 left_yaw=0.074 left_pitch=-0.3849 left_roll=0.1459 left_gripper=0.9971 right_x=0.44 right_y=0.1549 right_z=0.0251 right_yaw=0.0115 right_pitch=-0.3643 right_roll=-0.0471 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.1795, 6.6256, 1.5018, -0.2759, -0.0317, 0.0024, -0.1983, -8.8, 5.4632, 1.4969, 0.0317, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73ed70b92a01bc86eed80bbe45a688ddbe02a620285bab891faa6bf6954c06c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16e939ffeff5c1386154f70b0fb19db14db476777dd7c737915d4a18cf83aa31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:637255ea54d272599305a49d792402250f523e899df5f4770f96b23a90f11eda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2QcKEAgSGAI4AUIIdGhpbmtpbmcSDDAUbjDyUVMDuKv9jxoMGYirzY6d5vIaR4JIIjAmgEPLz1KHJsRf6/Cr7cwj/RAqJ2p1Vk5O3bEfg9WWJzH3LQWZRQqKgMybGGQaG3Mq9gaEAo4zdEn0gCDfxjWczR5MI6a7pvTiYd1lUOieTJpYivMkJ3uhK1doN7EHsZPS6i9L/gxy3qZv6aQm5jEKYnvo00h9OPO06q3avO8Lx+Ba57Fb/dDKgbFhiO5KIYTCBpHI22P5iAY21mAme4hUUTYl+DemeIE+f0QYP3niuejD3jCHP7WrU10yDD0alLb2c79WB68XRAWNFGlpYq6l/gtRy2W7dBcptD25SxPhDaxK6Iq07yWkCeLUXtY3Rxqew1pRH2z3KWsHmtEK2s5ghPqhq4Ztrtz3LXcofcnm3K/BJOg6Uawkcc13653QdGldo0L9oXqjTJk107LC2xpgbRKxAb1smB1B4GdEfFlePtx9InKVKElPHRSksXcK60bCx0t0MgCnMmrXSnacH4vF20JNv3DZmHVDDnp/eNJBnjuLKoXk/3pSDDO3fKuvFsVN+cIxuxBrHZQsRF3EJOtg7gl+jSXMin662k8VgQgfz+7EW8PuPGwSVHJWoBGFC2fpHYAwiR3CeSJZN2qXhTH96scezO02zMroIHVISYMF7J/SKshAVpBYDja75ZrhOgoIf0uuO4iVeNsPTgTQUy8ua8yhlL8c74k98E/mMq9mSV1QswnehDd58iP00fejV5pxBMuMTAAXQRn54c8huwl4qx8eSkk3edlwCbDaVO633SWz73Phf183LpXKQaYJpFRuagib33mUVor8EMqYx3PHXLNL0YtvypgUf7ENr4jPQqONKzQeuFOtCYL0EBOi1sTMzIaHjemyC4Ov+QmiD4vtGWjO+dzQ7oj4fvYWls4KjhXUTAlAzpF6KnCg54/uNiAU25iSBuItqMOtENdP6SKc5D3xErv1Y65RcE5dJakVfeg+U2+5KoptNugjClWA7Ja7X2iH0H84OZ4dBQc/A+O5PjNTaYpnrNayuS5coGQ5JdTNA0YDzMsFeq/tRuJ16BrUryig1jNBHnS7Jtu3vP+PbiZk9dZmt06K2P+op+JKbNP7PJFpTF8ahfLImK7gASwF1u9CQwCxFeRORUXLrtSA3DqbZmsqw/lP9RiWk6jbQC7+RuS6NDnbCCazCFhHVeu6Rr3rbNoYq4sY35gkDWLr+mWrr9ijOI3apXSEsxZr78JUw0KYbU3pCzX9ueqFH0i/PMhj/A62IdPg3I/WAyu+0gxzaUG81F5CGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M5PtUg9MC1Cskyp5r6XkQZ",
      "input": {
        "note": "Lemon fills the view but is still slightly ahead and right of the jaws. Advancing 2 cm, nudging right, and lowering to table level.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.148,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01M5PtUg9MC1Cskyp5r6XkQZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1175, 1.0531, -0.9245, -0.2054, -0.0834, 0.9971, 0.392, 2.0365, 1.2366, -0.2092, 0.2359, 0.2577, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1905 left_yaw=0.0736 left_pitch=-0.3888 left_roll=0.1461 left_gripper=0.9971 right_x=0.459 right_y=0.1489 right_z=0.0094 right_yaw=0.013 right_pitch=-0.3789 right_roll=-0.0477 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -3.1248, 6.5436, 1.2869, -0.149, -0.0073, -0.0122, -0.2803, -9.8667, 7.788, 1.3162, 0.1392, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1f91035b09d318b324059cc554186fc1dc5a243bc68670556afe28c5ae16d86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cec5e44f629e27fabe97d033c3ca6caa424eac32a41c5b667588704b984318b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28de9fce162a670b429b22c05be18359a8b3cf7d1d38ce68fba713a0000e6262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 6.221 s
model
claude-opus-5-5
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]: [-0.1452, 1.1152, 1.0531, -0.8967, -0.2203, -0.0822, 0.9969, 0.4801, 1.7241, 1.3247, -0.5709, 0.281, 0.3309, 0.9996]\nstate[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.1954 left_yaw=0.0826 left_pitch=-0.3568 left_roll=0.1526 left_gripper=0.9969 right_x=0.4155 right_y=0.1652 right_z=0.1352 right_yaw=0.0262 right_pitch=-0.3267 right_roll=-0.0217 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.7538, 7.1453, 1.4872, 0.0073, 0.1685, 0.105, 0.0615, -8.6085, 8.8274, 1.4774, 0.3785, 0.232, -0.0513]",
      "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]: [-0.1444, 1.1172, 1.0531, -0.9211, -0.2062, -0.0834, 0.9971, 0.4286, 1.9526, 1.1755, -0.226, 0.2607, 0.2882, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=-0.0019 left_z=0.1911 left_yaw=0.074 left_pitch=-0.3849 left_roll=0.1459 left_gripper=0.9971 right_x=0.44 right_y=0.1549 right_z=0.0251 right_yaw=0.0115 right_pitch=-0.3643 right_roll=-0.0471 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.1795, 6.6256, 1.5018, -0.2759, -0.0317, 0.0024, -0.1983, -8.8, 5.4632, 1.4969, 0.0317, -0.0952, -0.0171]",
      "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]: [-0.1444, 1.1175, 1.0531, -0.9245, -0.2054, -0.0834, 0.9971, 0.392, 2.0365, 1.2366, -0.2092, 0.2359, 0.2577, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1905 left_yaw=0.0736 left_pitch=-0.3888 left_roll=0.1461 left_gripper=0.9971 right_x=0.459 right_y=0.1489 right_z=0.0094 right_yaw=0.013 right_pitch=-0.3789 right_roll=-0.0477 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -3.1248, 6.5436, 1.2869, -0.149, -0.0073, -0.0122, -0.2803, -9.8667, 7.788, 1.3162, 0.1392, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1f91035b09d318b324059cc554186fc1dc5a243bc68670556afe28c5ae16d86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cec5e44f629e27fabe97d033c3ca6caa424eac32a41c5b667588704b984318b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28de9fce162a670b429b22c05be18359a8b3cf7d1d38ce68fba713a0000e6262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KS8o6MUMGmddzXsh5rffTj",
      "input": {
        "note": "Lemon now sits down between the jaws. Closing to grasp it.",
        "targets": {
          "right_gripper": 0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KS8o6MUMGmddzXsh5rffTj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9249, -0.2054, -0.0868, 0.9971, 0.3801, 2.0502, 1.2457, -0.2073, 0.2276, 0.2394, 0.4586]\nstate[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1904 left_yaw=0.0757 left_pitch=-0.3893 left_roll=0.1442 left_gripper=0.9971 right_x=0.4623 right_y=0.1457 right_z=0.0061 right_yaw=0.0188 right_pitch=-0.3844 right_roll=-0.0528 right_gripper=0.4586\nstate[joint_eff]: [-0.0615, -3.2068, 6.5026, 1.2283, -0.1441, -0.0415, -0.0171, 0.0752, -9.8803, 7.9111, 1.3407, 0.105, 0.0464, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22059533f89db3f7ae957b77e0ddbe6a3843e09017f78e9333cb2ee387e13945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f43b81ecf83d50774aba570e418f94c9b26c5cf8bd276266ba81168af4701c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3aa4062fc77be746a75a89e1235a73c9f98f44c4826ab71cfcb8e235c538edd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 4.24 s
model
claude-opus-5-5
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]: [-0.1444, 1.1172, 1.0531, -0.9211, -0.2062, -0.0834, 0.9971, 0.4286, 1.9526, 1.1755, -0.226, 0.2607, 0.2882, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=-0.0019 left_z=0.1911 left_yaw=0.074 left_pitch=-0.3849 left_roll=0.1459 left_gripper=0.9971 right_x=0.44 right_y=0.1549 right_z=0.0251 right_yaw=0.0115 right_pitch=-0.3643 right_roll=-0.0471 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.1795, 6.6256, 1.5018, -0.2759, -0.0317, 0.0024, -0.1983, -8.8, 5.4632, 1.4969, 0.0317, -0.0952, -0.0171]",
      "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]: [-0.1444, 1.1175, 1.0531, -0.9245, -0.2054, -0.0834, 0.9971, 0.392, 2.0365, 1.2366, -0.2092, 0.2359, 0.2577, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1905 left_yaw=0.0736 left_pitch=-0.3888 left_roll=0.1461 left_gripper=0.9971 right_x=0.459 right_y=0.1489 right_z=0.0094 right_yaw=0.013 right_pitch=-0.3789 right_roll=-0.0477 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -3.1248, 6.5436, 1.2869, -0.149, -0.0073, -0.0122, -0.2803, -9.8667, 7.788, 1.3162, 0.1392, -0.0806, -0.0122]",
      "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]: [-0.1444, 1.1179, 1.0531, -0.9249, -0.2054, -0.0868, 0.9971, 0.3801, 2.0502, 1.2457, -0.2073, 0.2276, 0.2394, 0.4586]\nstate[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1904 left_yaw=0.0757 left_pitch=-0.3893 left_roll=0.1442 left_gripper=0.9971 right_x=0.4623 right_y=0.1457 right_z=0.0061 right_yaw=0.0188 right_pitch=-0.3844 right_roll=-0.0528 right_gripper=0.4586\nstate[joint_eff]: [-0.0615, -3.2068, 6.5026, 1.2283, -0.1441, -0.0415, -0.0171, 0.0752, -9.8803, 7.9111, 1.3407, 0.105, 0.0464, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22059533f89db3f7ae957b77e0ddbe6a3843e09017f78e9333cb2ee387e13945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f43b81ecf83d50774aba570e418f94c9b26c5cf8bd276266ba81168af4701c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aa4062fc77be746a75a89e1235a73c9f98f44c4826ab71cfcb8e235c538edd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSngsKEAgSGAI4AUIIdGhpbmtpbmcSDEKvAwZ4NYtzzfz3GhoM70GWE7h+ddJeA2UJIjCIdbv7/Ic0os7NosuKpN3LKQdiU54q3aNEPGN5NdFFXJfTWCrRKehnn5mzvTVxM1IquwoAhqUJBM7wI13RjHJPJBxcUALY1WqlTl9UAYu4o6JKsy6hphDC8kfZZBfvojqs5fZivFxYt9TzuuQkZJuhqp1F0SnWHTOIPXlqqMv/YjSGFRL1Xx98xKZZJFiA8j3arc/tqPD/uCXpe3Pe9eFimsKHPe7mTRs953Lk4S9Hvre5gu4jeNIXiYebBDZ+YmMd408HrJHFoyAou14CtUpuMHR/cThlBzkfnOQSO47MH4GzNxlpkk2bUfUP6ET/Cf/FSAgtV1b5kqjHZ0+wiRxfUY0fYiVNEQFct/+k+ADL9wJDbafBunYPws2806tGLj7iUZFAVcXO1PPaZdgWEKjjJDi8dHOfId8D1KlG5J7mhe3l3HCGzxrUDKoAo7B8k31CU74cBNtFZasTVIAKBOke69e7YpQS4Y8z4O8DBh6zAuKGWFwJ+210cL9O5/Tk8vucBXK/aZFVQuVIyGyx9iYWNfi2mKA5XANyGpi6b2+1n4gCJ6IR6t9aepPNlk6213RHH5VFeybhU9YsmLJGxosVWbIVWkTdMJyBIFZnMOgkM9JwHr6X4TZGOStJ3XGr3ZzmTq76Zs9hWPO7EIg5pNzEdzAwXi/fkx2PKUlH8fLjRRr197iJ60jztzSYcVAAmmvFDDMOWhYXjkKI6/w2XSZsxY4X0qzfDoEsMKsUTre6KEJrwG9/QF0SDAfFoAF9PgXy3x2Ht0BOqpp6gPrLQdZZL3xGDG5EcEP8XcYANeImPGMlPei5LRyT9L+Sx2NNt5VsldF0gxh9Jp/NPoNX4LWRT+ZTUeOJcWvKNIkeU8gv5XCQLjySm4WKw7C3V23UWpS3LFbXKeAOrLWaoLvObWBcPBbPztlSLXreUBOYZoA8/okE41ITfYqH+DEDsAkO1wVSAdENxU7hWRbFD06Iq8cjtA/3sw7N8ripYg66uxs6zhi81i3ghTOa2nRietp/ZZ732V2QnHcTa24iTxAL6YO8Cdnn7aI57WmVTJ4K7kFhIovGipHqwQrpB9ZBUX4RXqM0E7qZuyIYaYlVMPYPVB6/0q1hQkOFZDZPDmJ9rYNnX54s3yD4rT3a1AUTQ+hsPY0qdbYOx9E9uCYXoop32K2VKRvC3nXG+0K2tLt/MscMHJ9Bx9CIMubIdxEZ6tcjcNGBqLlxCRuldZULk4rcTVAJXJPP3FhzqkjeIIN334/f4grYAqpfo4ZqD7F0mku5tesRvgoCsb779uFJEbUl+OHjACvbQPrjRv8rA4ryrgHuhds2Fd0dNsU2l839V0QoAMKEHugaZfo5qM5cde4a8c2ZeZFQ2e/OYsRBNPUFXuMtSOXvKQ3F4t0f52ohjUiMAinFBeud6WgqkpiNbdmYwkLk7sWKo7hgNHjyV+rNEGAizV8tmngPOnsvEWiCVMGvBTt/OexjgAtalPLHUqedh4thVPpTiSacWkPdlwfHMWAMQ8nULoleVn0wtPsa6QAJUD6XX2BvIQz2up7EA/vVvpfGkUalfBOMFVnFd9QGacUhwyIQh/qid58E4bJo4ElxB31cJ5XAbXLckq/of5+EH/koFIk8s8nd5I/IQQ44EyPEwMtbPyp/XGoEiWM+EZXMmZfppjdqb1AjrKeVzEXIg+A/f7tSMV/Hi9N7u6aYtpG8sFydEfSIkyH5ovEyDuCdTyLowcLlzfr9xGT7ExUJBpQUsrkuDKE2tb7w5XY/ZcioIm9lmKyJ7DILGCtE/3jTOh99Y8xXw4QlJpv/Rqg0Y53VMRGKgYJGeu4tUDgBYj0/PvgLnwiDuSMaxVdtehl0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G5wZaqWN6CwzsCmqb2BGLS",
      "input": {
        "note": "Gripper settled at 0.46, so the lemon is held. Lifting it clear of the safe walls.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01G5wZaqWN6CwzsCmqb2BGLS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9249, -0.2054, -0.0872, 0.9971, 0.3801, 1.9205, 1.7851, -0.9092, 0.2207, 0.2352, 0.4586]\nstate[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1904 left_yaw=0.0759 left_pitch=-0.3892 left_roll=0.1439 left_gripper=0.9971 right_x=0.4616 right_y=0.1467 right_z=0.1769 right_yaw=0.0223 right_pitch=-0.4173 right_roll=-0.0618 right_gripper=0.4586\nstate[joint_eff]: [-0.1983, -3.1385, 6.4889, 1.2332, -0.1734, -0.0415, -0.0122, -0.1846, -11.5897, 8.9641, 1.3358, 0.1685, -0.0122, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d59aadffa6b434e8e7501defc4042879fa17bf5b74319801e722c2c1efde06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ad2ac9eb5f588380fb664d948e83416c11cd9ad17a433e1861e514f2899ffcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a870fe44045b535cf1b92d83481a33989e01344f41dd4771802f1fa49ce2ff8",
        "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 · 6.435 s
model
claude-opus-5-5
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]: [-0.1444, 1.1175, 1.0531, -0.9245, -0.2054, -0.0834, 0.9971, 0.392, 2.0365, 1.2366, -0.2092, 0.2359, 0.2577, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1905 left_yaw=0.0736 left_pitch=-0.3888 left_roll=0.1461 left_gripper=0.9971 right_x=0.459 right_y=0.1489 right_z=0.0094 right_yaw=0.013 right_pitch=-0.3789 right_roll=-0.0477 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -3.1248, 6.5436, 1.2869, -0.149, -0.0073, -0.0122, -0.2803, -9.8667, 7.788, 1.3162, 0.1392, -0.0806, -0.0122]",
      "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]: [-0.1444, 1.1179, 1.0531, -0.9249, -0.2054, -0.0868, 0.9971, 0.3801, 2.0502, 1.2457, -0.2073, 0.2276, 0.2394, 0.4586]\nstate[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1904 left_yaw=0.0757 left_pitch=-0.3893 left_roll=0.1442 left_gripper=0.9971 right_x=0.4623 right_y=0.1457 right_z=0.0061 right_yaw=0.0188 right_pitch=-0.3844 right_roll=-0.0528 right_gripper=0.4586\nstate[joint_eff]: [-0.0615, -3.2068, 6.5026, 1.2283, -0.1441, -0.0415, -0.0171, 0.0752, -9.8803, 7.9111, 1.3407, 0.105, 0.0464, 1.0379]",
      "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]: [-0.1444, 1.1179, 1.0531, -0.9249, -0.2054, -0.0872, 0.9971, 0.3801, 1.9205, 1.7851, -0.9092, 0.2207, 0.2352, 0.4586]\nstate[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1904 left_yaw=0.0759 left_pitch=-0.3892 left_roll=0.1439 left_gripper=0.9971 right_x=0.4616 right_y=0.1467 right_z=0.1769 right_yaw=0.0223 right_pitch=-0.4173 right_roll=-0.0618 right_gripper=0.4586\nstate[joint_eff]: [-0.1983, -3.1385, 6.4889, 1.2332, -0.1734, -0.0415, -0.0122, -0.1846, -11.5897, 8.9641, 1.3358, 0.1685, -0.0122, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d59aadffa6b434e8e7501defc4042879fa17bf5b74319801e722c2c1efde06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ad2ac9eb5f588380fb664d948e83416c11cd9ad17a433e1861e514f2899ffcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a870fe44045b535cf1b92d83481a33989e01344f41dd4771802f1fa49ce2ff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvQcKEAgSGAI4AUIIdGhpbmtpbmcSDMUcuBsneXH6dBFsXxoMDCVDeQVsNI+S8LlgIjCQ2zma86Zmz1P6Hvnm9GUBxtwG1Xr4TxFAhGryL0YQj5LifFAmwE3WaqVldn5t3Ncq2gZChDMFiKqtUlkRer6jSqib8A9GL7Q6wsTSuNIgJ9vMo6Om8yKdj8CthXnAdL5sqBTEiWmxOezBnESEK8mbCu26j4yBoJ791iJToptCyXZbs6iJVNsVDy+aOgthKPBPzdDady0Mu+k9OWpegoll2Er71V7T7XydL5kM0tLx/1fF9gPxPPqTCHd0bDpDimrhKNUuGHDK+SPjYMOL0uCrVpP/ddMoLUonB7tUFWA6NaeHxRKIdM4nrlzDWF94z5Cra/snxhuxiiKb+cpO0rWolctRFYfHpS2ySXWyo92WuPhDRdM7yoOLJ6GZrHA6uKruOkGAAiNLjnD8shfmbKq962G30TWCu6fvFyOudQFCrfvVnyoZQTVAVpLYdgSMYWtJxhVGtbh1DF1WaOi4U6KPhTVXxAH0kAFCkONhtaeRutD1KCKrJ5i1ZCy7jqoSWgTcRPIsYe/pM4GkGv93jP30Mouw4+gWVEiANBieBUFEindEK4B7RVcw0TcNojADCC2pMpbQaI3/D7gEpGPlKkih3yS/w7YnRqnvrQ/wlY1/wb0IE0FPCNpHv/gT2K2WsCSiXtmecDdMpPkadgqQbABFDYCelTg4DlrmsU8puW6NTPvKQaDmJEyz/vyTcXX+p7dCjPlzIlsIvMY0vFxPTJ1o6zaHyAhtakdksH1N1p+obdxlOqy/1JdYlvPbyPpb3c07MEWkcR7H/ObDdPe2vuWiZ8BiJzuvIzXBHN+3LpeAHXhC/+aWqiZkQRkeZSHftt4CPolLNLmNx69RAivPfJW4iM/NOzLUoF6BRfz0CtSzn/TAHlKNveqXfQlABVlqLacjSSA0v/a1+ixe+Y8jrsOlVjDBfuOE/JCxgi3wrgcjtTyNoaKrBQIAyL0nQeeBXVfuYLaFktzN5P47FehiIdEcDBRzqPbiUHXOxeKobsaPgMcaBhJqqcTTfD/gYjfImZT+tqDlRJNW0PNnn2uDIE8N3U5vB2SEZS3LfIPRw/5eoyKeCi7pn5EKhJKYSKraqERGptmcPGKsxBoW4MMd7qXEy02DN3s9TdydCdcUgOLF3/pm9ssnTqmCnupFZw/WVs/nlnUjJ/h2KY3CfBb90esjt/4/alssC5tof+nuCzTZpo3WxxrOzeNlwGvq0cMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PNbKQeicv6JoaxqHCyFE3M",
      "input": {
        "note": "Lemon lifted; the safe's right wall is visible just left in the wrist view. Moving left ~11 cm over the safe interior.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.26,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PNbKQeicv6JoaxqHCyFE3M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0902, 0.9971, 0.5972, 2.2761, 2.4252, -1.2541, 0.3035, 0.4011, 0.4586]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0781 left_pitch=-0.3927 left_roll=0.143 left_gripper=0.9971 right_x=0.4673 right_y=0.2583 right_z=0.1957 right_yaw=0.0572 right_pitch=-0.4343 right_roll=-0.0664 right_gripper=0.4586\nstate[joint_eff]: [-0.1573, -3.1385, 6.7897, 1.3065, -0.1685, -0.0122, -0.0122, 0.1709, -11.8906, 7.5692, 0.9499, 0.3785, 0.2076, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b11ea46f8950da2992c93bb78770bed089d0117640c34b42ba39e1a8840841b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06b27f00efa11cee300cd0116b6b68eccdd393537d218f2978c56f37bea686b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b04d153e432b70fed219cf5d25996d1e9792c8d9e1518508dfc8786f52f8479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 3.657 s
model
claude-opus-5-5
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]: [-0.1444, 1.1179, 1.0531, -0.9249, -0.2054, -0.0868, 0.9971, 0.3801, 2.0502, 1.2457, -0.2073, 0.2276, 0.2394, 0.4586]\nstate[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1904 left_yaw=0.0757 left_pitch=-0.3893 left_roll=0.1442 left_gripper=0.9971 right_x=0.4623 right_y=0.1457 right_z=0.0061 right_yaw=0.0188 right_pitch=-0.3844 right_roll=-0.0528 right_gripper=0.4586\nstate[joint_eff]: [-0.0615, -3.2068, 6.5026, 1.2283, -0.1441, -0.0415, -0.0171, 0.0752, -9.8803, 7.9111, 1.3407, 0.105, 0.0464, 1.0379]",
      "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]: [-0.1444, 1.1179, 1.0531, -0.9249, -0.2054, -0.0872, 0.9971, 0.3801, 1.9205, 1.7851, -0.9092, 0.2207, 0.2352, 0.4586]\nstate[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1904 left_yaw=0.0759 left_pitch=-0.3892 left_roll=0.1439 left_gripper=0.9971 right_x=0.4616 right_y=0.1467 right_z=0.1769 right_yaw=0.0223 right_pitch=-0.4173 right_roll=-0.0618 right_gripper=0.4586\nstate[joint_eff]: [-0.1983, -3.1385, 6.4889, 1.2332, -0.1734, -0.0415, -0.0122, -0.1846, -11.5897, 8.9641, 1.3358, 0.1685, -0.0122, 1.0379]\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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0902, 0.9971, 0.5972, 2.2761, 2.4252, -1.2541, 0.3035, 0.4011, 0.4586]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0781 left_pitch=-0.3927 left_roll=0.143 left_gripper=0.9971 right_x=0.4673 right_y=0.2583 right_z=0.1957 right_yaw=0.0572 right_pitch=-0.4343 right_roll=-0.0664 right_gripper=0.4586\nstate[joint_eff]: [-0.1573, -3.1385, 6.7897, 1.3065, -0.1685, -0.0122, -0.0122, 0.1709, -11.8906, 7.5692, 0.9499, 0.3785, 0.2076, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b11ea46f8950da2992c93bb78770bed089d0117640c34b42ba39e1a8840841b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06b27f00efa11cee300cd0116b6b68eccdd393537d218f2978c56f37bea686b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b04d153e432b70fed219cf5d25996d1e9792c8d9e1518508dfc8786f52f8479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSoAsKEAgSGAI4AUIIdGhpbmtpbmcSDCqcXKFQ8bpo5MUgBBoMgpWGcO9S4hSRMdtsIjDS0YofvQJLdD1K50Fw5T2gICQgG5NR+/nQota0jzkckL27siR7VSNd6jdhjN+hpkkqvQpE4s0AKfpRSl1HSnBgXAQtb27RRzqADt7vDMGxGlsPb1/3wqG1V3liRVthVPyGUYlluxmcUayXToqfygNI/awAokbPlHkZiAL3ayCsDWlrPis4bylIdIo3b394uvqN8Fs9wAAFKTN5HrfdxE3smFFAZOjLyfcRg3x8UAiFZBlMIIXjfPT+I6qQynl+sFj+vUp1hsRw3Sxp6WpBXGyuh62U/KGuSzwY0D+cmGk/I23RjNMDsKA0/oW+ay898Mq4PoGZWbvr20hVMfPyGVCJ1VRF/giY+8XsXUhs0rtk6bpOv7wx9grKrYx77disx2yFrg/1Qhp7RlyiGowHXF77ho3GwKWzfUf7E5gBWBAY/c1plGUiZg7Z2Ghg9UOsM9auD1iNz9w+HEOtNqk+NnVIcMzvyGbZY9GNxzXZGiC0hxOiH4kYR0KLtqWyQNtuQWBIx4L4AB20rTx1G/6vFNKpqd5rIjwVJrdfX9kQW5k/GsI4eCBqO/M3cIc5ZUOi4hMKLbN4ZhdCBHSotRJU3R3KfAadDtwY53p0iW0f54I/SYyIojIB646TzOG3NDWP9iinDIxhP4Ng5V6aSHJk1e4GB18oEMcNnmWaI39QhxLhUOq8Ua/LqDj6jLE0iyuLB0IZ5Kbtt2XccKK8lrMTsC5w0eUHhOFREC2Cck3SyF59X35Yig4NRBo5pROxvc3McYKQQ/VyQmQnuzC4RGBzOX5gUgHq9apAPHTqSApZCMo3xuBYqlq7cAWnnUdhAkLVxF4aQ/x3OlCzv8zNVUWiD/0MdvBBdYRcy9VVCFxDBRVcwUSDLvommeQWoIMmzzCp+R2H9qHl0tpzok3IstVIsIZusPt6QkSAUsarseFLA51I8FCkm6PucvT6G1c5k1YAN17HxTOm5t5lb0l+QcJ4nUHpg1BDL9if4Ht5TBln94Lt8p4Rx/qAhMKMnlNgxUnjm+fvYLRpncXSfztXFV305hvHK8MdypKM9R4UanktwIQyqRc4keGoYxP8QUb/8B/xJuskd8D6fX3nkVBX9v+RuDLW3NSEh7PXWA+n1BDLA84651NOVy4OGJyuuQN4mNELd25wtkra7WTKajYjxqBoYDQBpDFHNHaWSC1DvWe763DSt/XfUgCY3ZCq/Mai0XUmoJzXq/nDzGX2ChXbk0/+bk2k0uv3MnFh3vlxuxe+EG3PfRZwvagEGL6e37uOaOVAK6CuhPeO/B6rfG3geiKNJtHLQQiWmDs08tmuD8fTge+go9awrwniGwUoJjKur0ucByAcYBhfz4AzTvlHrzIyUrB+2QutC27RYx8lBb59pbszT0CBWWtwjTKGH81O8HXlaof0mNHm0OCPQSvPKDnwqbryGq2ugdstjOt4QB9PzusGfJ28mV/5QUfI+BxKDj+llxg8YYraN8D+SR3gEKNidtKm8GrU3IUk36ScvwTo3RJ3sa/RLqJOyZ4OmonQW82lyz6Bjpmdyb6VNxtKojjDsJ36aOMK4wjH+TnCJzq7zxU0xHgrJZsYQdoz42AZ9q5SGcYRoYnlSMYqh1V8u1pmDW4ugbZjYB2vWx9/ovwt1vgcKBe+c2SYBfmrxNlkVeNOwu+p1LbbTipMtmCQS5KamHN2j3wfQs0OKP6ps7R0ZkgoBMTnp7XuUjDB6ST2gicPh218kqR9H8NMql3GO0t6YINpk5xnrT9I4gHdLFoLum0Ig+n3UQYIiBae4SaPEAu7i2jyh9N4xTiOlRghDjkMfXco/H+sN69k6CB+7kVHE1NK+ZWuUetekAd2sPRb2w2fl04YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K4JcmtB9hWgENiUg4pwoxh",
      "input": {
        "note": "Lemon is near the safe's back-right corner. Shifting 5 cm left and 3 cm back to be well inside the box before dropping.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.31,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01K4JcmtB9hWgENiUg4pwoxh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7181, 2.3558, 2.542, -1.3411, 0.3305, 0.4839, 0.4586]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.436 right_y=0.3096 right_z=0.1862 right_yaw=0.0927 right_pitch=-0.4594 right_roll=-0.0727 right_gripper=0.4586\nstate[joint_eff]: [-0.1026, -3.1385, 6.4752, 1.2283, -0.149, -0.0269, -0.0122, -0.6496, -11.7538, 7.8974, 1.0134, 0.4322, 0.1441, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0ed13b631581e23182383bf06b98edf80194316f74ac8e286b59cb2a4723a77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02ac4c665d4dd09c759f147bc592d76a2abb925b56b4d437142a4ea152c183d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a36bf1cb0f8dc19abf3c594672bc055a6d8300ee1302e672720a42e8ef4fa267",
        "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 · 4.998 s
model
claude-opus-5-5
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]: [-0.1444, 1.1179, 1.0531, -0.9249, -0.2054, -0.0872, 0.9971, 0.3801, 1.9205, 1.7851, -0.9092, 0.2207, 0.2352, 0.4586]\nstate[eef_state]: left_x=0.289 left_y=-0.002 left_z=0.1904 left_yaw=0.0759 left_pitch=-0.3892 left_roll=0.1439 left_gripper=0.9971 right_x=0.4616 right_y=0.1467 right_z=0.1769 right_yaw=0.0223 right_pitch=-0.4173 right_roll=-0.0618 right_gripper=0.4586\nstate[joint_eff]: [-0.1983, -3.1385, 6.4889, 1.2332, -0.1734, -0.0415, -0.0122, -0.1846, -11.5897, 8.9641, 1.3358, 0.1685, -0.0122, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0902, 0.9971, 0.5972, 2.2761, 2.4252, -1.2541, 0.3035, 0.4011, 0.4586]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0781 left_pitch=-0.3927 left_roll=0.143 left_gripper=0.9971 right_x=0.4673 right_y=0.2583 right_z=0.1957 right_yaw=0.0572 right_pitch=-0.4343 right_roll=-0.0664 right_gripper=0.4586\nstate[joint_eff]: [-0.1573, -3.1385, 6.7897, 1.3065, -0.1685, -0.0122, -0.0122, 0.1709, -11.8906, 7.5692, 0.9499, 0.3785, 0.2076, 1.033]",
      "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]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7181, 2.3558, 2.542, -1.3411, 0.3305, 0.4839, 0.4586]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.436 right_y=0.3096 right_z=0.1862 right_yaw=0.0927 right_pitch=-0.4594 right_roll=-0.0727 right_gripper=0.4586\nstate[joint_eff]: [-0.1026, -3.1385, 6.4752, 1.2283, -0.149, -0.0269, -0.0122, -0.6496, -11.7538, 7.8974, 1.0134, 0.4322, 0.1441, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0ed13b631581e23182383bf06b98edf80194316f74ac8e286b59cb2a4723a77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02ac4c665d4dd09c759f147bc592d76a2abb925b56b4d437142a4ea152c183d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a36bf1cb0f8dc19abf3c594672bc055a6d8300ee1302e672720a42e8ef4fa267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+AYKEAgSGAI4AUIIdGhpbmtpbmcSDK7d4F9iQSrWMqN/OBoMPF+2YJoYxRK6jUdSIjB49y3EYviTUY8Hx29Q9/x4fMea+fX1unsFU7dolgeRl5LT9Tk+cF8m/UPRxzjXQvcqlQYCFOAV/Is1xIURx6SYBd11h1TnlaxAXoxlGU9xTmqE4SvWHydnjjb6CBZ0sj3VUiz+10JNtXW7i2Az5aMiN9+GrB0kj1rN+gPG++YEXYkJ218NCARXNIq6G2d0/yJPNxLm9/pujNhd/Rkuf4iLAmKjeXL0lmuCHgJCYE+EhJQdLq+deYxbs515EBWal1t0yienhlCfvlZb9R2SomJ+IZvTfu+395a3nvDLQB6/Mi5iHyz5f4muskQbB3rYNnpeDX/bMNy5pJpSHQQVQfrDAkXhiCSKy2Ef/eS+VAGkLOhnxCIgXKrJySCnkasxcOj4OlFQnI4VXev56GcFcw9GB1nKKBRtVY9rrEfZOnHQwgXyECS96kYjeQyjXjXleTUXTejdQnGTT1cfD/fyfIH3MmW4OryxZGsm12VxYUrm37dlb6b5LODC7/uDTtpoanT71/NMhG7phRUxZacD1/KGLyMZ2y7paxjh862GP6I8xoJkn9ukrrgQbDwpe/sxJG+bKsa9TdeWsdf0Kkekmn6f4zFJ3a1biA1kNLfvEASU0HlzSn9CJ714rIqsr6wGJ/rYTkIzto8TDXwWimFuBnnMqK4M6/tpFBWd23konRwIxW2jq6sew1hIJQA76uFsojdXiWUkjvYPG4k92ss0XVtxAGEtsC7sRQCQi2ovqLvi/Q1C0/Xwc15GdV9xbRUDWRzK6HybAosNpBWiBgMvh+9JPy0x/MTAnjReYPhwLG7UmtJDH40M9c14itMUYNySEZ6+wNXYrQrC2YR4kZhgwoTyOvUVddid/ChMjiEB8p6lA/9w7eHdY+MHSHXVZ4rknvmWAUQXQTUPBMZWyJNK7/2oL0pOP+9Ux32TWU+sAeLn0GNXq5QtVFZaGDW2KEWBNLz39N7PpZ/OPbbikcP0aYKX6RrQBpJ0D8DxnTOsrfvyn+8A3Gdy2i9psIpkUuCMC5Lj3S2eOcMWkQ4qrSxhHqv9V3iVyqDD9eXZOxse6ECaZ9mfuCGg7ohynRwkk/ZbIDExGePz4AG1OH9A65F07W6dIKEixaLVpEUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NpSbJA4oWoW7m1nTnRt6ih",
      "input": {
        "note": "Lemon is framed inside the safe walls in the wrist view. Lowering before release.",
        "targets": {
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NpSbJA4oWoW7m1nTnRt6ih",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7227, 2.3665, 2.5546, -1.3712, 0.3439, 0.5022, 0.4635]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.4325 right_y=0.3068 right_z=0.1828 right_yaw=0.0673 right_pitch=-0.4739 right_roll=-0.0925 right_gripper=0.4635\nstate[joint_eff]: [-0.335, -3.1658, 6.5573, 1.2576, -0.1685, -0.0415, -0.0122, -0.1846, -12.4513, 7.8017, 1.1502, 0.2759, 0.1636, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dcaa1883dddb2d9d99530441b9a2908db38f329c49f253e6ba90fa8c6a80319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acf8e5d6a1fbe66b3167cd9c0e8a0380dce207875236cbb045c921b789a75e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa659c5e4bd104d7ae5ce828dd2ca4afec7d4efaa363a22fc69c988ec9772ade",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 7.663 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0902, 0.9971, 0.5972, 2.2761, 2.4252, -1.2541, 0.3035, 0.4011, 0.4586]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0781 left_pitch=-0.3927 left_roll=0.143 left_gripper=0.9971 right_x=0.4673 right_y=0.2583 right_z=0.1957 right_yaw=0.0572 right_pitch=-0.4343 right_roll=-0.0664 right_gripper=0.4586\nstate[joint_eff]: [-0.1573, -3.1385, 6.7897, 1.3065, -0.1685, -0.0122, -0.0122, 0.1709, -11.8906, 7.5692, 0.9499, 0.3785, 0.2076, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7181, 2.3558, 2.542, -1.3411, 0.3305, 0.4839, 0.4586]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.436 right_y=0.3096 right_z=0.1862 right_yaw=0.0927 right_pitch=-0.4594 right_roll=-0.0727 right_gripper=0.4586\nstate[joint_eff]: [-0.1026, -3.1385, 6.4752, 1.2283, -0.149, -0.0269, -0.0122, -0.6496, -11.7538, 7.8974, 1.0134, 0.4322, 0.1441, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7227, 2.3665, 2.5546, -1.3712, 0.3439, 0.5022, 0.4635]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.4325 right_y=0.3068 right_z=0.1828 right_yaw=0.0673 right_pitch=-0.4739 right_roll=-0.0925 right_gripper=0.4635\nstate[joint_eff]: [-0.335, -3.1658, 6.5573, 1.2576, -0.1685, -0.0415, -0.0122, -0.1846, -12.4513, 7.8017, 1.1502, 0.2759, 0.1636, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dcaa1883dddb2d9d99530441b9a2908db38f329c49f253e6ba90fa8c6a80319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acf8e5d6a1fbe66b3167cd9c0e8a0380dce207875236cbb045c921b789a75e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa659c5e4bd104d7ae5ce828dd2ca4afec7d4efaa363a22fc69c988ec9772ade",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QkKEAgSGAI4AUIIdGhpbmtpbmcSDPvWIFBJMHOsXaKMvxoM53Pb9hLMv+UqzxPwIjAHXZ3dM/ED0ouFcSF9Dptez18UWBa0iDg6uDKSia3o35JEoZmQPhFueLXmYlCvwekqhgmKvFy48kGZGlkHx9A4jTvFQWymUiDLMANxMkKk6tzm2tHNLUH9O1jblMRy4aF/OcAkKFpXiV0wnRuEj10Qp/q0Xd5SlOb599uzNj2xfwOW/RaONlLhPtMCbL1gAqsQmeJaO78WTHLZ3lAgW68Okdvf0UttSeTBvHTvZbsHTh7KINCZme7lh+Q2yjliYgnlzr2Clp0ES858g8e8WCy4O344LaIcSPXCVOtx349RB0VtmkkUr0lOazwzW5rLy9BsAfsADFV6UA/t4Uq4xLT430iIaVPXX9SASYX2pj4GpcRQTFCWaq9rCzrBJjDjhzbDMcSLV7m+CURCFcgo9jfRybWxM1Kj/oTYCUJdnTtnuqX8rKCqT0gxZRKjDJOBIgXm1IrSBdi16kPtJO3fEFrVm0rW+F2r2JV0vhdvw8jAt8o5YCZTTsme0xeUNnzzgUYvmBWS4Yfovv9LIiYH2wyJjfkngdufYHRL3PkBwSOpxj75DX4wwYjEBZYZlFx12rItu5CwhzGRv+xRwiqKsv0blEML/E35soc6nKmE7fwu0sgpTeo5/TuRh+PY3U7UyMNm6k1bH8dwiiso5L2LMQ4lcfUgBcet0k8ZWKBpItS+kWYzMq3iYbnyHIMti+Gh5Cv9v3d4dmILn5xlAtW3/5rB2Uicz4BDHTTNrbC7eoK6hT2WEEM89y+9THAcm0lFUmYIkFsTOV28OtoMxibEUjVAPsW4qwvy95Ec81mA7lDB6+rO3MvgboXWR37lIW9qJD8sK51T31Iz7GlN6/crNwuq3w9YishM4blrK1XeP99nY7E4u4HfPNVwgAXdqOpHexmEojONpaakMmWw9SX5XPdmGHGD+il51D2xrfxBPX1Y5qf2fHNrb1miHSnvk0VZ3CE7/mhVr5MVZjNV7HKYqEH/8EHSScCwqNgW6muvRiYHKdj4Ee3DtI3heu4/0qDYDcG7pC+8ewfB6RLL9Oxq/0J5sJSMV1bZLw9Do9SGgAl8ipoCachUZuiznn0uvQ0vhbEZaeXx5JzMASl/8DCprjrgAdTQT8rjrznIzMCe1G+CzUoGoA94Odeih0cIE3IvosffgxaQsnxBCkFtYERyzdwv1ckAMDZGUvvHHwxm4+rriZxHInbtUrijubxrN+X/h5dlFiA697lwSSxJ6XhLhAwNbq8EDGTBiPZILDSyra/Pn56tHYGIvmEhNtlUu9zLWCHOdk4EMaURUSvC/ySBkCLX0B2pg+c7TFuDDGb8bFiZCmY+XNwCDRf+3Qra4LGgvR5UD5cCPq7ta9BjsIRWHP8ffeUaedHsuBt6/3hIvH0fPcRYABIpQrl3tNB51zBSyJpkPOSqhf63D13ctSHNTn6Tf23HdpsVUHaqWCZZGmSfDfaWJ1rJgC3QTHMZkUPLDmXmcQQ6VvWGVEFNVC3O8eAL8NS+Mum4RmLCUzar6tKeX6uJbVjG2w8+Xwi6AedryWh4D4Lg0nFlwp+Q2YFMrWOMKuBjtXfCGL6caWoDLmpSUqTU6LpOdmnqs1fOK5ySXZy+fXgvm0G/AXwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EhUGWJdpg7UvtUq5PwzoXb",
      "input": {
        "note": "Arm won't descend further here (likely a reach limit), but the lemon is over the safe interior. Releasing it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EhUGWJdpg7UvtUq5PwzoXb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7227, 2.3665, 2.5546, -1.3716, 0.3443, 0.5056, 0.9948]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.4325 right_y=0.3067 right_z=0.1828 right_yaw=0.0647 right_pitch=-0.4738 right_roll=-0.0912 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -3.1521, 6.4752, 1.2186, -0.1441, -0.0269, -0.0122, -0.3624, -12.465, 7.8017, 1.1697, 0.2418, 0.0757, -0.2418]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdb92484051b836750683c152dbf9d095a81691f839283880e420f12b1110e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b5f02b71dd3a138b96e5ae07e4f7c3980436992fbb9e62a7c131173d2294b60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aec656d42d5b0d78cb901d78df33fad9df8197eae2f21bf1c23e8905e526b17b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.722 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7181, 2.3558, 2.542, -1.3411, 0.3305, 0.4839, 0.4586]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.436 right_y=0.3096 right_z=0.1862 right_yaw=0.0927 right_pitch=-0.4594 right_roll=-0.0727 right_gripper=0.4586\nstate[joint_eff]: [-0.1026, -3.1385, 6.4752, 1.2283, -0.149, -0.0269, -0.0122, -0.6496, -11.7538, 7.8974, 1.0134, 0.4322, 0.1441, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7227, 2.3665, 2.5546, -1.3712, 0.3439, 0.5022, 0.4635]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.4325 right_y=0.3068 right_z=0.1828 right_yaw=0.0673 right_pitch=-0.4739 right_roll=-0.0925 right_gripper=0.4635\nstate[joint_eff]: [-0.335, -3.1658, 6.5573, 1.2576, -0.1685, -0.0415, -0.0122, -0.1846, -12.4513, 7.8017, 1.1502, 0.2759, 0.1636, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7227, 2.3665, 2.5546, -1.3716, 0.3443, 0.5056, 0.9948]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.4325 right_y=0.3067 right_z=0.1828 right_yaw=0.0647 right_pitch=-0.4738 right_roll=-0.0912 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -3.1521, 6.4752, 1.2186, -0.1441, -0.0269, -0.0122, -0.3624, -12.465, 7.8017, 1.1697, 0.2418, 0.0757, -0.2418]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdb92484051b836750683c152dbf9d095a81691f839283880e420f12b1110e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b5f02b71dd3a138b96e5ae07e4f7c3980436992fbb9e62a7c131173d2294b60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aec656d42d5b0d78cb901d78df33fad9df8197eae2f21bf1c23e8905e526b17b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LUFU5CoqgYWwYPCcvY4nM7",
      "input": {
        "note": "Lemon and teddy are in the safe. Moving the right arm back over the brown plush lying in front of the safe.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.3,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01LUFU5CoqgYWwYPCcvY4nM7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.0906, 0.9971, 0.9833, 1.8732, 1.6165, -1.0859, 0.4103, 0.7368, 0.9953]\nstate[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0785 left_pitch=-0.3953 left_roll=0.1434 left_gripper=0.9971 right_x=0.2792 right_y=0.2985 right_z=0.1339 right_yaw=0.0732 right_pitch=-0.5273 right_roll=-0.148 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -3.2205, 6.5299, 1.2332, -0.1636, -0.0073, -0.0122, 0.1846, -11.8496, 7.0769, 0.8962, 0.4274, 0.1929, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee23652871e411746aae340315dccefd1f1f7ba68660dafa8b2ef14b99605c9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:398d992162b8488e47eb734b8f8fd653730f733e6f12d5bdbde909603c3f9022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfe0f2f49d38095c04f0d53bcc391097d8833504c44c6e0bbead0bfe31493c96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 3.447 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7227, 2.3665, 2.5546, -1.3712, 0.3439, 0.5022, 0.4635]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.4325 right_y=0.3068 right_z=0.1828 right_yaw=0.0673 right_pitch=-0.4739 right_roll=-0.0925 right_gripper=0.4635\nstate[joint_eff]: [-0.335, -3.1658, 6.5573, 1.2576, -0.1685, -0.0415, -0.0122, -0.1846, -12.4513, 7.8017, 1.1502, 0.2759, 0.1636, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7227, 2.3665, 2.5546, -1.3716, 0.3443, 0.5056, 0.9948]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.4325 right_y=0.3067 right_z=0.1828 right_yaw=0.0647 right_pitch=-0.4738 right_roll=-0.0912 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -3.1521, 6.4752, 1.2186, -0.1441, -0.0269, -0.0122, -0.3624, -12.465, 7.8017, 1.1697, 0.2418, 0.0757, -0.2418]\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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.0906, 0.9971, 0.9833, 1.8732, 1.6165, -1.0859, 0.4103, 0.7368, 0.9953]\nstate[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0785 left_pitch=-0.3953 left_roll=0.1434 left_gripper=0.9971 right_x=0.2792 right_y=0.2985 right_z=0.1339 right_yaw=0.0732 right_pitch=-0.5273 right_roll=-0.148 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -3.2205, 6.5299, 1.2332, -0.1636, -0.0073, -0.0122, 0.1846, -11.8496, 7.0769, 0.8962, 0.4274, 0.1929, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee23652871e411746aae340315dccefd1f1f7ba68660dafa8b2ef14b99605c9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:398d992162b8488e47eb734b8f8fd653730f733e6f12d5bdbde909603c3f9022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe0f2f49d38095c04f0d53bcc391097d8833504c44c6e0bbead0bfe31493c96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AgKEAgSGAI4AUIIdGhpbmtpbmcSDDm0uMaBxn9F5wByCxoMVp3Tpu1iBytcEJ0EIjAaqLN9m/GUlHqS7VNdP7CqZAJ67nlJs3u2HJOe5QQYjQEs/5rUba1W5Keni1Rzgacq7QdXR7hHftTzKh5gOL58PIoWFJJfwdHw+BfB0EuYV9SbaOVlGsox63x4cEIQOM9ckW4XOeGPa0JhMamP7wMMaio/Sm01xZh2NPqUdaxIoGwVTCnLOmVq+fiIb+/bavRwh8hYLAWQN46QHfX9P9Az9/5Z0uJOOIkefq995xkUvfASmmBQHislxcTBgzr7roLE958kjpVQ7EJoulEfvsHhwX8vTdalKeG0iYKHUq66K+x3tVYYA8e2CC0LAy05eZYmLNqXufZhGn/1lxIaCKj1YzJDZzTpYD3DnZ3+OvYUZWeyBJqfR4ISYjAspdZhDOFD4c7D4iZEm+UlGDSSfj+vzS1rOd15NEKY6S2KKFiSawwSNlIVX2/O9oCA2y4YKHcvvfVXob5Hnf2kvM0Lvqu+hQvIpi0OWohDSS1e41T02RGoF9hrzJKT7uPttJBYEb8LXgRlKkbQSgNGYXBARA8D9iy6fNsYzs9nlXjbwQSTH6IrGnOHr22KXEDONDRe0SJaJe6WnzR+a1U7s13jPxBld4xwM3kR0xKxZ4D39kQ55iHag2EbYN4vopm7bkRxHDTczxQd2ic2XUli6VWAced48QLidDM0Ey5OO1Kb8RdhgM4iKCJGAwct1ZEJPqb5Cllc+j7IsQaVU/cg3TkI990vvl4vbUIkO1pDNiStAMdbHSqE82NBDqLAC18h15IDsqt+gqaB6XbYfGebHiApxYaXOQzmYPEXg9/lZ+uRR/vgX5+Qn6D+cx4zj47IvmSrSq1IZZJPdm5HPhawXZnXXDHbPTs9bWWbjJjWLO/ak94ZNimSqozuP4EU7adfDbcDLJ2KGgHLzfUu7/LparcA1dR0IR4Vl3TRegJLDzrQ30bjpLxzv2Kz3S+D3aQ+0fKWNkWTRg6HmCMdqh2iCbrWKMuPqYn2zpiMoVYJ9X4guCLmzCpofmI4QAxDx9HdjFJYBxUiKiHFoi/frcURS19WvTqHv/g43hlumUa7puLvgwUcuTh6rIQSMsX392JoEvk3BqzVbuJ1YsRyv83MCkaVyKHSb0B9ZEfrJci6OwGU0v74knMzTzGikd8aB28JRPlViSVI6+RCGVVxY+BkiXeFy/5rfqN7h5FFQmQGQOJp6jcRC95vHRdwroshM9gYfkRGZ8efwvi5s0wzNV7qhpJ1zm/65/03wJj524YBYkArqFdNkF7ssIBOdy/W+1ZCROOGlzD6+yPBRH/MVMJycWtbuBSl5cHnIqw/f9c5PxLJ/LQajg2ZqxeeGNhtDsJK7sWq/AhXVa7dP9cMUkD3ohuofclnw7Vgs1GJ2hHlXqVJ50avy80iq2co5fNMNpF5bUS1yN4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lx1CX4ojXAFXfw4imhRbq6",
      "input": {
        "note": "The brown plush is centred just ahead of the jaws. Descending onto it to grab the body.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.31,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Lx1CX4ojXAFXfw4imhRbq6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.091, 0.9971, 0.9802, 2.0045, 1.3621, -0.7174, 0.4072, 0.733, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0787 left_pitch=-0.3952 left_roll=0.1432 left_gripper=0.9971 right_x=0.2843 right_y=0.3049 right_z=0.0258 right_yaw=0.0663 right_pitch=-0.5405 right_roll=-0.1636 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -3.1385, 6.4752, 1.2234, -0.1587, -0.0757, -0.0122, -0.3761, -7.9385, 4.8479, 0.6764, 0.1685, -0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03383876638b028df7584e97416a86792f17bfaac59ed6d3cc6bdc78f4cc92b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd628b19171145d4193d140b6c733f466760f1bcd1eb5c66c625804ab24610ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:034c097411d852d2fe5fe31284c0c04e95f86cd2cc822202f838f46ad87344ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 3.557 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1179, 1.0531, -0.9287, -0.2054, -0.0906, 0.9971, 0.7227, 2.3665, 2.5546, -1.3716, 0.3443, 0.5056, 0.9948]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1899 left_yaw=0.0783 left_pitch=-0.3927 left_roll=0.1427 left_gripper=0.9971 right_x=0.4325 right_y=0.3067 right_z=0.1828 right_yaw=0.0647 right_pitch=-0.4738 right_roll=-0.0912 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -3.1521, 6.4752, 1.2186, -0.1441, -0.0269, -0.0122, -0.3624, -12.465, 7.8017, 1.1697, 0.2418, 0.0757, -0.2418]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.0906, 0.9971, 0.9833, 1.8732, 1.6165, -1.0859, 0.4103, 0.7368, 0.9953]\nstate[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0785 left_pitch=-0.3953 left_roll=0.1434 left_gripper=0.9971 right_x=0.2792 right_y=0.2985 right_z=0.1339 right_yaw=0.0732 right_pitch=-0.5273 right_roll=-0.148 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -3.2205, 6.5299, 1.2332, -0.1636, -0.0073, -0.0122, 0.1846, -11.8496, 7.0769, 0.8962, 0.4274, 0.1929, 0.0415]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.091, 0.9971, 0.9802, 2.0045, 1.3621, -0.7174, 0.4072, 0.733, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0787 left_pitch=-0.3952 left_roll=0.1432 left_gripper=0.9971 right_x=0.2843 right_y=0.3049 right_z=0.0258 right_yaw=0.0663 right_pitch=-0.5405 right_roll=-0.1636 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -3.1385, 6.4752, 1.2234, -0.1587, -0.0757, -0.0122, -0.3761, -7.9385, 4.8479, 0.6764, 0.1685, -0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03383876638b028df7584e97416a86792f17bfaac59ed6d3cc6bdc78f4cc92b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd628b19171145d4193d140b6c733f466760f1bcd1eb5c66c625804ab24610ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:034c097411d852d2fe5fe31284c0c04e95f86cd2cc822202f838f46ad87344ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzgYKEAgSGAI4AUIIdGhpbmtpbmcSDHJLc2IAN0HDwldQsBoMyqA9uw9RJqP3GYecIjC83UIwGiaHDAhb5l7t+W20OPrX6KUzyA20hXxjucQZ/CfmYB01+vCtx8q2hNI/T4Yq6wVzWEwA0oOavUZ/z3oIcnTMCMWMvmZLs6ebEZcdxz8ucPPMPBSCCpM5GLz2KmXXcbxvC4ZqeNOCTRWmatqnXGawM+1bwST44bqxGckM/2H5u/VqEZmI2idSUmn8bwAuu/XOfCptQ0ZBIkCaMGw82eHMLGUGhXzxH/b3ke58Ip1XOV+LLArgpU8T5Aaf46IqN53o7uAoCfL5EPD/5pa2kIYQN3OF75VIOryWtvvaItcWod7Y0AyoixI0otDCZPtJlkr0xetetCpeBbj2lFyaNzUlhYIlWIGqFc5V2xmlh0zSTu9KnaONBiIJTbUWl/veLKieZkTBQWdJYSwdhDPAtz0Yfc2R+IdzFP/cXNHxj0K6L1lQiQNpsGzQoGflew40pLcOE+UVzKkFGsiOJnJ+Ixpn9Z5yA4Xu2eZ4diPES8cKlBnbFQBGa12kk0WQHoZsKAdWLylQSu2UVb1q+EGj4U5w+5VGy2xiwV524NOFItuJXn1Ow8c/9sew5CjzPF93BH+eSg6cTmxIuh5+b0u//siY0N6Z9/VAf99GH0txCKz8e4L9qrOu+U5gQyPH8eIWhQHDQoC3TReA1uxrX0KqzOPD5zgFQgTV0SCnONIEevpiDonSwknDo0bETaV64vPcmsD0LkbLs9vpFMDLwPQQ9hvyZjSIafyvdnarC3U0FPegY3e99lIQmmOPGsh94PdsN2+PHNubQ7CfcwlyDqTpK+IjYdeqN7VO//tZe1wWG3FXfb/VCsrH/i4sijZSAThYpuaYbBTlO5nS79134VJp4dcSK1GHFCUtuLHYWXkDGmISpl1TF4cvKL+vRlV6u7ii0b+hzIFUA0/339ng4QJKyouRG0BFDp0qIcCIhRfh6+f1llutxyA3B9GKSPX4UlsKI1nkjyPKBonw5AuP0mn78KAl6i1Z/6EY235AhPmV2Qyrtjrv/4ZBlxhqdp2DRjhyBmPbl92rWWcR/p1VuPS64uCsURkkPGRV0AsJ6qUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FS1LbY5aKBLk5DBiDNjfP1",
      "input": {
        "note": "Jaws are pressed into the plush. Closing to grab it.",
        "targets": {
          "right_gripper": 0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FS1LbY5aKBLk5DBiDNjfP1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.0906, 0.9971, 0.9806, 2.0163, 1.3357, -0.625, 0.4152, 0.7296, 0.1106]\nstate[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0785 left_pitch=-0.3953 left_roll=0.1434 left_gripper=0.9971 right_x=0.2914 right_y=0.3134 right_z=0.0192 right_yaw=0.0886 right_pitch=-0.5011 right_roll=-0.1219 right_gripper=0.1106\nstate[joint_eff]: [-0.1983, -3.1521, 6.4752, 1.243, -0.1734, -0.0757, -0.0122, -0.1026, -7.788, 3.8632, 0.7741, 0.0952, -0.0122, 0.7106]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38d9a60f289a451e768025d759a0b7895029680cb8b48e021333cce06fab7feb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa6274c34306ec074f700d300de2fe465dc998879ee8051f97ef6443f709b147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97602ca76a5fced1467fde722128e9a86008d9639cbd6960ce9396241a167296",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.35 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.0906, 0.9971, 0.9833, 1.8732, 1.6165, -1.0859, 0.4103, 0.7368, 0.9953]\nstate[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0785 left_pitch=-0.3953 left_roll=0.1434 left_gripper=0.9971 right_x=0.2792 right_y=0.2985 right_z=0.1339 right_yaw=0.0732 right_pitch=-0.5273 right_roll=-0.148 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -3.2205, 6.5299, 1.2332, -0.1636, -0.0073, -0.0122, 0.1846, -11.8496, 7.0769, 0.8962, 0.4274, 0.1929, 0.0415]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.091, 0.9971, 0.9802, 2.0045, 1.3621, -0.7174, 0.4072, 0.733, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0787 left_pitch=-0.3952 left_roll=0.1432 left_gripper=0.9971 right_x=0.2843 right_y=0.3049 right_z=0.0258 right_yaw=0.0663 right_pitch=-0.5405 right_roll=-0.1636 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -3.1385, 6.4752, 1.2234, -0.1587, -0.0757, -0.0122, -0.3761, -7.9385, 4.8479, 0.6764, 0.1685, -0.0952, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.0906, 0.9971, 0.9806, 2.0163, 1.3357, -0.625, 0.4152, 0.7296, 0.1106]\nstate[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0785 left_pitch=-0.3953 left_roll=0.1434 left_gripper=0.9971 right_x=0.2914 right_y=0.3134 right_z=0.0192 right_yaw=0.0886 right_pitch=-0.5011 right_roll=-0.1219 right_gripper=0.1106\nstate[joint_eff]: [-0.1983, -3.1521, 6.4752, 1.243, -0.1734, -0.0757, -0.0122, -0.1026, -7.788, 3.8632, 0.7741, 0.0952, -0.0122, 0.7106]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38d9a60f289a451e768025d759a0b7895029680cb8b48e021333cce06fab7feb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa6274c34306ec074f700d300de2fe465dc998879ee8051f97ef6443f709b147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97602ca76a5fced1467fde722128e9a86008d9639cbd6960ce9396241a167296",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnQcKEAgSGAI4AUIIdGhpbmtpbmcSDOh7+Kag9ZGAfJ/gWBoMNYN1Bwkxs+y1szHRIjAYsj8amkQbkp2L1oxm2AFnYe6dkA/pGX2xlfHBSzqvbQ2PAX9Bvrz8y3t7PeT3TB0qugZQ1buETRlPmdHxK+6dRP5qsQQAfo907NoDhvY1HPyAc5hKRyyb3dMe6g5bleulGclYXT1SQOy1rQ4QiLur4gofocExWquS6mV7P9VqfV1qVyIeHmq54ejCTcVbphZtjiy9A2hiq9KrXwFH1w8b8bDLhgqmzNhPxqHt0YcNbP10EwUjNG8+VkAZVs7VBPyO3Mi53FXABG8fGJc0ULb9J0IINJfnAC/M7qu2+mJStVr3tMzquyylicwyS8nXLKfGgPq2AVFTQyqd93a1BWZDjoPIMPRRZlwsahk2uQwkNdm+kjBGOYvk5tAu5ydxJuKfe1U7h3fPZPUfGD9n1UbJcrQdpx0Z1rRZsrNXjj9OwMOi6LZkJLxYPuryay7nHuV234N2YHe6bUbfqskG7vIBVHDLRNzAvB2+7x8LR0qR9ee0Aglf/kmK5hbPe8I3gjyGyMAToQ9zycZ3mFu0bnT3AZQgnLp9c75Eq9COrrTLSszXFI7zvWNd6SmQug3q+z4kGCjwl+xsLiHWd5ujy4gkLBX6yymTnNn5fQoDyXlvjK6bW9/wbZ60emQLpPQYGknluTk3caDmdgaPePKMg0l4tYzf5DYBVi6RPYJiIJQNm6c4Oq7JrpCyG4Cns/41uAjZuRDb1BSO9HLqzevoI+237Nb0d2jaoFnFML67OrWJ6qyfQivAUkjzPz2ey7aRJDXQaZkR4J+syc3vHZVEKuevTt9K70yX4mM1wLqzwRPaGg2QHu4dB5Uit1qsXzyVvC2TME5vXH48+mGhDV0PaGHMm2dGmYhJeLVogIZ519ghnpnug7s55EBO/9mJqLSPGa2jRxOhskxl8lOQIGgCMRMMIPa8OrlcG/0KiUaJ9feWGf3Kx8f7fQzBYV9euoTPnKWZ/DRukioDUl1x0uPlLKHHSUal5uWRDRc86gJIckwXpjeMtOGjJx1SRYiwhR8wOyfmiIFvtd0jw/XfZqhP3PKO06Lf6sHzFIciBHJLDW5jWIAeScE+0lXof0mhwJFfmuXFzfFWeUHyEfPtlZDDkgpHhwLmIhSRFO2RYihrgflEoW32G1NOk15uguOzfIZYEBKN+yH5Qs6SpoYpfwMbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012G3xSdaFqwLhWzFrn4Ah3d",
      "input": {
        "note": "Gripper settled at 0.11, so it has a fold of the plush. Lifting high so the dangling plush clears the safe's front wall.",
        "targets": {
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_012G3xSdaFqwLhWzFrn4Ah3d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9287, -0.205, -0.0906, 0.9971, 0.9806, 2.0254, 2.2616, -1.5074, 0.4004, 0.7223, 0.1107]\nstate[eef_state]: left_x=0.2884 left_y=-0.002 left_z=0.1893 left_yaw=0.0781 left_pitch=-0.395 left_roll=0.143 left_gripper=0.9971 right_x=0.2928 right_y=0.3198 right_z=0.2426 right_yaw=0.1165 right_pitch=-0.4906 right_roll=-0.0853 right_gripper=0.1107\nstate[joint_eff]: [-0.2256, -2.8103, 6.5162, 1.2967, -0.0952, -0.0611, -0.0122, -0.4855, -9.265, 6.7487, 0.735, 0.2955, 0.0269, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99246cffb332075733e8eec1e0f5d66638051d5c341841e9de4f89dd0e35cf78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ff85438539eacd1ff6744b06b8a41f3051d0791a07cfa677272b708f0086e15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eea351e78e8d912154945e54aaae8f7ad65e0977505f43b51ad48a7ec0c1268e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 4.158 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.091, 0.9971, 0.9802, 2.0045, 1.3621, -0.7174, 0.4072, 0.733, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0787 left_pitch=-0.3952 left_roll=0.1432 left_gripper=0.9971 right_x=0.2843 right_y=0.3049 right_z=0.0258 right_yaw=0.0663 right_pitch=-0.5405 right_roll=-0.1636 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -3.1385, 6.4752, 1.2234, -0.1587, -0.0757, -0.0122, -0.3761, -7.9385, 4.8479, 0.6764, 0.1685, -0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.0906, 0.9971, 0.9806, 2.0163, 1.3357, -0.625, 0.4152, 0.7296, 0.1106]\nstate[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0785 left_pitch=-0.3953 left_roll=0.1434 left_gripper=0.9971 right_x=0.2914 right_y=0.3134 right_z=0.0192 right_yaw=0.0886 right_pitch=-0.5011 right_roll=-0.1219 right_gripper=0.1106\nstate[joint_eff]: [-0.1983, -3.1521, 6.4752, 1.243, -0.1734, -0.0757, -0.0122, -0.1026, -7.788, 3.8632, 0.7741, 0.0952, -0.0122, 0.7106]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9287, -0.205, -0.0906, 0.9971, 0.9806, 2.0254, 2.2616, -1.5074, 0.4004, 0.7223, 0.1107]\nstate[eef_state]: left_x=0.2884 left_y=-0.002 left_z=0.1893 left_yaw=0.0781 left_pitch=-0.395 left_roll=0.143 left_gripper=0.9971 right_x=0.2928 right_y=0.3198 right_z=0.2426 right_yaw=0.1165 right_pitch=-0.4906 right_roll=-0.0853 right_gripper=0.1107\nstate[joint_eff]: [-0.2256, -2.8103, 6.5162, 1.2967, -0.0952, -0.0611, -0.0122, -0.4855, -9.265, 6.7487, 0.735, 0.2955, 0.0269, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99246cffb332075733e8eec1e0f5d66638051d5c341841e9de4f89dd0e35cf78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ff85438539eacd1ff6744b06b8a41f3051d0791a07cfa677272b708f0086e15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea351e78e8d912154945e54aaae8f7ad65e0977505f43b51ad48a7ec0c1268e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSuwcKEAgSGAI4AUIIdGhpbmtpbmcSDK2zBSK2RUZ8N80dGRoMu3qAo7iUD9bJu8EbIjAfpoiywXjkzgPpFEVNFfXr6gYyPCxORddRS9uY0PBzpbPJQe97jDhybY0dG26sZI4q2AZnBUlUnnqFzPZKq+bxYeag5Rc4TY9nUz1ZQCmdyZTnD2SYnEpiSZ8NOhcHHxEftSIfHePnCpJibD8TX8/XtIqleckHEQZhjyAgcIxKeDwnlM2BMlovaE0166lbYGlKWxKYICzKFdpzMbS8BgumE9FmM/qluHqFLoGZyFWB3slvL2/ALKlwLdlOvqI6YBuZhjQMu/aAJYD7wTwEDjyBG0MnvzS66GcIZQlNdGlhkkz3mgzR72SP3Ka24scZbYINkbJn2+f2OWLkO3HYJ9+VQ+AYYvcHIMPF3UPRo9GdrCn/xUy5DeLS4It3WdvhFWxq92dMAg1NjZyaPuaOm5Fu+QmcsztZ3oqsTCJVJoBMu5+yphqQ8eqJlvN1I3I8+hx/feFV4HX4/QGW/O1g1k+1Sy2WrDZYgsIEPLWIlTSq6S6Fk4hqwUZvSVOMu7yGk+bkz9c9Krf21Vn8kMup+bWmVcOBH4is/hPSOrSg3yFBw/3FqhMxTW37YEI1fXh7pJt4p0cZeaYVlIp2p9Sikl54By1Wc5n9XiUkGMUHXn2C3yOuJEheD6s/YJB1CR4QworaHjfIpoShS/D7QMuZDwtTwlbGx3M6j/UQ12c+ycgMG96npftY2IXPhWHVdX0DL1Ow6MFCke+Jk7it27Msntjt8fXLDrBG+X62iKaj6gy3TcPQsZV/JuiSY2Lu7HX9n5VR5xHiLlzZsLXV0k8FxoQC1luTGJv8G2TJXNnb7XqmMm6oXyHSfAFXuYfsJZMI+XrqghOVi+Xj19I+2jh6QL335u5unwvQWv81X56SY5aAYN1jN2zwLESPeXNmrzEIio8B2/oyZq3wg9s+jw8G8kiyZ7ydhEKx6GVtzL4OGKOED1vkgEF1ipYcw0aJh/3eRs1uNjtDVZAQFdoo0oUCk73KNHN4zzdRpu5S7s8I7KBGZrcWXpvZ22DqmxasZtwpQGdZY9BWHJIosMOB4JXLapKHtUbUN5A2z7qYUOLuQVLb9bX+iMd+zfIH3SpG/Y8suMyw8VvvDytdAgRykVBnEMDjkTYpMdiFZgRo/TFron//y/CZx/ljB0N29uRJ4kgmPKulGESQKUz4zKDwt06B9GGy1jfy22IhaiKm6rzGFlBQpSCUgVvpOuIFSZuUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q9r7www9vChcJxLJdu541C",
      "input": {
        "note": "Plush is held and the safe interior (teddy and lemon) is straight ahead in the wrist view. Carrying it forward over the safe.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.31,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Q9r7www9vChcJxLJdu541C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0527, -0.9295, -0.2054, -0.0906, 0.9971, 0.7723, 2.2902, 2.6541, -1.6009, 0.3241, 0.5213, 0.1107]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.189 left_yaw=0.0786 left_pitch=-0.396 left_roll=0.1436 left_gripper=0.9971 right_x=0.3801 right_y=0.2967 right_z=0.2296 right_yaw=0.1017 right_pitch=-0.5267 right_roll=-0.1034 right_gripper=0.1107\nstate[joint_eff]: [-0.1846, -3.0154, 6.5846, 1.2186, -0.1783, -0.0806, -0.0122, -0.2393, -10.9197, 7.7333, 1.1404, 0.2466, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b0c0c1777e656752bec49621b014630741b99214c2c70f0cc55651760fdd96b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e14c8543fa7651fe13ed260ccf0ba95e2c832fd4ab0eec1cf60695961d0acaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8be0e732f97cc7ac83508e489b61455df6d50e1f3a72ce8e959c86940d566eb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 3.085 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9291, -0.2054, -0.0906, 0.9971, 0.9806, 2.0163, 1.3357, -0.625, 0.4152, 0.7296, 0.1106]\nstate[eef_state]: left_x=0.2883 left_y=-0.0019 left_z=0.1892 left_yaw=0.0785 left_pitch=-0.3953 left_roll=0.1434 left_gripper=0.9971 right_x=0.2914 right_y=0.3134 right_z=0.0192 right_yaw=0.0886 right_pitch=-0.5011 right_roll=-0.1219 right_gripper=0.1106\nstate[joint_eff]: [-0.1983, -3.1521, 6.4752, 1.243, -0.1734, -0.0757, -0.0122, -0.1026, -7.788, 3.8632, 0.7741, 0.0952, -0.0122, 0.7106]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9287, -0.205, -0.0906, 0.9971, 0.9806, 2.0254, 2.2616, -1.5074, 0.4004, 0.7223, 0.1107]\nstate[eef_state]: left_x=0.2884 left_y=-0.002 left_z=0.1893 left_yaw=0.0781 left_pitch=-0.395 left_roll=0.143 left_gripper=0.9971 right_x=0.2928 right_y=0.3198 right_z=0.2426 right_yaw=0.1165 right_pitch=-0.4906 right_roll=-0.0853 right_gripper=0.1107\nstate[joint_eff]: [-0.2256, -2.8103, 6.5162, 1.2967, -0.0952, -0.0611, -0.0122, -0.4855, -9.265, 6.7487, 0.735, 0.2955, 0.0269, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0527, -0.9295, -0.2054, -0.0906, 0.9971, 0.7723, 2.2902, 2.6541, -1.6009, 0.3241, 0.5213, 0.1107]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.189 left_yaw=0.0786 left_pitch=-0.396 left_roll=0.1436 left_gripper=0.9971 right_x=0.3801 right_y=0.2967 right_z=0.2296 right_yaw=0.1017 right_pitch=-0.5267 right_roll=-0.1034 right_gripper=0.1107\nstate[joint_eff]: [-0.1846, -3.0154, 6.5846, 1.2186, -0.1783, -0.0806, -0.0122, -0.2393, -10.9197, 7.7333, 1.1404, 0.2466, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b0c0c1777e656752bec49621b014630741b99214c2c70f0cc55651760fdd96b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e14c8543fa7651fe13ed260ccf0ba95e2c832fd4ab0eec1cf60695961d0acaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8be0e732f97cc7ac83508e489b61455df6d50e1f3a72ce8e959c86940d566eb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSlAgKEAgSGAI4AUIIdGhpbmtpbmcSDJqan7pxAG8kaEUk0RoMnIDSyrfQNH/+jCX7IjCMntb2yCpkd8oRJ5PT9tv46GSznbrPiImDNnXaJFcWM31qEv1bUoXCDLgTBYCxu1YqsQfpUpUGnxs2ZFhzEnH6p8ZCdl0DX1CCMkuE0WLG8WPVuJaOa/lz5JeY9rPdlYsiH7yBVTK3WDU77WB47voZPYriMEb71BWk3CI24RBI0zp9diyvU7ADqOFXED4TVT+5fIYlj5Zoa2rJ9yA9lhksH73NTnEIbsJy/CcXy8kDOv7yLZKzRLi0JK/Itm36UDLIeo/jdmY5d9EJRS6hz2w5DTp/WhYjCkrM4nKxnEMfbF3ai6JNUARggmM90DWTgChF1JhEt3hRxOCyhJMW7/uojaYn3xjZeZFQOCqjF16n3Jtn2uXXpzrJQgb1DM7AewCWfiGxDe73SQYnMF1/eOSSN1vyuvYlSviBrPUmgRJfdb0zPafz/h0RUKq1COELkq2tZ4wumQNToFqM0p+jYLl8FGVOFfZlPacu3EnQnudPRkhCACrKHgE1qO1grbkwyaUyChVd0g1vbD0eco3GcTzLmV/y9TP8X/Ax9ZmlgmRnZdw5o7pExry8UrSSghy8BNhEv2orNzOx7lvXnJWy8TeSWszshCAX0A6app3Qu/KrxKaQY9OdNx1XteFAc6tLysdgtA7JRmxZo1g/fGbWKWk7TEndvRLr4/6R9xcJcz6e9UCtlvUMg+3n+91sEmwT+9e99qpNJ0/dmSw+/czMgKApkaMcj5hTS9hJKLvElTkN0j4LtXJenqjee0GKTy4fIW0jFgKYogbkjEZsp3czOz04wXv8qMnsNQqKUr87jIwgff1NmicgsV5wcRuGWPAMj3CXpQtrqTyi8o8rJXsPpW8hGC3lu6MPnvdDeQ7GYpHGvT2KxBvksNhqWWfDQQpPR3LH2gzkhdBQ9aR5JhF6PtMaA75uVFS8VTt1CjewA4h0veBYVg+VUVIBTCeZDwGbMpJ33PeD4GFevvxzL8UvGo01LzLw2BlKUgegA7cwROBBehMhVc7QBOM8uLdpZ0ipedyauvo5G8MnFfXbF+oGK8bF4UKN7qKdJKThNmUBj5kIHlwEhRNttbENWM/4bd8Sp71/lGyFPNjiWZiwHNzhrsufHP3yk3mc6m8Cu0wlbKqtDZRn9HXaZh822EvC9gy3hEtOGE5CPEfB5e0U26t9EVXSba4L1AF+IBztZK1obSL7Bnk4j0iQi0DNR3dboeKQQub3rX3QQFsGgpKC5+2pNb2hfmhTAky7C3BcB76PFk/aHR0ktbkGE15ZFVrCBrgNTrK15+mmiuu5kZ5d+3oEeKc1jWGt5MQSsQX7KF9I2S36Se0tUWsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ftdp7VVbhhikTZLDa2LQ1H",
      "input": {
        "note": "Plush is over the front half of the safe. Nudging forward and lowering so it lands inside.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Ftdp7VVbhhikTZLDa2LQ1H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9295, -0.2054, -0.0906, 0.9971, 0.7181, 2.2986, 2.4432, -1.4544, 0.2996, 0.4728, 0.1107]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1892 left_yaw=0.0786 left_pitch=-0.3956 left_roll=0.1435 left_gripper=0.9971 right_x=0.4016 right_y=0.2865 right_z=0.1732 right_yaw=0.0697 right_pitch=-0.6021 right_roll=-0.1578 right_gripper=0.1107\nstate[joint_eff]: [-0.1436, -3.1521, 6.4615, 1.2381, -0.1245, -0.0562, -0.0073, -0.2667, -12.6017, 6.7077, 1.3016, 0.2173, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b76fa7ec5be78d48275f314e83c206a4a1b96fa22257bf4358d0927b8a41088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60dfc5ddd4fdb2b3db8726d1b9707965aef603c07e78deb927d190c77e99752a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a61341c3d0d3b9f5cc813acad71c282fa28140302f3f1232e4f7119093b0a102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 9.553 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9287, -0.205, -0.0906, 0.9971, 0.9806, 2.0254, 2.2616, -1.5074, 0.4004, 0.7223, 0.1107]\nstate[eef_state]: left_x=0.2884 left_y=-0.002 left_z=0.1893 left_yaw=0.0781 left_pitch=-0.395 left_roll=0.143 left_gripper=0.9971 right_x=0.2928 right_y=0.3198 right_z=0.2426 right_yaw=0.1165 right_pitch=-0.4906 right_roll=-0.0853 right_gripper=0.1107\nstate[joint_eff]: [-0.2256, -2.8103, 6.5162, 1.2967, -0.0952, -0.0611, -0.0122, -0.4855, -9.265, 6.7487, 0.735, 0.2955, 0.0269, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0527, -0.9295, -0.2054, -0.0906, 0.9971, 0.7723, 2.2902, 2.6541, -1.6009, 0.3241, 0.5213, 0.1107]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.189 left_yaw=0.0786 left_pitch=-0.396 left_roll=0.1436 left_gripper=0.9971 right_x=0.3801 right_y=0.2967 right_z=0.2296 right_yaw=0.1017 right_pitch=-0.5267 right_roll=-0.1034 right_gripper=0.1107\nstate[joint_eff]: [-0.1846, -3.0154, 6.5846, 1.2186, -0.1783, -0.0806, -0.0122, -0.2393, -10.9197, 7.7333, 1.1404, 0.2466, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9295, -0.2054, -0.0906, 0.9971, 0.7181, 2.2986, 2.4432, -1.4544, 0.2996, 0.4728, 0.1107]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1892 left_yaw=0.0786 left_pitch=-0.3956 left_roll=0.1435 left_gripper=0.9971 right_x=0.4016 right_y=0.2865 right_z=0.1732 right_yaw=0.0697 right_pitch=-0.6021 right_roll=-0.1578 right_gripper=0.1107\nstate[joint_eff]: [-0.1436, -3.1521, 6.4615, 1.2381, -0.1245, -0.0562, -0.0073, -0.2667, -12.6017, 6.7077, 1.3016, 0.2173, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b76fa7ec5be78d48275f314e83c206a4a1b96fa22257bf4358d0927b8a41088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60dfc5ddd4fdb2b3db8726d1b9707965aef603c07e78deb927d190c77e99752a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a61341c3d0d3b9f5cc813acad71c282fa28140302f3f1232e4f7119093b0a102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HsbXVG3az1iXABkU9Z7Fos",
      "input": {
        "note": "Plush is hanging over the safe interior. Releasing it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01HsbXVG3az1iXABkU9Z7Fos",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9325, -0.2054, -0.091, 0.9971, 0.712, 2.3085, 2.4336, -1.3949, 0.2943, 0.4515, 0.9946]\nstate[eef_state]: left_x=0.2876 left_y=-0.0018 left_z=0.1888 left_yaw=0.0791 left_pitch=-0.3986 left_roll=0.144 left_gripper=0.9971 right_x=0.4127 right_y=0.2932 right_z=0.1692 right_yaw=0.0978 right_pitch=-0.5745 right_roll=-0.1344 right_gripper=0.9946\nstate[joint_eff]: [-0.1299, -3.1385, 6.6667, 1.2479, -0.1636, -0.0611, -0.0122, -0.4171, -13.4222, 6.9812, 1.1453, 0.2222, 0.0122, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:877a244b89f3353f18c5dcf4330e6b90180561b4c3e18094cd3e98907b9ed574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4ea0015fd8a72e635de0442d168415275c1ff22e88c87e1eb4a8a8a71fb255b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c4b26b28545ca7112a83bacbbde02e60367cd76773e33a89e7c89ce6f65b0aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 9.963 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0527, -0.9295, -0.2054, -0.0906, 0.9971, 0.7723, 2.2902, 2.6541, -1.6009, 0.3241, 0.5213, 0.1107]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.189 left_yaw=0.0786 left_pitch=-0.396 left_roll=0.1436 left_gripper=0.9971 right_x=0.3801 right_y=0.2967 right_z=0.2296 right_yaw=0.1017 right_pitch=-0.5267 right_roll=-0.1034 right_gripper=0.1107\nstate[joint_eff]: [-0.1846, -3.0154, 6.5846, 1.2186, -0.1783, -0.0806, -0.0122, -0.2393, -10.9197, 7.7333, 1.1404, 0.2466, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9295, -0.2054, -0.0906, 0.9971, 0.7181, 2.2986, 2.4432, -1.4544, 0.2996, 0.4728, 0.1107]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1892 left_yaw=0.0786 left_pitch=-0.3956 left_roll=0.1435 left_gripper=0.9971 right_x=0.4016 right_y=0.2865 right_z=0.1732 right_yaw=0.0697 right_pitch=-0.6021 right_roll=-0.1578 right_gripper=0.1107\nstate[joint_eff]: [-0.1436, -3.1521, 6.4615, 1.2381, -0.1245, -0.0562, -0.0073, -0.2667, -12.6017, 6.7077, 1.3016, 0.2173, -0.0855, -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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9325, -0.2054, -0.091, 0.9971, 0.712, 2.3085, 2.4336, -1.3949, 0.2943, 0.4515, 0.9946]\nstate[eef_state]: left_x=0.2876 left_y=-0.0018 left_z=0.1888 left_yaw=0.0791 left_pitch=-0.3986 left_roll=0.144 left_gripper=0.9971 right_x=0.4127 right_y=0.2932 right_z=0.1692 right_yaw=0.0978 right_pitch=-0.5745 right_roll=-0.1344 right_gripper=0.9946\nstate[joint_eff]: [-0.1299, -3.1385, 6.6667, 1.2479, -0.1636, -0.0611, -0.0122, -0.4171, -13.4222, 6.9812, 1.1453, 0.2222, 0.0122, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:877a244b89f3353f18c5dcf4330e6b90180561b4c3e18094cd3e98907b9ed574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4ea0015fd8a72e635de0442d168415275c1ff22e88c87e1eb4a8a8a71fb255b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c4b26b28545ca7112a83bacbbde02e60367cd76773e33a89e7c89ce6f65b0aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QATtWBMjEdS4Hyk5VubfAB",
      "input": {
        "note": "All three objects are now inside the safe. Raising the right arm with the gripper closed so it can reach behind the upright lid.",
        "targets": {
          "right_gripper": 0,
          "right_x": 0.45,
          "right_y": 0.3,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QATtWBMjEdS4Hyk5VubfAB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.944, -0.205, -0.0906, 0.9971, 0.6613, 2.315, 2.6102, -1.5829, 0.2745, 0.3916, 0.0086]\nstate[eef_state]: left_x=0.2853 left_y=-0.0015 left_z=0.1873 left_yaw=0.0796 left_pitch=-0.4098 left_roll=0.1466 left_gripper=0.9971 right_x=0.4082 right_y=0.2615 right_z=0.2045 right_yaw=0.0962 right_pitch=-0.6047 right_roll=-0.1552 right_gripper=0.0086\nstate[joint_eff]: [-0.1573, -3.1385, 6.4752, 1.3211, -0.1392, -0.0757, -0.0122, -0.6632, -15.3641, 5.4496, 0.9304, 0.1587, -0.0317, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f2d8bdf6c0880629eada92077856a9255621063dcdf27c57b70d8a4353d658a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:547cb60fa3d6aa66b6722bd7d2bbe26da96a7cfaaf31c3f5ae55879b93d14e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f981e24881a6574519f0c14d24e5c6aba81fc6af0b91d5fff4acc01d265a4769",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 8.816 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9295, -0.2054, -0.0906, 0.9971, 0.7181, 2.2986, 2.4432, -1.4544, 0.2996, 0.4728, 0.1107]\nstate[eef_state]: left_x=0.2882 left_y=-0.0019 left_z=0.1892 left_yaw=0.0786 left_pitch=-0.3956 left_roll=0.1435 left_gripper=0.9971 right_x=0.4016 right_y=0.2865 right_z=0.1732 right_yaw=0.0697 right_pitch=-0.6021 right_roll=-0.1578 right_gripper=0.1107\nstate[joint_eff]: [-0.1436, -3.1521, 6.4615, 1.2381, -0.1245, -0.0562, -0.0073, -0.2667, -12.6017, 6.7077, 1.3016, 0.2173, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9325, -0.2054, -0.091, 0.9971, 0.712, 2.3085, 2.4336, -1.3949, 0.2943, 0.4515, 0.9946]\nstate[eef_state]: left_x=0.2876 left_y=-0.0018 left_z=0.1888 left_yaw=0.0791 left_pitch=-0.3986 left_roll=0.144 left_gripper=0.9971 right_x=0.4127 right_y=0.2932 right_z=0.1692 right_yaw=0.0978 right_pitch=-0.5745 right_roll=-0.1344 right_gripper=0.9946\nstate[joint_eff]: [-0.1299, -3.1385, 6.6667, 1.2479, -0.1636, -0.0611, -0.0122, -0.4171, -13.4222, 6.9812, 1.1453, 0.2222, 0.0122, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.944, -0.205, -0.0906, 0.9971, 0.6613, 2.315, 2.6102, -1.5829, 0.2745, 0.3916, 0.0086]\nstate[eef_state]: left_x=0.2853 left_y=-0.0015 left_z=0.1873 left_yaw=0.0796 left_pitch=-0.4098 left_roll=0.1466 left_gripper=0.9971 right_x=0.4082 right_y=0.2615 right_z=0.2045 right_yaw=0.0962 right_pitch=-0.6047 right_roll=-0.1552 right_gripper=0.0086\nstate[joint_eff]: [-0.1573, -3.1385, 6.4752, 1.3211, -0.1392, -0.0757, -0.0122, -0.6632, -15.3641, 5.4496, 0.9304, 0.1587, -0.0317, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f2d8bdf6c0880629eada92077856a9255621063dcdf27c57b70d8a4353d658a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:547cb60fa3d6aa66b6722bd7d2bbe26da96a7cfaaf31c3f5ae55879b93d14e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f981e24881a6574519f0c14d24e5c6aba81fc6af0b91d5fff4acc01d265a4769",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WdATZTtqeGrP3oGJN3t7HM",
      "input": {
        "note": "The lid stands upright behind the safe. Reaching over its top edge so I can then pull it toward the base to close it.",
        "targets": {
          "right_x": 0.56,
          "right_y": 0.31,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01WdATZTtqeGrP3oGJN3t7HM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0527, -0.9504, -0.2054, -0.0906, 0.9971, 0.5659, 2.5439, 2.87, -1.5986, 0.2455, 0.2852, 0.0104]\nstate[eef_state]: left_x=0.2839 left_y=-0.0012 left_z=0.1863 left_yaw=0.0806 left_pitch=-0.4165 left_roll=0.1486 left_gripper=0.9971 right_x=0.4617 right_y=0.2467 right_z=0.1653 right_yaw=0.1025 right_pitch=-0.6144 right_roll=-0.1643 right_gripper=0.0104\nstate[joint_eff]: [-0.1299, -3.0974, 6.4479, 1.2869, -0.1245, -0.0415, -0.0122, -0.5538, -12.5333, 8.1026, 1.1648, 0.1294, -0.0562, 0.1685]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4cea4d3f11ba834182f3304d7138e826716ab9993d11e0c7ed3790e6c74e205",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8119ead62e685e1d9313b886a105088499d1a76e6126c940d43fa5ac138da712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59316177cc26b713b2d14b080434900420934e39ee3f6122af53da2b83edb232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 6.631 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.9325, -0.2054, -0.091, 0.9971, 0.712, 2.3085, 2.4336, -1.3949, 0.2943, 0.4515, 0.9946]\nstate[eef_state]: left_x=0.2876 left_y=-0.0018 left_z=0.1888 left_yaw=0.0791 left_pitch=-0.3986 left_roll=0.144 left_gripper=0.9971 right_x=0.4127 right_y=0.2932 right_z=0.1692 right_yaw=0.0978 right_pitch=-0.5745 right_roll=-0.1344 right_gripper=0.9946\nstate[joint_eff]: [-0.1299, -3.1385, 6.6667, 1.2479, -0.1636, -0.0611, -0.0122, -0.4171, -13.4222, 6.9812, 1.1453, 0.2222, 0.0122, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.944, -0.205, -0.0906, 0.9971, 0.6613, 2.315, 2.6102, -1.5829, 0.2745, 0.3916, 0.0086]\nstate[eef_state]: left_x=0.2853 left_y=-0.0015 left_z=0.1873 left_yaw=0.0796 left_pitch=-0.4098 left_roll=0.1466 left_gripper=0.9971 right_x=0.4082 right_y=0.2615 right_z=0.2045 right_yaw=0.0962 right_pitch=-0.6047 right_roll=-0.1552 right_gripper=0.0086\nstate[joint_eff]: [-0.1573, -3.1385, 6.4752, 1.3211, -0.1392, -0.0757, -0.0122, -0.6632, -15.3641, 5.4496, 0.9304, 0.1587, -0.0317, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0527, -0.9504, -0.2054, -0.0906, 0.9971, 0.5659, 2.5439, 2.87, -1.5986, 0.2455, 0.2852, 0.0104]\nstate[eef_state]: left_x=0.2839 left_y=-0.0012 left_z=0.1863 left_yaw=0.0806 left_pitch=-0.4165 left_roll=0.1486 left_gripper=0.9971 right_x=0.4617 right_y=0.2467 right_z=0.1653 right_yaw=0.1025 right_pitch=-0.6144 right_roll=-0.1643 right_gripper=0.0104\nstate[joint_eff]: [-0.1299, -3.0974, 6.4479, 1.2869, -0.1245, -0.0415, -0.0122, -0.5538, -12.5333, 8.1026, 1.1648, 0.1294, -0.0562, 0.1685]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4cea4d3f11ba834182f3304d7138e826716ab9993d11e0c7ed3790e6c74e205",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8119ead62e685e1d9313b886a105088499d1a76e6126c940d43fa5ac138da712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59316177cc26b713b2d14b080434900420934e39ee3f6122af53da2b83edb232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KDwFJjsqUHmZXMZAiScZjN",
      "input": {
        "note": "The arm stalled against the upright lid's face. Backing off, raising and pitching the tool forward so the fingertips can reach over the lid's top edge.",
        "targets": {
          "right_pitch": 0.4,
          "right_x": 0.42,
          "right_y": 0.28,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 34 steps (3.4s)",
      "tool_use_id": "toolu_01KDwFJjsqUHmZXMZAiScZjN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1236, 1.0527, -0.9512, -0.2054, -0.0906, 0.9971, 0.8574, 2.5866, 3.134, -0.9768, 0.8101, 0.0853, 0.0124]\nstate[eef_state]: left_x=0.284 left_y=-0.0013 left_z=0.1853 left_yaw=0.081 left_pitch=-0.4206 left_roll=0.1497 left_gripper=0.9971 right_x=0.4847 right_y=0.37 right_z=0.3502 right_yaw=0.1222 right_pitch=0.2851 right_roll=-0.2136 right_gripper=0.0124\nstate[joint_eff]: [-0.1983, -3.3026, 6.5709, 1.1941, -0.1734, -0.0611, -0.0122, 0.0342, -13.012, 6.1197, 2.1807, 0.3639, 0.0269, 0.1978]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68902faf804c0f7d8778cdaa3b1123a2010cdccf4f9a3c5e23be8ffbe578fefc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45313b486bcf64c0b6beed5aaa8db6180d818cb67e7963585be81ced93ae1a56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e5e77ce500e479bd5f5ea9c868d54a2601b15f08820d51c3c434712b766ab24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 8.606 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0531, -0.944, -0.205, -0.0906, 0.9971, 0.6613, 2.315, 2.6102, -1.5829, 0.2745, 0.3916, 0.0086]\nstate[eef_state]: left_x=0.2853 left_y=-0.0015 left_z=0.1873 left_yaw=0.0796 left_pitch=-0.4098 left_roll=0.1466 left_gripper=0.9971 right_x=0.4082 right_y=0.2615 right_z=0.2045 right_yaw=0.0962 right_pitch=-0.6047 right_roll=-0.1552 right_gripper=0.0086\nstate[joint_eff]: [-0.1573, -3.1385, 6.4752, 1.3211, -0.1392, -0.0757, -0.0122, -0.6632, -15.3641, 5.4496, 0.9304, 0.1587, -0.0317, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0527, -0.9504, -0.2054, -0.0906, 0.9971, 0.5659, 2.5439, 2.87, -1.5986, 0.2455, 0.2852, 0.0104]\nstate[eef_state]: left_x=0.2839 left_y=-0.0012 left_z=0.1863 left_yaw=0.0806 left_pitch=-0.4165 left_roll=0.1486 left_gripper=0.9971 right_x=0.4617 right_y=0.2467 right_z=0.1653 right_yaw=0.1025 right_pitch=-0.6144 right_roll=-0.1643 right_gripper=0.0104\nstate[joint_eff]: [-0.1299, -3.0974, 6.4479, 1.2869, -0.1245, -0.0415, -0.0122, -0.5538, -12.5333, 8.1026, 1.1648, 0.1294, -0.0562, 0.1685]\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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1236, 1.0527, -0.9512, -0.2054, -0.0906, 0.9971, 0.8574, 2.5866, 3.134, -0.9768, 0.8101, 0.0853, 0.0124]\nstate[eef_state]: left_x=0.284 left_y=-0.0013 left_z=0.1853 left_yaw=0.081 left_pitch=-0.4206 left_roll=0.1497 left_gripper=0.9971 right_x=0.4847 right_y=0.37 right_z=0.3502 right_yaw=0.1222 right_pitch=0.2851 right_roll=-0.2136 right_gripper=0.0124\nstate[joint_eff]: [-0.1983, -3.3026, 6.5709, 1.1941, -0.1734, -0.0611, -0.0122, 0.0342, -13.012, 6.1197, 2.1807, 0.3639, 0.0269, 0.1978]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68902faf804c0f7d8778cdaa3b1123a2010cdccf4f9a3c5e23be8ffbe578fefc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45313b486bcf64c0b6beed5aaa8db6180d818cb67e7963585be81ced93ae1a56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e5e77ce500e479bd5f5ea9c868d54a2601b15f08820d51c3c434712b766ab24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiAsKEAgSGAI4AUIIdGhpbmtpbmcSDP0l+ukfuqJs6Y7qgRoMVt3zH+WsShtDUz9RIjDFb4VhVWkbbosrzTgdbpd64ZnLQuJOtpvDSwLqU+yhc+0ITKRWSdbeucPMWbUcppgqpQoJSNC2fejO5gi2rVw+Vmil+M65UuJ8pzHXHleCssbobsaGMYRl/0M8X+d6fTtpzv6LBaI8nj/zVeIza8RQyAEY2c5cKfyLuuyUGyadhYFm3kEM0zADLFwV65gL2luvox/pFvXexnoqPN4EdA14/roaEJzKH3ECqX0HBLdAgsX5y5y9CvLK+bxU3s7UoboFbb/kO30143CTFG6U/y2BKjJU3Gax/erPAuLnHdsAGHkLZ0aA7b80ll2+RmpahV6UKf3uSYZNefdsL/bYa3diWHfgu2RlM+iu3mWklwJh/YG4MFqxgcLQ5Pfu/fhWC8uxdVA9g5cwbr77xVeuKY0idhWp+MCN4PswM1mLnNeoEvMShmgUn6+SQ9p8E3epDvBoxYzvyrR1Z3abHx3+yN+hco/TAZPdvcgwb3Ki4EEwSPyqcgJ9nzFeWfhftfq6KwfIVchwnsAkmc+ohEPui9FWyezlKPkHgiznXd+iNhD0w9wxgWG57x5EETr8JME7PHdAsDrwq6VRqH4edOYOH9/4oq8QY/c/Avm8zK5XyLtWVfVk50cqNBq0/NC0GodUoDV4IGLbZO1QH20ybS/LGBklCnGXpP5DAR2WrIaS6vb0BLDjJwz81EhmL8W7DqZ9o1yVU8DRKQSAdlCTmTo842EwvFSV11o0nfnwuyXRak9Rx8jTjD7M4bc02jSAnKhMydI5VWgxWptSdlyjInl8FbGXfV0d4rXO11xpgY9jcoKByvsPHeWZHAhFWDeFk/AtfnRUmZmPIbs7a2nFudDgMvUZWCNGZrv3lDd3a6troCacg+nEzybv1K/96xksp2QhTXZTP+WTjUaqZtahCjdHPHE19kLcr0CvAw79qidYXPbmpqpj0nouD1pHntY4wXwZ17THNNYgM+2GK3Y1hI+BHKh9bY44rQdrPGn5dXc/q+8bYBZphWtQJtXL/Dp30Gawv2UghZh7//4A3sVw3IWHwIe8TRRSx+1mJ84nMgxtYdOh8m/vdTzSA7Oyv1ltUJK6K+xTkZ4DPDbIcPH1Qj6sO1yd0B/YhYOsZCXkD8M78AC7ghWF3kNhn7BDbZrdOb6jgfI98KLw4sfPxEJjmZVxL86Q7JjfxiiuqFHJfGgnSkka8n96+cP/zFzDALZm6Jq3L7nqzdtssBNs9NR2vvmQ2273ZHhH/6GV3GKpG6IRATvRLETnbHV1yl7HGwkqdvzs94EKj19bLM5ksB122HM9Mhd3sQ8+5DFX9rVKine5O4JbNyWrbWvWIqOJyadC5QfaC7gK6tWViKzvop2mQ/BM/jatw7MkQ4RzO/tsjZfsApNXjirnAGKakwEuWNXltHBKr8vWQYDVtxGozQBKNvLi6AdsuTS7xdSolRaNq+B1jdfYIxy6VSO2DJRtQUyAu75NRENfnqOUC9B/esl2GNuD0TKd2IV8MthExkTyIehDn2CRK3UFbMz2a0BFnBaKVuTbScOPT9yVcNVLTJBB6s9RJzIq1rwF8YuPnPSoZjQI2mh7y0pushwXm8pXbhwogS3+O5HekeWNOjpCzt3XoZViztii6t/tzSf7G+KlHa7hhRxA5z80g/P+4nbE6lQDgDN0E5jfM8Z/a5DWbwi7MmS6z9X4YAM8EmRznFwKRtjHOhdH4fb6ps/N/aAcZSAgka1mcpl/JKf9gjXBi1ivJhcq8T6Fz3AjdFvafxdnjw1FaIPhvnxTmkfxbMsYTZs20YLX52DkfT0/wASl4NamnF+seU9jD+XKcoFXp9AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014W7VB8cFqGVnabRRuYwLxK",
      "input": {
        "note": "The wrist camera now shows the lid's top edge just below and ahead of the jaws. Reaching past it and dropping behind the edge so I can hook it.",
        "targets": {
          "right_pitch": 0.4,
          "right_x": 0.54,
          "right_y": 0.34,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_014W7VB8cFqGVnabRRuYwLxK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1236, 1.0527, -0.9516, -0.205, -0.0906, 0.9971, 0.7551, 2.8319, 3.1317, -0.6636, 0.7387, -0.038, 0.0138]\nstate[eef_state]: left_x=0.2839 left_y=-0.0013 left_z=0.1852 left_yaw=0.0807 left_pitch=-0.421 left_roll=0.1494 left_gripper=0.9971 right_x=0.571 right_y=0.379 right_z=0.251 right_yaw=0.1363 right_pitch=0.3027 right_roll=-0.2708 right_gripper=0.0138\nstate[joint_eff]: [-0.1709, -3.1795, 6.7214, 1.2186, -0.1197, -0.0513, -0.0122, -0.6769, -14.4752, 6.8171, 2.1563, 0.0855, -0.0464, 0.1441]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:551902afbff92bab348b72159fe0adaafc7e4a2768db6ee69cdd90f8fc1d8b2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2554053dc70021643a5757dc81c3f93dc9cf38baf2895c5894e9a34e62de3911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7eb00b3657b311457c69becccda6dcc5f5a83862c7e5b56ce55316b97c1fecd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 5.81 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1202, 1.0527, -0.9504, -0.2054, -0.0906, 0.9971, 0.5659, 2.5439, 2.87, -1.5986, 0.2455, 0.2852, 0.0104]\nstate[eef_state]: left_x=0.2839 left_y=-0.0012 left_z=0.1863 left_yaw=0.0806 left_pitch=-0.4165 left_roll=0.1486 left_gripper=0.9971 right_x=0.4617 right_y=0.2467 right_z=0.1653 right_yaw=0.1025 right_pitch=-0.6144 right_roll=-0.1643 right_gripper=0.0104\nstate[joint_eff]: [-0.1299, -3.0974, 6.4479, 1.2869, -0.1245, -0.0415, -0.0122, -0.5538, -12.5333, 8.1026, 1.1648, 0.1294, -0.0562, 0.1685]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1236, 1.0527, -0.9512, -0.2054, -0.0906, 0.9971, 0.8574, 2.5866, 3.134, -0.9768, 0.8101, 0.0853, 0.0124]\nstate[eef_state]: left_x=0.284 left_y=-0.0013 left_z=0.1853 left_yaw=0.081 left_pitch=-0.4206 left_roll=0.1497 left_gripper=0.9971 right_x=0.4847 right_y=0.37 right_z=0.3502 right_yaw=0.1222 right_pitch=0.2851 right_roll=-0.2136 right_gripper=0.0124\nstate[joint_eff]: [-0.1983, -3.3026, 6.5709, 1.1941, -0.1734, -0.0611, -0.0122, 0.0342, -13.012, 6.1197, 2.1807, 0.3639, 0.0269, 0.1978]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1236, 1.0527, -0.9516, -0.205, -0.0906, 0.9971, 0.7551, 2.8319, 3.1317, -0.6636, 0.7387, -0.038, 0.0138]\nstate[eef_state]: left_x=0.2839 left_y=-0.0013 left_z=0.1852 left_yaw=0.0807 left_pitch=-0.421 left_roll=0.1494 left_gripper=0.9971 right_x=0.571 right_y=0.379 right_z=0.251 right_yaw=0.1363 right_pitch=0.3027 right_roll=-0.2708 right_gripper=0.0138\nstate[joint_eff]: [-0.1709, -3.1795, 6.7214, 1.2186, -0.1197, -0.0513, -0.0122, -0.6769, -14.4752, 6.8171, 2.1563, 0.0855, -0.0464, 0.1441]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:551902afbff92bab348b72159fe0adaafc7e4a2768db6ee69cdd90f8fc1d8b2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2554053dc70021643a5757dc81c3f93dc9cf38baf2895c5894e9a34e62de3911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb00b3657b311457c69becccda6dcc5f5a83862c7e5b56ce55316b97c1fecd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwgKEAgSGAI4AUIIdGhpbmtpbmcSDIHz7pp0aTsKhA/NXRoMOy80dLbPNKk7fj4IIjCOdTTU7MpfAhto7eA7+Pgl3T4tYZAXjPOQshJ7nx9bRuI7xIDZUW6Wm3vR3kTenxgq4AeH6kjOHvMW2QTxt/A9XHS+7wPvaRTn2BfxYbCxZ5QFtvi4Fx74WZXH7aPrfglxUX3sG3ApIqANs6FBnZNarK3au8EMiDD3koR0R/4UQZ19AkH9DLSO75mKKh5LsolxmR20mMs4XHvKRxWtbIVF32ebyNjwIfeQfaaxB67seRVLM0C4hoiqDjA06WM2TFYfeF/E8yeKBorwfI7D7X4xqoHkBo6oFm3efGqeUKIG6t7a881mttvV4/0xk7NKk4TuI0ytTNC9TZk8ToJHAk7zMcmUiuWY0tof65cLUR/d3cCkDZAuDb1YA1QDEQ06R4wyE+tacNhHyv7BGNtzTKJCrxun+EFzm0PsCtB6bLySrIcg821Y2QrCEKzMpnxMYqNOcihLqyqqLXa8ZvjSG0BHRdR6ZuG8WcVkOrVVRhXUb2sx155j2ChEIQIad8B+x+hllpQeT6rrJIC5zaYbjxIyVWhlwWNUmaLa6OMNuqWtvnzcjEnceVXt6hC8d7yQoSzQpX62818wW771MRkALvuUrP24hahU1S4J515GzDM/81VCWBD2XYDNtx0+xLBLaXJyQ06gA8mPV2wdgcAAt47hcArxUKBYcyUxJDR2/t3lJ9vw5kmDPGLmNMUr3wQOhMtsl4kk6uUZZrldkimYyROkFMeLxqhNEPMxbYLJp542XplYUM1lQXn1aLtadJ5rHOzAzZOS3v66GLzkz3bo3N3Oc5WY80kZ0pbA0s9IaXVdDJi1pmltnimNIre7LyUJgZQcPEB7rJvi6kpsSXiHIslcdw5eHZ/Y7QKb+cXdmRNe9Y5ijr6vcfG/oR9EArNfZQSHvFQkMd8UvUl+oC/ou8/KcjjYO8gPmmbywiygV0hJzX9lTVLs7jO9e2CjXQMjB4N4f96QHfrm9V4wsVnr2swngHU0efLkmr/zAHt3GZioL6PU4EwLSHBOMSh2/CVB8KQPHLLCplY29YmBWL+O911jpxxuR3G17gTW1jlzNkYo+05sCAcDN78ceZVkBVreLJ7TElCzhlnbDHj5W/7WZivdo88NDkzBTrGT8e4ayhCsldulKYBMeUsm36DvG0ziFx0cdYD+YCBqPeHed+PrRkjrIyTFZ0R7q4SlQdNg98Yx6/krjlVho5euua3KcaA7APJb642hdMtQbZ+J0TTLkoGx7EkkwPkqM8TIUZoD665Eqhgz0Mz+Nl5d3xWvVzwZU0oeFz/OoUmP/pjF+WM112sUjEQd1JH6ks+0ghEf0wB8gg6IOcxORQTE9zIHoEOz5gShUFe6glnhe6bi44P3/AryVcsTyrYiEO4UViKVNL/Doaj+WRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015fSSuqTkh72BQGKDocQRgZ",
      "input": {
        "note": "The gripper is now behind the upright lid (top view shows it just past the lid). Dropping down behind the lid so a pull toward the base will swing it shut.",
        "targets": {
          "right_y": 0.31,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015fSSuqTkh72BQGKDocQRgZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.124, 1.0527, -0.9516, -0.2054, -0.0906, 0.9971, 0.688, 2.952, 3.1466, -0.4294, 0.6575, -0.0532, 0.0144]\nstate[eef_state]: left_x=0.2839 left_y=-0.0012 left_z=0.1852 left_yaw=0.0811 left_pitch=-0.4213 left_roll=0.1499 left_gripper=0.9971 right_x=0.6167 right_y=0.3718 right_z=0.2194 right_yaw=0.1224 right_pitch=0.3944 right_roll=-0.1889 right_gripper=0.0144\nstate[joint_eff]: [-0.0342, -3.0017, 6.4342, 1.199, -0.1783, -0.0513, -0.0122, -1.8667, -10.441, 6.5026, 0.8669, 0.1636, -0.1832, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:153f6773cc893f62b067dbc32fc4d685c4ba0cf86942df602433da04e11b9471",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5327b30735a557ce42c1a5d1b134c91f5670a63ff99c5ec9c350ae1c35d8c155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:53d6f4439067b4493806edc38898968c7cb04033062de9225495c2a786b8b133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 7.763 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1236, 1.0527, -0.9512, -0.2054, -0.0906, 0.9971, 0.8574, 2.5866, 3.134, -0.9768, 0.8101, 0.0853, 0.0124]\nstate[eef_state]: left_x=0.284 left_y=-0.0013 left_z=0.1853 left_yaw=0.081 left_pitch=-0.4206 left_roll=0.1497 left_gripper=0.9971 right_x=0.4847 right_y=0.37 right_z=0.3502 right_yaw=0.1222 right_pitch=0.2851 right_roll=-0.2136 right_gripper=0.0124\nstate[joint_eff]: [-0.1983, -3.3026, 6.5709, 1.1941, -0.1734, -0.0611, -0.0122, 0.0342, -13.012, 6.1197, 2.1807, 0.3639, 0.0269, 0.1978]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.1236, 1.0527, -0.9516, -0.205, -0.0906, 0.9971, 0.7551, 2.8319, 3.1317, -0.6636, 0.7387, -0.038, 0.0138]\nstate[eef_state]: left_x=0.2839 left_y=-0.0013 left_z=0.1852 left_yaw=0.0807 left_pitch=-0.421 left_roll=0.1494 left_gripper=0.9971 right_x=0.571 right_y=0.379 right_z=0.251 right_yaw=0.1363 right_pitch=0.3027 right_roll=-0.2708 right_gripper=0.0138\nstate[joint_eff]: [-0.1709, -3.1795, 6.7214, 1.2186, -0.1197, -0.0513, -0.0122, -0.6769, -14.4752, 6.8171, 2.1563, 0.0855, -0.0464, 0.1441]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.124, 1.0527, -0.9516, -0.2054, -0.0906, 0.9971, 0.688, 2.952, 3.1466, -0.4294, 0.6575, -0.0532, 0.0144]\nstate[eef_state]: left_x=0.2839 left_y=-0.0012 left_z=0.1852 left_yaw=0.0811 left_pitch=-0.4213 left_roll=0.1499 left_gripper=0.9971 right_x=0.6167 right_y=0.3718 right_z=0.2194 right_yaw=0.1224 right_pitch=0.3944 right_roll=-0.1889 right_gripper=0.0144\nstate[joint_eff]: [-0.0342, -3.0017, 6.4342, 1.199, -0.1783, -0.0513, -0.0122, -1.8667, -10.441, 6.5026, 0.8669, 0.1636, -0.1832, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:153f6773cc893f62b067dbc32fc4d685c4ba0cf86942df602433da04e11b9471",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5327b30735a557ce42c1a5d1b134c91f5670a63ff99c5ec9c350ae1c35d8c155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53d6f4439067b4493806edc38898968c7cb04033062de9225495c2a786b8b133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSmQgKEAgSGAI4AUIIdGhpbmtpbmcSDFZP/QXz59zY8wibnRoMEi1/x6pGvLpu8FMNIjA0QE8wWQqELz/vSyz+sTl2SE/qW3hjC4K3xOpoW5/j0aWBt1tUj3Sr0Cz5BGPuyngqtgdSgEjaJ/PVpxNqn9GDMq2yWkXNTH87BDQyO019YKZzXpGn7rm90v1bfT0JeRQJVzPJwkEyYlDU3XDxwuSP7012Gg8ReF1e+7Tad8G03oP7GStmDyWjs8dHuHFE4Veldn2zThy6ruGJigmeWcSviC8FNRjhK5WGuXb08cuUuPf8dYJnAcKanJjy0mcPJxG3wAoJ/62lAi+BPg7use4Wh+mKw9nXvmBens+FAA/Fsg4kWpSz9+VRZ88y7WinXOS6CT0SjYg2Nn/aAdhDL/1B0r4K6COAeoDFhMJ3oaOe+/W29kNrZESkfYXbPtuNhy0nc5zb3/kFEYKE6cfEB7EJcXa+QZ2fT1lyfXvwAgnquMIs6FCQ++T66AFAVPIFw6deAfhuUCehIoHcrccysnyKrFtqtCVpPmLM7y2X7N7Yq2eNRBQc4y9cVmdRYoqRTo5i/+GNUWS0tNaqHUanyf0E3DfiUKwIRJ7QXI1DjAi0utJZnqFCw5eXDkoz5NySHR2bPGaj6AIQA6YevLrW5eJAADSyygLRUZqwc+yrFELSwVbZec4EaKNGNQTR1v6EH97j8t6q+5s3QQvQ9oOqcw4FUZquW6nJbjv/PrsQHALJvj8cFsyfueQ1ecn/05Z61ETTLd/SzruH8xchOg2QbcJmJIYg/0+0XTYgBc58kYSJGJr+k4kaPv5KoDWe6osmCzPz59Y4ftx+xKDu4zGLnr93q36sr23h2OLBTQ73T+i1FDHw9IvAu8BP8DHvZBFDrge0LdfnVcGN90VonSpPYD3m6cYJbq/UKVbmmTnZ8UaFk78i5NgFM0z3sKOf4VRdfpgi/+vJLv0GEmicFypyzdjzKL16uWQeRofnfvKWsziXT6u+RFxFIzbbjjOJnBVewS2dIAbFVc88ud+RVlMU4hHrVGWIXNPvYta8XuFep8SgR1fCnSeysPB+X1Rq89m3kUfGx9bm5wUOr0gHImIkwq3JDIU9n+O6gyL51w1Ys5lNESfm85OABKN4HqT8KRQHUJgz7eShRoGCN7YLsgC9NyeMMAPOsIotKhPrYePXMJIEDY0bAJeENtjD3C+VP0qTrZJv078o5v/aV7xiDHATC3QZzMXFGJP+IltRG4PtmUwA+0Dizt6L0cZbYK9tZHNjKLMOhDYPTqTz6zi08FyjQbL2T1dcTmLSuB8/RGayrJC6WCrud+lj0b3RvQxMf5FgY+ooAeYwF3AVdJ+aDmCOderOw+S4JvrcFuE0e52eCRtwRvM6tlALIATi+BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0194hfFvTu28nJubhjYPRrAC",
      "input": {
        "note": "Gripper sits behind the lid top. Pulling back toward the base and down to swing the lid over the safe.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.31,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_0194hfFvTu28nJubhjYPRrAC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.124, 1.0527, -0.9516, -0.2054, -0.0906, 0.9971, 0.9874, 3.0184, 3.1359, -0.5198, 0.947, 0.0959, 0.0146]\nstate[eef_state]: left_x=0.2839 left_y=-0.0012 left_z=0.1852 left_yaw=0.0811 left_pitch=-0.4213 left_roll=0.1499 left_gripper=0.9971 right_x=0.4901 right_y=0.4888 right_z=0.1651 right_yaw=0.1272 right_pitch=0.3448 right_roll=-0.2231 right_gripper=0.0146\nstate[joint_eff]: [-0.0205, -3.1658, 6.4205, 1.1844, -0.1783, -0.0708, -0.0122, 0.4444, -16.5812, 6.9128, 1.7167, 0.3101, 0.0904, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a115763579c42508dd04cd5b04c4f6529690335e6414c3218059fe1e5260ac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13ee992522a704bd877230b3f310cf1c2888688d31f76327d353b6d3bf0aeb24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4509e33f482f4a1529690549fd4c75a4fd73cf3d312d260c8154fcb0f4362d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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