adhoc

completed
2026-09-22T19:18:38.641870+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
239.2 s
total steps
330
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: open red safe at centre, lemon to its right, white small bear left-front of it, brown bear in front. Moving right arm above the lemon first.
move_to
right_x0.3600right_y0.0700right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7933, 0.6048, -0.3901, -0.0193, -0.0338, 0.9993, -0.0208, 0.7952, 0.6075, -0.4038, -0.0193, -0.0254, 0.9982] state[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1785 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1763 right_yaw=0.0007 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9982 state[joint_eff]: [-0.5128, -1.3607, 10.1675, 2.0, -0.0855, 0.2027, -0.0904, -0.294, -1.5111, 9.7846, 2.044, -0.0708, 0.1001, -0.1929] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.07, "right_z": 0.15, "right_gripper": 1}, "note": "Scene: open red safe at centre, lemon to its right, white small bear left-front of it, brown bear in front. Moving right arm above the lemon first."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteLemon is centred on the jaw column in the right wrist view, slightly ahead. Advancing a bit and descending to lemon mid-height.
move_to
right_x0.3800right_y0.0700right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7971, 0.6083, -0.4057, -0.0193, -0.038, 0.9992, 0.2886, 1.1831, 0.6376, -0.1944, 0.194, 0.1131, 0.9982] state[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1758 left_yaw=0.0025 left_pitch=-0.0164 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3352 right_y=0.0677 right_z=0.1166 right_yaw=0.0542 right_pitch=-0.1323 right_roll=-0.0368 right_gripper=0.9982 state[joint_eff]: [-0.1436, -1.4017, 6.7761, 1.8535, -0.0611, -0.0122, -0.0171, 0.0752, -4.8752, 9.9624, 1.9463, 0.2369, 0.1832, -0.1929] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.07, "right_z": 0.03, "right_gripper": 1}, "note": "Lemon is centred on the jaw column in the right wrist view, slightly ahead. Advancing a bit and descending to lemon mid-height."})
tool
executing move_to over 6 steps (0.6s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteLemon still appears ahead of the jaws in the wrist view; moving further forward at low height so it sits between the fingers.
move_to
right_x0.4100right_y0.0700right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8013, 0.6075, -0.4137, -0.0193, -0.0383, 0.9992, 0.2527, 1.5829, 0.5602, 0.1822, 0.1646, 0.0864, 0.9982] state[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1727 left_yaw=0.0027 left_pitch=-0.0294 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3598 right_y=0.0667 right_z=0.0162 right_yaw=0.054 right_pitch=-0.2358 right_roll=-0.0575 right_gripper=0.9982 state[joint_eff]: [-0.1983, -1.5795, 7.0632, 1.7509, -0.0611, -0.0317, -0.0122, -0.6496, -6.8171, 5.5453, 1.8926, 0.0659, -0.0366, -0.188] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.07, "right_z": 0.02}, "note": "Lemon still appears ahead of the jaws in the wrist view; moving further forward at low height so it sits between the fingers."})
tool
executing move_to over 4 steps (0.4s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteLemon is now low in the wrist view, nearly between the jaws; a small final advance before closing.
move_to
right_x0.4150right_y0.0650right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6075, -0.4282, -0.0189, -0.0383, 0.9992, 0.2264, 1.7271, 0.7185, 0.1337, 0.1421, 0.0601, 0.9981] state[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1692 left_yaw=0.0024 left_pitch=-0.0458 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3941 right_y=0.0688 right_z=0.0096 right_yaw=0.0602 right_pitch=-0.2736 right_roll=-0.0647 right_gripper=0.9981 state[joint_eff]: [-0.0752, -1.3744, 7.0496, 1.8193, 0.0122, -0.0611, -0.0122, -0.7179, -7.2, 7.0769, 1.6239, 0.0464, 0.0171, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.065, "right_z": 0.015}, "note": "Lemon is now low in the wrist view, nearly between the jaws; a small final advance before closing."})
tool
executing move_to over 2 steps (0.2s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
Close on the lemon.
agent noteLemon sits between the jaws in the right wrist view; closing the gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6075, -0.4301, -0.0189, -0.0383, 0.9992, 0.2134, 1.755, 0.7677, 0.0925, 0.1284, 0.0475, 0.9981] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1688 left_yaw=0.0024 left_pitch=-0.0477 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4017 right_y=0.0676 right_z=0.0089 right_yaw=0.0654 right_pitch=-0.2953 right_roll=-0.0654 right_gripper=0.9981 state[joint_eff]: [-0.0205, -1.2513, 7.1179, 1.7167, -0.0464, -0.0269, -0.0122, -0.8, -6.653, 7.5966, 1.8144, 0.0464, 0.0366, -0.0073] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
Close on the lemon.
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon sits between the jaws in the right wrist view; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteEmpty close: lemon is still in front of the jaws. Opening and advancing ~4 cm.
move_to
right_gripper1.0000right_x0.4400right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6075, -0.4526, -0.0193, -0.0383, 0.9992, 0.21, 1.7638, 0.7662, 0.0597, 0.1196, 0.0418, 0.0079] state[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1632 left_yaw=0.0028 left_pitch=-0.0747 left_roll=-0.0025 left_gripper=0.9992 right_x=0.394 right_y=0.0661 right_z=0.0 right_yaw=0.0709 right_pitch=-0.3391 right_roll=-0.0683 right_gripper=0.0079 state[joint_eff]: [-0.1709, -1.4838, 6.9812, 1.9512, -0.0659, -0.022, -0.0171, 0.1299, -8.4581, 5.3812, 1.6288, 0.1734, 0.0366, 0.5739] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.44, "right_z": 0.02}, "note": "Empty close: lemon is still in front of the jaws. Opening and advancing ~4 cm."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteLemon is now down at the jaws in the wrist view; one more small advance so it is fully between the fingers.
move_to
right_x0.4500right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4587, -0.0193, -0.0387, 0.9992, 0.1856, 1.8439, 0.9501, -0.0967, 0.1059, 0.0071, 0.9943] state[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1616 left_yaw=0.003 left_pitch=-0.0816 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4216 right_y=0.0638 right_z=0.0075 right_yaw=0.0768 right_pitch=-0.3942 right_roll=-0.0847 right_gripper=0.9943 state[joint_eff]: [-0.1983, -1.1282, 7.3778, 1.7363, -0.0708, -0.0317, -0.0122, -0.5675, -7.665, 8.5675, 1.536, 0.0952, 0.0757, -0.022] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_z": 0.015}, "note": "Lemon is now down at the jaws in the wrist view; one more small advance so it is fully between the fingers."})
tool
executing move_to over 3 steps (0.3s)
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 noteLemon is between the jaws at the bottom of the wrist view; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.4618, -0.0189, -0.0383, 0.9992, 0.1768, 1.9007, 1.0454, -0.1665, 0.0929, -0.0048, 0.9957] state[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.1607 left_yaw=0.0025 left_pitch=-0.0858 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4353 right_y=0.0648 right_z=0.0065 right_yaw=0.0855 right_pitch=-0.4269 right_roll=-0.0832 right_gripper=0.9957 state[joint_eff]: [-0.0342, -1.0598, 7.1316, 1.6679, -0.0464, -0.0024, -0.0122, -0.6496, -8.3897, 7.8154, 1.4335, 0.0806, -0.0317, 0.1392] 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": {"right_gripper": 0.0}, "note": "Lemon is between the jaws at the bottom of the wrist view; closing."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteGripper settled at ~0.50, so the lemon looks grasped. 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]: [-0.0189, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.1753, 1.9095, 1.0546, -0.1852, 0.0925, -0.0082, 0.4971] state[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0976 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4338 right_y=0.0639 right_z=0.0035 right_yaw=0.0857 right_pitch=-0.4454 right_roll=-0.0866 right_gripper=0.4971 state[joint_eff]: [-0.0889, -1.306, 6.9675, 1.7558, -0.022, -0.0708, -0.0122, 0.0479, -10.1128, 5.1487, 1.3846, 0.022, -0.022, 1.0281] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at ~0.50, so the lemon looks grasped. Lifting it clear of the safe walls."})
tool
executing move_to over 13 steps (1.3s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteLemon is held and lifted. Carrying it left over the red interior of the safe.
move_to
right_y0.2200right_x0.4000right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8135, 0.6067, -0.4877, -0.0193, -0.0383, 0.9992, 0.1764, 1.7542, 1.6054, -0.9218, 0.0925, -0.0181, 0.4977] state[eef_state]: left_x=0.2805 left_y=0.0017 left_z=0.1545 left_yaw=0.0029 left_pitch=-0.1163 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4327 right_y=0.0642 right_z=0.1789 right_yaw=0.0916 right_pitch=-0.4763 right_roll=-0.0951 right_gripper=0.4977 state[joint_eff]: [-0.0615, -1.4701, 7.1316, 1.7607, -0.0806, -0.0122, -0.0122, -0.4581, -9.8667, 8.7453, 1.2625, 0.0269, 0.0806, 0.6813] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.22, "right_x": 0.4, "right_z": 0.2}, "note": "Lemon is held and lifted. Carrying it left over the red interior of the safe."})
tool
executing move_to over 13 steps (1.3s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe safe interior appears just ahead of the lemon in the wrist view; shifting forward and slightly left to be over its centre.
move_to
right_y0.2400right_x0.4400right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.503, -0.0193, -0.0383, 0.9992, 0.5938, 1.9045, 1.8656, -1.1404, 0.2592, 0.321, 0.4993] state[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1515 left_yaw=0.0029 left_pitch=-0.1323 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3925 right_y=0.2147 right_z=0.1894 right_yaw=0.1265 right_pitch=-0.5209 right_roll=-0.1152 right_gripper=0.4993 state[joint_eff]: [-0.0342, -1.2376, 6.9812, 1.7656, -0.0855, 0.0024, -0.0122, 0.1436, -9.1282, 8.6632, 1.16, 0.3541, 0.1538, 0.4176] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.24, "right_x": 0.44, "right_z": 0.2}, "note": "The safe interior appears just ahead of the lemon in the wrist view; shifting forward and slightly left to be over its centre."})
tool
executing move_to over 4 steps (0.4s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteLemon now appears to be over the safe's red interior; lowering to 10 cm to check alignment before release.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5163, -0.0193, -0.0387, 0.9992, 0.5819, 2.1651, 2.2757, -1.2926, 0.2508, 0.3111, 0.5023] state[eef_state]: left_x=0.276 left_y=0.0018 left_z=0.1485 left_yaw=0.0032 left_pitch=-0.1476 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4365 right_y=0.239 right_z=0.1944 right_yaw=0.1276 right_pitch=-0.5274 right_roll=-0.1136 right_gripper=0.5023 state[joint_eff]: [-0.0615, -1.4291, 7.0906, 1.7411, -0.0659, -0.0611, -0.0122, -0.335, -12.0137, 7.3915, 0.6325, 0.2173, -0.022, 0.3004] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Lemon now appears to be over the safe's red interior; lowering to 10 cm to check alignment before release."})
tool
executing move_to over 7 steps (0.7s)
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 noteLemon is inside the safe's walls per wrist and top views; 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]: [-0.0189, 0.8188, 0.6067, -0.5255, -0.0193, -0.0387, 0.9992, 0.5819, 2.1265, 1.8042, -0.9565, 0.2466, 0.3069, 0.504] state[eef_state]: left_x=0.2746 left_y=0.0018 left_z=0.1461 left_yaw=0.0032 left_pitch=-0.1594 left_roll=-0.001 left_gripper=0.9992 right_x=0.4227 right_y=0.2308 right_z=0.0845 right_yaw=0.106 right_pitch=-0.6161 right_roll=-0.163 right_gripper=0.504 state[joint_eff]: [-0.0479, -0.9094, 6.9265, 1.6435, -0.022, -0.0708, -0.0122, -0.3487, -14.0513, 7.0769, 1.1111, 0.1148, -0.0024, 0.1636] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Lemon is inside the safe's walls per wrist and top views; releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteLemon is in the safe. Next target: brown bear lying in front of the safe; moving the right arm up and back over it.
move_to
right_z0.1800right_x0.2800right_y0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5365, -0.0193, -0.0387, 0.9992, 0.5823, 2.1265, 1.779, -0.9295, 0.2474, 0.3031, 0.9946] state[eef_state]: left_x=0.2727 left_y=0.0018 left_z=0.1441 left_yaw=0.0032 left_pitch=-0.1705 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4226 right_y=0.2308 right_z=0.0784 right_yaw=0.1089 right_pitch=-0.6144 right_roll=-0.1644 right_gripper=0.9946 state[joint_eff]: [-0.0615, -0.8821, 7.0632, 1.6972, -0.0562, -0.0513, -0.0122, 0.0342, -12.6838, 6.188, 0.7692, 0.149, -0.0024, -0.188] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_x": 0.28, "right_y": 0.24}, "note": "Lemon is in the safe. Next target: brown bear lying in front of the safe; moving the right arm up and back over it."})
tool
executing move_to over 11 steps (1.1s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteBrown bear lies just ahead and slightly left of the jaws in the wrist view; descending onto its body.
move_to
right_z0.0200right_x0.3000right_y0.2600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5476, -0.0193, -0.0383, 0.9992, 0.8421, 1.7653, 1.6291, -1.2129, 0.3035, 0.5278, 0.9958] state[eef_state]: left_x=0.2709 left_y=0.0019 left_z=0.142 left_yaw=0.0031 left_pitch=-0.1819 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2859 right_y=0.2464 right_z=0.1645 right_yaw=0.1418 right_pitch=-0.6239 right_roll=-0.1705 right_gripper=0.9958 state[joint_eff]: [-0.0615, -1.265, 6.8718, 1.6923, -0.0855, -0.022, -0.0122, 0.1709, -10.2496, 7.1453, 0.8278, 0.3883, 0.1148, 0.1099] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02, "right_x": 0.3, "right_y": 0.26}, "note": "Brown bear lies just ahead and slightly left of the jaws in the wrist view; descending onto its body."})
tool
executing move_to over 10 steps (1.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteBear's body fills the space between the jaws; pressing slightly lower and closing.
move_to
right_z0.0050right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5625, -0.0189, -0.0387, 0.9992, 0.8497, 1.8957, 1.2411, -0.7132, 0.3069, 0.5274, 0.9959] state[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1394 left_yaw=0.003 left_pitch=-0.1968 left_roll=-0.0004 left_gripper=0.9992 right_x=0.2903 right_y=0.2549 right_z=0.0272 right_yaw=0.1383 right_pitch=-0.636 right_roll=-0.1889 right_gripper=0.9959 state[joint_eff]: [-0.0615, -1.2239, 6.8581, 1.7021, -0.0464, -0.0366, -0.0122, -0.4718, -8.1162, 5.5726, 0.7155, 0.2515, -0.0659, -0.0024] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.005, "right_gripper": 0.0}, "note": "Bear's body fills the space between the jaws; pressing slightly lower and closing."})
tool
executing move_to over 10 steps (1.0s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteGripper closed nearly fully on the plush bear (soft, so it compresses). Lifting to check whether the bear comes along.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5743, -0.0193, -0.0387, 0.9992, 0.8581, 1.906, 1.1702, -0.6106, 0.3183, 0.527, 0.0082] state[eef_state]: left_x=0.2664 left_y=0.002 left_z=0.136 left_yaw=0.0034 left_pitch=-0.2139 left_roll=0.0003 left_gripper=0.9992 right_x=0.2886 right_y=0.2549 right_z=0.0096 right_yaw=0.1485 right_pitch=-0.6125 right_roll=-0.1823 right_gripper=0.0082 state[joint_eff]: [-0.0342, -1.7026, 6.9949, 1.6386, -0.0708, -0.0415, -0.0122, 0.1299, -8.2667, 4.9162, 0.8767, 0.2662, 0.0757, 0.5592] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Gripper closed nearly fully on the plush bear (soft, so it compresses). Lifting to check whether the bear comes along."})
tool
executing move_to over 6 steps (0.6s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe brown bear is hanging from the jaws. Raising high so it clears the safe's front wall.
move_to
right_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.585, -0.0193, -0.0387, 0.9992, 0.8581, 1.8221, 1.3582, -0.8913, 0.3176, 0.524, 0.0095] state[eef_state]: left_x=0.2645 left_y=0.002 left_z=0.1341 left_yaw=0.0035 left_pitch=-0.225 left_roll=0.0005 left_gripper=0.9992 right_x=0.289 right_y=0.2556 right_z=0.0795 right_yaw=0.147 right_pitch=-0.62 right_roll=-0.19 right_gripper=0.0095 state[joint_eff]: [-0.0479, -1.2786, 6.8444, 1.5946, -0.0806, -0.0611, -0.0122, 0.1709, -11.1111, 7.665, 0.7741, 0.315, 0.0513, 0.1148] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.24}, "note": "The brown bear is hanging from the jaws. Raising high so it clears the safe's front wall."})
tool
executing move_to over 11 steps (1.1s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteBear is lifted high. Carrying it forward over the safe's interior, where the lemon sits.
move_to
right_x0.4200right_y0.2300right_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.5892, -0.0189, -0.0387, 0.9992, 0.8639, 1.8641, 2.0224, -1.483, 0.318, 0.524, 0.0123] state[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1332 left_yaw=0.0032 left_pitch=-0.23 left_roll=0.0003 left_gripper=0.9992 right_x=0.2904 right_y=0.2604 right_z=0.2321 right_yaw=0.1662 right_pitch=-0.5965 right_roll=-0.1662 right_gripper=0.0123 state[joint_eff]: [-0.294, -1.306, 6.8308, 1.5116, -0.0171, -0.0562, -0.0122, 0.0342, -8.1299, 6.9128, 0.6618, 0.3004, 0.0269, 0.2711] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.23, "right_z": 0.24}, "note": "Bear is lifted high. Carrying it forward over the safe's interior, where the lemon sits."})
tool
executing move_to over 10 steps (1.0s)
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 noteBear is above the safe but its legs hang near the front wall; moving a bit further in and lower before releasing.
move_to
right_x0.4600right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 0.5903, 2.199, 2.5111, -1.5974, 0.242, 0.2611, 0.013] state[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1317 left_yaw=0.0035 left_pitch=-0.2372 left_roll=0.0008 left_gripper=0.9992 right_x=0.4019 right_y=0.2226 right_z=0.2263 right_yaw=0.1474 right_pitch=-0.6282 right_roll=-0.1817 right_gripper=0.013 state[joint_eff]: [-0.1709, -1.5658, 6.8171, 1.5653, -0.0464, -0.0659, -0.0122, -0.4034, -10.3316, 7.788, 1.033, 0.0024, 0.0513, 0.0659] 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_x": 0.46, "right_z": 0.17}, "note": "Bear is above the safe but its legs hang near the front wall; moving a bit further in and lower before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteBear is over the red interior; releasing it into the safe.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.593, -0.0193, -0.0387, 0.9992, 0.5312, 2.2807, 2.4001, -1.4391, 0.234, 0.2008, 0.0132] state[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1314 left_yaw=0.0036 left_pitch=-0.2384 left_roll=0.0008 left_gripper=0.9992 right_x=0.4398 right_y=0.2151 right_z=0.1668 right_yaw=0.1264 right_pitch=-0.6692 right_roll=-0.2157 right_gripper=0.0132 state[joint_eff]: [-0.1436, -1.3333, 6.8171, 1.4823, -0.0659, -0.0464, -0.0122, -0.335, -11.494, 8.5949, 1.033, 0.1294, 0.0366, -0.0024] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Bear is over the red interior; releasing it into the safe."})
tool
executing move_to over 10 steps (1.0s)
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 noteBear released into the safe. Moving the right arm out of the way and bringing the left arm over the small white bear to the left of the safe.
move_to
right_x0.3000right_y0.0500right_z0.2000left_x0.3600left_y-0.2700left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.5934, -0.0193, -0.0383, 0.9992, 0.524, 2.3081, 2.4035, -1.4033, 0.2276, 0.1825, 0.9943] state[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1313 left_yaw=0.0033 left_pitch=-0.2387 left_roll=0.0011 left_gripper=0.9992 right_x=0.4498 right_y=0.218 right_z=0.1568 right_yaw=0.1416 right_pitch=-0.6628 right_roll=-0.2099 right_gripper=0.9943 state[joint_eff]: [-0.0342, -1.1692, 7.1453, 1.5165, -0.0806, -0.0317, -0.0122, -0.3214, -12.9026, 7.9248, 1.0427, 0.1685, 0.0269, 0.0171] 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_x": 0.3, "right_y": 0.05, "right_z": 0.2, "left_x": 0.36, "left_y": -0.27, "left_z": 0.15, "left_gripper": 1}, "note": "Bear released into the safe. Moving the right arm out of the way and bringing the left arm over the small white bear to the left of the safe."})
tool
executing move_to over 25 steps (2.5s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteWhite bear is left of the jaw column in the left wrist view; shifting left ~4 cm and descending onto it.
move_to
left_x0.3700left_y-0.2200left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8505, 1.7641, 1.3643, -0.6632, -0.5251, -0.7269, 0.9993, 0.2481, 1.3979, 1.3586, -1.1805, 0.1623, -0.0723, 0.9958] state[eef_state]: left_x=0.3517 left_y=-0.261 left_z=0.1363 left_yaw=0.0023 left_pitch=-0.2795 left_roll=0.0173 left_gripper=0.9993 right_x=0.3025 right_y=0.0509 right_z=0.193 right_yaw=0.121 right_pitch=-0.6224 right_roll=-0.2144 right_gripper=0.9958 state[joint_eff]: [-0.6085, -8.7043, 9.2239, 1.2039, -0.5397, 0.0611, -0.0904, -0.1709, -6.3932, 6.5299, 1.0525, -0.0024, -0.1587, 0.1392] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.22, "left_z": 0.02}, "note": "White bear is left of the jaw column in the left wrist view; shifting left ~4 cm and descending onto it."})
tool
executing move_to over 8 steps (0.8s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteWhite bear fills the view slightly left of the jaws; nudging left and forward and pressing down so its body is between the fingers.
move_to
left_x0.3800left_y-0.2000left_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7376, 1.8549, 1.0058, -0.2188, -0.4751, -0.6308, 0.9992, 0.2474, 1.383, 1.3319, -1.1877, 0.16, -0.0856, 0.9959] state[eef_state]: left_x=0.3605 left_y=-0.2135 left_z=0.0222 left_yaw=0.0279 left_pitch=-0.3168 left_roll=0.0539 left_gripper=0.9992 right_x=0.295 right_y=0.0492 right_z=0.1878 right_yaw=0.1299 right_pitch=-0.6432 right_roll=-0.2204 right_gripper=0.9959 state[joint_eff]: [0.253, -7.8154, 5.4769, 1.4286, -0.1636, 0.105, -0.022, 0.1846, -5.5316, 6.4068, 1.1893, 0.0952, 0.1343, 0.0024] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.2, "left_z": 0.0}, "note": "White bear fills the view slightly left of the jaws; nudging left and forward and pressing down so its body is between the fingers."})
tool
executing move_to over 2 steps (0.2s)
step 201
assistant
agent noteWhite bear's body is between the jaws; closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7029, 1.895, 0.9886, -0.1375, -0.4564, -0.6033, 0.9992, 0.2474, 1.3682, 1.3003, -1.1683, 0.16, -0.0868, 0.996] state[eef_state]: left_x=0.3711 left_y=-0.2076 left_z=0.0089 left_yaw=0.0285 left_pitch=-0.3111 left_roll=0.0423 left_gripper=0.9992 right_x=0.2926 right_y=0.0486 right_z=0.1831 right_yaw=0.1309 right_pitch=-0.6407 right_roll=-0.2205 right_gripper=0.996 state[joint_eff]: [1.2239, -7.5282, 5.8872, 1.2234, -0.1734, 0.1783, -0.0122, 0.2393, -6.2427, 6.4205, 1.199, 0.0904, -0.0269, -0.0073] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "White bear's body is between the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 211
assistant
agent noteWhite bear grasped (gripper 0.13). Lifting it high. Note: brown bear appears to have ended up at the safe's front edge; will recheck after.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6678, 1.9148, 0.9882, -0.1005, -0.4465, -0.5766, 0.1332, 0.2493, 1.3453, 1.2545, -1.1461, 0.16, -0.0902, 0.996] state[eef_state]: left_x=0.3814 left_y=-0.1991 left_z=0.0045 left_yaw=0.0377 left_pitch=-0.3048 left_roll=0.0417 left_gripper=0.1332 right_x=0.2875 right_y=0.0479 right_z=0.176 right_yaw=0.1351 right_pitch=-0.6419 right_roll=-0.2221 right_gripper=0.996 state[joint_eff]: [-0.2256, -8.1573, 5.6137, 1.1355, -0.2418, 0.0952, 0.989, -0.2393, -5.9145, 6.4479, 1.1551, 0.0952, -0.0073, -0.0122] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "White bear grasped (gripper 0.13). Lifting it high. Note: brown bear appears to have ended up at the safe's front edge; will recheck after."})
tool
executing move_to over 16 steps (1.6s)
step 227
assistant
agent noteCarrying the white bear right and forward to hover over the red interior of the safe.
move_to
left_x0.4400left_y-0.3100left_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6678, 1.7325, 1.7306, -1.034, -0.4374, -0.5911, 0.136, 0.2493, 1.3254, 1.2057, -1.1233, 0.16, -0.0902, 0.996] state[eef_state]: left_x=0.3822 left_y=-0.2015 left_z=0.2343 left_yaw=0.0412 left_pitch=-0.3162 left_roll=0.0318 left_gripper=0.136 right_x=0.2821 right_y=0.0465 right_z=0.1671 right_yaw=0.1346 right_pitch=-0.648 right_roll=-0.2229 right_gripper=0.996 state[joint_eff]: [-0.0889, -7.8564, 8.7453, 1.1404, -0.3199, 0.0904, 0.7595, 0.0752, -6.106, 6.653, 1.1013, 0.0659, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.31, "left_z": 0.25}, "note": "Carrying the white bear right and forward to hover over the red interior of the safe."})
tool
executing move_to over 10 steps (1.0s)
step 237
assistant
agent noteWhite bear is over the safe interior; lowering before release.
move_to
left_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7685, 2.4664, 2.8265, -1.4879, -0.4679, -0.6968, 0.1385, 0.2493, 1.2976, 1.1553, -1.0996, 0.16, -0.0902, 0.996] state[eef_state]: left_x=0.4402 left_y=-0.3098 left_z=0.2139 left_yaw=0.0453 left_pitch=-0.3614 left_roll=0.0516 left_gripper=0.1385 right_x=0.2761 right_y=0.045 right_z=0.1596 right_yaw=0.1347 right_pitch=-0.6468 right_roll=-0.2228 right_gripper=0.996 state[joint_eff]: [-0.4034, -16.0889, 8.6359, 0.6569, -0.442, -0.0073, 0.7057, 0.2256, -5.641, 6.4205, 1.1551, 0.1294, -0.0269, -0.0171] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.14}, "note": "White bear is over the safe interior; lowering before release."})
tool
executing move_to over 5 steps (0.5s)
step 242
assistant
agent noteWhite bear is inside the safe walls; releasing.
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]: [-0.7712, 2.233, 2.1799, -1.0946, -0.4644, -0.7002, 0.1387, 0.2497, 1.2713, 1.1057, -1.074, 0.16, -0.0902, 0.996] state[eef_state]: left_x=0.4332 left_y=-0.3057 left_z=0.1594 left_yaw=0.048 left_pitch=-0.3772 left_roll=0.0627 left_gripper=0.1387 right_x=0.2706 right_y=0.0437 right_z=0.152 right_yaw=0.1353 right_pitch=-0.6445 right_roll=-0.2224 right_gripper=0.996 state[joint_eff]: [-0.0889, -12.3009, 6.3111, 1.6679, -0.3346, 0.0317, 0.398, 0.2803, -5.1897, 6.694, 1.1355, 0.1197, -0.0317, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "White bear is inside the safe walls; releasing."})
tool
executing move_to over 9 steps (0.9s)
step 251
assistant
agent noteAll three objects (lemon, brown bear, white bear) are now inside the safe per the left wrist view. Raising the left arm above the open lid to reach behind it and pull it closed.
move_to
left_z0.3200left_x0.4500left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7712, 2.2642, 2.1555, -1.1038, -0.4538, -0.712, 0.9952, 0.2493, 1.2453, 1.0599, -1.0554, 0.1604, -0.0902, 0.996] state[eef_state]: left_x=0.4286 left_y=-0.3036 left_z=0.1339 left_yaw=0.0685 left_pitch=-0.4277 left_roll=0.1002 left_gripper=0.9952 right_x=0.2644 right_y=0.0419 right_z=0.1448 right_yaw=0.1344 right_pitch=-0.6456 right_roll=-0.2231 right_gripper=0.996 state[joint_eff]: [-0.1026, -15.1726, 8.3897, 0.9744, -0.3687, 0.0513, -0.1148, -0.0068, -4.9026, 6.5026, 1.1404, 0.1148, -0.0366, -0.0171] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.32, "left_x": 0.45, "left_gripper": 0.0}, "note": "All three objects (lemon, brown bear, white bear) are now inside the safe per the left wrist view. Raising the left arm above the open lid to reach behind it and pull it closed."})
tool
executing move_to over 13 steps (1.3s)
step 264
assistant
agent noteLid is open and leaning back behind the safe. Rotating the jaws 90° so they can pinch the lid's free edge, and moving over it.
move_to
left_x0.5400left_y-0.3300left_z0.2000left_yaw1.5700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7246, 2.3207, 2.693, -1.5761, -0.4366, -0.6655, 0.0095, 0.2493, 1.219, 1.0149, -1.0332, 0.16, -0.0902, 0.996] state[eef_state]: left_x=0.4179 left_y=-0.2654 left_z=0.2355 left_yaw=0.0731 left_pitch=-0.4362 left_roll=0.1084 left_gripper=0.0095 right_x=0.259 right_y=0.0406 right_z=0.1381 right_yaw=0.1351 right_pitch=-0.6423 right_roll=-0.2221 right_gripper=0.996 state[joint_eff]: [0.4718, -14.9949, 4.6564, 1.0134, -0.2711, 0.1148, 0.6764, 0.2256, -4.9573, 6.5026, 1.1013, 0.1099, -0.022, -0.0122] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.54, "left_y": -0.33, "left_z": 0.2, "left_yaw": 1.57, "left_gripper": 1.0}, "note": "Lid is open and leaning back behind the safe. Rotating the jaws 90\u00b0 so they can pinch the lid's free edge, and moving over it."})
tool
executing move_to over 10 steps (1.0s)
step 274
assistant
agent noteArm sagged to the left of the safe; the lid stands roughly upright at the back. Going forward beside the safe (clear of the lid) to get behind it.
move_to
left_x0.5800left_y-0.1700left_z0.1400left_yaw0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5831, 2.479, 2.2406, -1.5555, -0.4725, -1.9476, 0.9952, 0.2493, 1.1931, 0.9756, -1.0138, 0.1604, -0.0902, 0.996] state[eef_state]: left_x=0.405 left_y=-0.1666 left_z=0.0533 left_yaw=1.3263 left_pitch=-0.4759 left_roll=0.0572 left_gripper=0.9952 right_x=0.2543 right_y=0.0393 right_z=0.1328 right_yaw=0.1352 right_pitch=-0.6362 right_roll=-0.2217 right_gripper=0.996 state[joint_eff]: [1.4154, -12.9026, 5.053, -0.2369, -0.2222, -0.105, -0.1099, 0.0205, -4.588, 6.4752, 1.1111, 0.0904, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.58, "left_y": -0.17, "left_z": 0.14, "left_yaw": 0.0, "left_gripper": 0.0}, "note": "Arm sagged to the left of the safe; the lid stands roughly upright at the back. Going forward beside the safe (clear of the lid) to get behind it."})
tool
executing move_to over 14 steps (1.4s)
step 288
assistant
agent noteThe gripper is just behind and left of the upright lid (its grey back is visible bottom-right in the wrist view). Sliding right behind the lid, slightly below its top edge.
move_to
left_x0.5800left_y-0.3000left_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3626, 2.6186, 2.7991, -1.264, -0.2569, -0.4488, 0.0089, 0.2493, 1.1687, 0.9424, -0.9997, 0.16, -0.0902, 0.996] state[eef_state]: left_x=0.5705 left_y=-0.1646 left_z=0.1341 left_yaw=0.1326 left_pitch=-0.4469 left_roll=0.0091 left_gripper=0.0089 right_x=0.2498 right_y=0.0382 right_z=0.1285 right_yaw=0.136 right_pitch=-0.6309 right_roll=-0.2205 right_gripper=0.996 state[joint_eff]: [0.2256, -15.9658, 4.6427, 0.398, -0.359, 0.315, 0.7546, 0.0752, -4.0821, 6.4342, 1.1209, 0.1294, -0.022, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.58, "left_y": -0.3, "left_z": 0.11}, "note": "The gripper is just behind and left of the upright lid (its grey back is visible bottom-right in the wrist view). Sliding right behind the lid, slightly below its top edge."})
tool
executing move_to over 13 steps (1.3s)
step 301
assistant
agent noteThe arm stopped against the lid's corner at y -0.23. Lifting over the lid's top edge while moving right, to drop in behind it.
move_to
left_x0.5800left_y-0.3100left_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4866, 2.6965, 2.9086, -1.211, -0.3481, -0.5259, 0.0114, 0.2493, 1.1526, 0.9131, -0.989, 0.16, -0.0906, 0.996] state[eef_state]: left_x=0.5717 left_y=-0.2302 left_z=0.1375 left_yaw=0.1099 left_pitch=-0.3335 left_roll=-0.0129 left_gripper=0.0114 right_x=0.2454 right_y=0.0371 right_z=0.1233 right_yaw=0.1361 right_pitch=-0.6336 right_roll=-0.221 right_gripper=0.996 state[joint_eff]: [-3.0427, -9.8256, 5.3265, 0.4127, 0.1441, 0.1832, 0.5201, -0.1162, -4.2325, 6.4342, 1.1013, 0.0708, -0.0513, -0.0122] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.58, "left_y": -0.31, "left_z": 0.19}, "note": "The arm stopped against the lid's corner at y -0.23. Lifting over the lid's top edge while moving right, to drop in behind it."})
tool
executing move_to over 8 steps (0.8s)
step 309
assistant
agent noteThe lid has swung shut (silver lid now covers the safe), though the brown bear's feet poke out the front. Retracting the left arm clear.
move_to
left_x0.3000left_y-0.0500left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5266, 2.7663, 2.978, -1.3258, -0.3569, -0.5774, 0.0136, 0.2493, 1.1339, 0.8803, -0.9768, 0.16, -0.0906, 0.996] state[eef_state]: left_x=0.5484 left_y=-0.2433 left_z=0.1076 left_yaw=0.1339 left_pitch=-0.4218 left_roll=0.0346 left_gripper=0.0136 right_x=0.2406 right_y=0.0359 right_z=0.1175 right_yaw=0.1359 right_pitch=-0.6355 right_roll=-0.2213 right_gripper=0.996 state[joint_eff]: [-0.1162, -14.9675, 7.4325, 1.1355, -0.3492, 0.1099, 0.2173, 0.1846, -3.8632, 6.7077, 1.1062, 0.0757, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.2}, "note": "The lid has swung shut (silver lid now covers the safe), though the brown bear's feet poke out the front. Retracting the left arm clear."})
tool
executing move_to over 20 steps (2.0s)
step 329
assistant
agent noteThe safe's lid is shut, but the task may not be fully done: the brown bear's legs stick out the front edge, so the lid is closed on top of it. The lemon and the white bear are fully inside. I had only 3 calls left, not enough to reopen the lid and push the bear back in, so I stopped here. What happened: - **Lemon:** picked with the right arm on the second try. The first close came up empty because the lemon sat further forward than the wrist view suggested. I dropped it into the safe. - **Brown bear:** grabbed with the right arm and released from about 16 cm above the safe. It ended up lying across the front wall. - **White bear:** picked with the left arm and dropped into the safe. - **Lid:** I tried to hook it closed from behind with the left arm. The arm stopped against the lid's corner, and the next move toward it (up and over the edge) knocked the lid over, so it fell shut.
done
hindsight- Grasping: the arm lags its target by 2–4 cm at low z (pitch drifts back as far as −0.6), and objects that look centred in the wrist view are really 4–6 cm beyond the fingertips. Command x about 5–7 cm past what the view suggests before closing, or check the readback first. - Safe position: the safe sat at right-arm x≈0.42–0.46, y≈0.22–0.24 (left-arm y≈−0.31, x≈0.44). Its open lid stands upright behind it, with the top edge at about x≈0.55, z≈0.13. - Closing the lid: any contact with the lid's top or back corner from behind (left arm at x≈0.57, sliding sideways from y −0.17 toward −0.31 around z 0.11–0.19) tipped it forward and shut. So getting the gripper behind the lid and nudging it is enough. - Loading order: before closing, make sure floppy plush toys are fully inside. Drop them lower (z≈0.10) and further back in the safe (x≈0.47). The brown bear released from 0.16 ended up over the front wall. - IK failures: big combined yaw and position moves (yaw 1.57 plus a long reach) failed badly. The arm dropped to z 0.05 somewhere else entirely. Avoid large yaw changes at full reach. - Plush toys: they compress to a gripper reading of about 0.01 even when grasped, so lift and check visually instead of trusting the reading.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3412, 1.3334, 1.1629, -1.0172, -0.2657, -0.4255, 0.0158, 0.2497, 1.1053, 0.8467, -0.9619, 0.16, -0.0902, 0.996] state[eef_state]: left_x=0.2988 left_y=-0.0531 left_z=0.1632 left_yaw=0.1739 left_pitch=-0.5349 left_roll=0.0868 left_gripper=0.0158 right_x=0.2362 right_y=0.0349 right_z=0.1138 right_yaw=0.1368 right_pitch=-0.6256 right_roll=-0.2198 right_gripper=0.996 state[joint_eff]: [0.1846, -9.7436, 8.841, 1.6435, -0.2564, 0.1832, 0.2222, 0.2256, -2.8239, 6.5709, 1.0574, 0.0611, -0.0024, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
done({"summary": "The safe's lid is shut, but the task may not be fully done: the brown bear's legs stick out the front edge, so the lid is closed on top of it. The lemon and the white bear are fully inside. I had only 3 calls left, not enough to reopen the lid and push the bear back in, so I stopped here.\n\nWhat happened:\n- **Lemon:** picked with the right arm on the second try. The first close came up empty because the lemon sat further forward than the wrist view suggested. I dropped it into the safe.\n- **Brown bear:** grabbed with the right arm and released from about 16 cm above the safe. It ended up lying across the front wall.\n- **White bear:** picked with the left arm and dropped into the safe.\n- **Lid:** I tried to hook it closed from behind with the left arm. The arm stopped against the lid's corner, and the next move toward it (up and over the edge) knocked the lid over, so it fell shut.", "hindsight": "- Grasping: the arm lags its target by 2\u20134 cm at low z (pitch drifts back as far as \u22120.6), and objects that look centred in the wrist view are really 4\u20136 cm beyond the fingertips. Command x about 5\u20137 cm past what the view suggests before closing, or check the readback first.\n- Safe position: the safe sat at right-arm x\u22480.42\u20130.46, y\u22480.22\u20130.24 (left-arm y\u2248\u22120.31, x\u22480.44). Its open lid stands upright behind it, with the top edge at about x\u22480.55, z\u22480.13.\n- Closing the lid: any contact with the lid's top or back corner from behind (left arm at x\u22480.57, sliding sideways from y \u22120.17 toward \u22120.31 around z 0.11\u20130.19) tipped it forward and shut. So getting the gripper behind the lid and nudging it is enough.\n- Loading order: before closing, make sure floppy plush toys are fully inside. Drop them lower (z\u22480.10) and further back in the safe (x\u22480.47). The brown bear released from 0.16 ended up over the front wall.\n- IK failures: big combined yaw and position moves (yaw 1.57 plus a long reach) failed badly. The arm dropped to z 0.05 somewhere else entirely. Avoid large yaw changes at full reach.\n- Plush toys: they compress to a gripper reading of about 0.01 even when grasped, so lift and check visually instead of trusting the reading."})
tool
done: The safe's lid is shut, but the task may not be fully done: the brown bear's legs stick out the front edge, so the lid is closed on top of it. The lemon and the white bear are fully inside. I had only 3 calls left, not enough to reopen the lid and push the bear back in, so I stopped here. What happened: - **Lemon:** picked with the right arm on the second try. The first close came up empty because the lemon sat further forward than the wrist view suggested. I dropped it into the safe. - **Brown bear:** grabbed with the right arm and released from about 16 cm above the safe. It ended up lying across the front wall. - **White bear:** picked with the left arm and dropped into the safe. - **Lid:** I tried to hook it closed from behind with the left arm. The arm stopped against the lid's corner, and the next move toward it (up and over the edge) knocked the lid over, so it fell shut.
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 · 14.44 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]: [-0.0189, 0.7933, 0.6048, -0.3901, -0.0193, -0.0338, 0.9993, -0.0208, 0.7952, 0.6075, -0.4038, -0.0193, -0.0254, 0.9982]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1785 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1763 right_yaw=0.0007 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.5128, -1.3607, 10.1675, 2.0, -0.0855, 0.2027, -0.0904, -0.294, -1.5111, 9.7846, 2.044, -0.0708, 0.1001, -0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e086bdc3d7ac77477efaa09a9091a4530024265dd642838bfa06bf31a1015dd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cf02f7318b3ef19bc1019a516d80a0b042e2ee4d3d4313a6339a324c789eab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:816035e107b1633a9cedf5c958530f9f32e8dca3b3140b016a7ca875bcaf0bb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 5.539 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]: [-0.0189, 0.7933, 0.6048, -0.3901, -0.0193, -0.0338, 0.9993, -0.0208, 0.7952, 0.6075, -0.4038, -0.0193, -0.0254, 0.9982]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1785 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1763 right_yaw=0.0007 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.5128, -1.3607, 10.1675, 2.0, -0.0855, 0.2027, -0.0904, -0.294, -1.5111, 9.7846, 2.044, -0.0708, 0.1001, -0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e086bdc3d7ac77477efaa09a9091a4530024265dd642838bfa06bf31a1015dd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cf02f7318b3ef19bc1019a516d80a0b042e2ee4d3d4313a6339a324c789eab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:816035e107b1633a9cedf5c958530f9f32e8dca3b3140b016a7ca875bcaf0bb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HEkHPontan7JsLsfeTNy6L",
      "input": {
        "note": "Scene: open red safe at centre, lemon to its right, white small bear left-front of it, brown bear in front. Moving right arm above the lemon first.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.07,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HEkHPontan7JsLsfeTNy6L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6083, -0.4057, -0.0193, -0.038, 0.9992, 0.2886, 1.1831, 0.6376, -0.1944, 0.194, 0.1131, 0.9982]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1758 left_yaw=0.0025 left_pitch=-0.0164 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3352 right_y=0.0677 right_z=0.1166 right_yaw=0.0542 right_pitch=-0.1323 right_roll=-0.0368 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.4017, 6.7761, 1.8535, -0.0611, -0.0122, -0.0171, 0.0752, -4.8752, 9.9624, 1.9463, 0.2369, 0.1832, -0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:962ed3c9dfdee1d4dac0ba356fb9307c18ae237d17f9371c37104611048d488a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73060fff6df2c46c5a49ece7a453581e03e8b5356898e88963d4fb46ae66238b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51b80abeae5601764f3c0950f5c768b98c82397fcb695e2981dd57a2467fdae1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.574 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]: [-0.0189, 0.7933, 0.6048, -0.3901, -0.0193, -0.0338, 0.9993, -0.0208, 0.7952, 0.6075, -0.4038, -0.0193, -0.0254, 0.9982]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1785 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1763 right_yaw=0.0007 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.5128, -1.3607, 10.1675, 2.0, -0.0855, 0.2027, -0.0904, -0.294, -1.5111, 9.7846, 2.044, -0.0708, 0.1001, -0.1929]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6083, -0.4057, -0.0193, -0.038, 0.9992, 0.2886, 1.1831, 0.6376, -0.1944, 0.194, 0.1131, 0.9982]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1758 left_yaw=0.0025 left_pitch=-0.0164 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3352 right_y=0.0677 right_z=0.1166 right_yaw=0.0542 right_pitch=-0.1323 right_roll=-0.0368 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.4017, 6.7761, 1.8535, -0.0611, -0.0122, -0.0171, 0.0752, -4.8752, 9.9624, 1.9463, 0.2369, 0.1832, -0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:962ed3c9dfdee1d4dac0ba356fb9307c18ae237d17f9371c37104611048d488a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73060fff6df2c46c5a49ece7a453581e03e8b5356898e88963d4fb46ae66238b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51b80abeae5601764f3c0950f5c768b98c82397fcb695e2981dd57a2467fdae1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS0gcKEAgSGAI4AUIIdGhpbmtpbmcSDKSXIQgICw+IqCQDVRoMhXLroA52XZDvwVEMIjAvHHAOUUOH+MOjwl/y+kJZdjrmuA1uuLx1vX2qFUVh2F/coOu6fPzSZbxE3AkwQ9oq7wZvxNbnD9BFe1zFgw/MPBU0eUTT2uTwpvp6fZPr1RFK/6agLi5Wf0ZzP67GxUJ/WjMOVCxey6aRG+lX/NynSoMeKsy+hR5EeVS13bkY2/9xpG9ICJ36rk9SLVKBK34RGnjHqHzc2S76leJlruDMkWRzTJ+keX4l51rJ3BROizgQsKLtg90tLAm38vGoLz7GtwhOb0ODbSRhUr0lzLBUIft+ACi5phy6wg8xLoQI41vWu1wWR9TEkr6xlRPXLGbAZpC10uJZuKughCVG5TXOEX4+Gl7cO7kXNTELL19o5suNnAaZVOK66SxmdUZypZXLcXGK7J4JGIT7jeGKwpRLQZtr/Uko28KSrK//JszCyLQJHi276aFv07z3bQmTWYZ/Do9OmcwhnQBtrERk9DojPwrBpIabAGNynzNLT01M5Af4ZT5Pu+S+TnIKfjezyWigxXdZiMnGDHyhnE4EwWXimUeon82OCuisZAESlsazVfhdthSjIhGlZhCN2qMArpWJgsGBFra6uqDN6vpz2NVzvd2nwlwjfMP9kJ8FqkfjSFp9d2rGGCAzil1PLEeOMmqZLZm08A8Tb9xyCTOVP3yRqGr5QKuCopb4h+msvPC8/q2MLeX0Xx6dm7YJjQjzWnerrBwVGOxmGQRklExWGidtN6CW605rO2ieresgDnNVUIAhYsQ2q4vlzoyLF/oJ5E0Uy3KxQ0GW5L5t0+Wz9UrHTlM3ya0R5gZJYLpD0BjTt0VeBxhG7bINMS+mQTnFrlsVvKgcupicU2HILmUe/ZttvdbygHKWfz9XACKLVYJqkI5FHgUQZ4xLa8gD7LO+xPNQSMNKb5a/XrOqVMrntl66223UmcQicLdhj0yNUVDx/njvzEmpPYOcGoUVsqQJRhBMUnuXEgH600ed6YH+J97eg1mEh5RZ7t9FXlz8R/YQ8a07ROlzgrvSXMDJlbIqmWDjV9Ob4F7B33d5kPKeYlbpSAEO9dz95AeXrKPHcLJun39cRIRgwbdqo/woteS/Mjnrwvu/X/idcM6R18hzTJw0XEV2AAQ9k3HLUwoAMUuLDbVNrbIKWUkQEnajJJCr1V0y30hUGFk0C5I8gRi2mT0pp0r++dkegFFMLy+5kgnKVNZrYq69Ok3fkNTK95EqnUUgGEGDPCOlJ4UE70CJo74cLu4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UZze8RvrVXnVUgtb3Uf8CE",
      "input": {
        "note": "Lemon is centred on the jaw column in the right wrist view, slightly ahead. Advancing a bit and descending to lemon mid-height.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.38,
          "right_y": 0.07,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UZze8RvrVXnVUgtb3Uf8CE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6075, -0.4137, -0.0193, -0.0383, 0.9992, 0.2527, 1.5829, 0.5602, 0.1822, 0.1646, 0.0864, 0.9982]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1727 left_yaw=0.0027 left_pitch=-0.0294 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3598 right_y=0.0667 right_z=0.0162 right_yaw=0.054 right_pitch=-0.2358 right_roll=-0.0575 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -1.5795, 7.0632, 1.7509, -0.0611, -0.0317, -0.0122, -0.6496, -6.8171, 5.5453, 1.8926, 0.0659, -0.0366, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e6f8a168f13fca48d8d07cef4c4892c18afe191d381229d4b0630031a4f7f83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94ef4ef1e0243bf659cbd2552d9eb4b76514851f550254b3411cbcd2cfcdd6e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50b78155079748bd69d0b83effcdae20ed7d959eae5f28dd1457757a73500719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 5.178 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]: [-0.0189, 0.7933, 0.6048, -0.3901, -0.0193, -0.0338, 0.9993, -0.0208, 0.7952, 0.6075, -0.4038, -0.0193, -0.0254, 0.9982]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1785 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1763 right_yaw=0.0007 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.5128, -1.3607, 10.1675, 2.0, -0.0855, 0.2027, -0.0904, -0.294, -1.5111, 9.7846, 2.044, -0.0708, 0.1001, -0.1929]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6083, -0.4057, -0.0193, -0.038, 0.9992, 0.2886, 1.1831, 0.6376, -0.1944, 0.194, 0.1131, 0.9982]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1758 left_yaw=0.0025 left_pitch=-0.0164 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3352 right_y=0.0677 right_z=0.1166 right_yaw=0.0542 right_pitch=-0.1323 right_roll=-0.0368 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.4017, 6.7761, 1.8535, -0.0611, -0.0122, -0.0171, 0.0752, -4.8752, 9.9624, 1.9463, 0.2369, 0.1832, -0.1929]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6075, -0.4137, -0.0193, -0.0383, 0.9992, 0.2527, 1.5829, 0.5602, 0.1822, 0.1646, 0.0864, 0.9982]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1727 left_yaw=0.0027 left_pitch=-0.0294 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3598 right_y=0.0667 right_z=0.0162 right_yaw=0.054 right_pitch=-0.2358 right_roll=-0.0575 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -1.5795, 7.0632, 1.7509, -0.0611, -0.0317, -0.0122, -0.6496, -6.8171, 5.5453, 1.8926, 0.0659, -0.0366, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e6f8a168f13fca48d8d07cef4c4892c18afe191d381229d4b0630031a4f7f83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94ef4ef1e0243bf659cbd2552d9eb4b76514851f550254b3411cbcd2cfcdd6e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b78155079748bd69d0b83effcdae20ed7d959eae5f28dd1457757a73500719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS1AYKEAgSGAI4AUIIdGhpbmtpbmcSDN5JsGdB/8/d7ItoOBoMqk8RDHc86uNpB3c7IjBzjUceXe81KtLkDlm/lBgLj1ah1AggB4VQm4H5tqDrt5lSogQyjlwoQDYddQUsxMsq8QU1WdfsRlXQmNehT4orv8h4UNpbJjEGlv4BlkCnc7B7k/XuOm3drn5Mo39iro2ryyv3hHpylBk7j1hWbU/KffKhNSR7cTp73pq3AYh5CZU+DV380qmVJkLzt5v/Ac715So03U/9EVFfOvCcaLeoQubx9PwbvKFbUEk/eyr8lzW29mFsxSjiTuHx+e08pEpjbm4p1Gc78OvI57SE/YGlHf+gI2nROfxSCz3G9ZX9HoFb+CY6WIN+PJyXSnhfau1bbRKoF68d62PQrtHUu9vW5d2TQB03yf19E+Hd6NNegrDEk7QXLhshlSBEvyXwViJ5gLu5FGvOlfPg9vKCcIDWOIUMhMM/VF+YDYynZFF5eMPJMQmp/3rGj/nJuklHdUGws3HlcLNAr67TK09MWZASgF54L+euhtADQiu1wfK3+vgAsPEIiw0X0xnf86URLFhiUiwmFg0PQ9jLryvS0DJMYyOi5L4VuLRbN+k5OP+0OIYfBujbPdzjinttZDSQupPL9nSyunRYqft6lZwHOjw+zAfSVuHBxSb6hHkS3bXWRoEY9DxaYprSPTlnqcNYl7ZqCffOUfVDLTE2EfIpbOECxc//sAD7qlWo4V9s0Qpd1VnWXy8nyxJL0exNS7z1Cu7Y8jDnah5+/2SIr8+sGqhE7t0VX+mF5auEGhYpxp3T4+9DoYNy9oq6fHcYVYvKgejzy5oUNb/eJYJzVBymiOXmRZr3/RO4MZF3jAvQe+r7IcJvvYVwHzyB9xgxTYbPBiu5u7dYmwwp7+1HgPoP7aPTF+95I//NPgtZg4fj6a1puuSvcRPzl33/7QwJy7ZpNcsq5dJFysSyunZCd385/dywIqdig3CRbsXKxctepBpZFkp006rSov26MVTAG6eEgMsQ7hZ2P1D1BHi4jJX8DR69CkVzQtXl9ZAvjNebuqYfk0smoQEv7OkUKHD9AQxKnpyJ016GMA+iJlf4vX+eAC2knINv09yctQksBeoWlbXR56/bTqYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019rkQZhrUmWeBjE7gzGVxGB",
      "input": {
        "note": "Lemon still appears ahead of the jaws in the wrist view; moving further forward at low height so it sits between the fingers.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.07,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019rkQZhrUmWeBjE7gzGVxGB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6075, -0.4282, -0.0189, -0.0383, 0.9992, 0.2264, 1.7271, 0.7185, 0.1337, 0.1421, 0.0601, 0.9981]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1692 left_yaw=0.0024 left_pitch=-0.0458 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3941 right_y=0.0688 right_z=0.0096 right_yaw=0.0602 right_pitch=-0.2736 right_roll=-0.0647 right_gripper=0.9981\nstate[joint_eff]: [-0.0752, -1.3744, 7.0496, 1.8193, 0.0122, -0.0611, -0.0122, -0.7179, -7.2, 7.0769, 1.6239, 0.0464, 0.0171, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:202be67a431ccc76e78ec68c119e15cb8b6a30d45e23b73f5dda11824a5dd232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e82188428fbde28cc699e493a32e4f6a5db51d67f9b7a59db29ef82d5c4c83de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb7fa112e46b6c1d83aaa79af00569fe2129cf2382a025e4fa95d7f3839465d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 3.692 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]: [-0.0189, 0.7971, 0.6083, -0.4057, -0.0193, -0.038, 0.9992, 0.2886, 1.1831, 0.6376, -0.1944, 0.194, 0.1131, 0.9982]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1758 left_yaw=0.0025 left_pitch=-0.0164 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3352 right_y=0.0677 right_z=0.1166 right_yaw=0.0542 right_pitch=-0.1323 right_roll=-0.0368 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.4017, 6.7761, 1.8535, -0.0611, -0.0122, -0.0171, 0.0752, -4.8752, 9.9624, 1.9463, 0.2369, 0.1832, -0.1929]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6075, -0.4137, -0.0193, -0.0383, 0.9992, 0.2527, 1.5829, 0.5602, 0.1822, 0.1646, 0.0864, 0.9982]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1727 left_yaw=0.0027 left_pitch=-0.0294 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3598 right_y=0.0667 right_z=0.0162 right_yaw=0.054 right_pitch=-0.2358 right_roll=-0.0575 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -1.5795, 7.0632, 1.7509, -0.0611, -0.0317, -0.0122, -0.6496, -6.8171, 5.5453, 1.8926, 0.0659, -0.0366, -0.188]\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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6075, -0.4282, -0.0189, -0.0383, 0.9992, 0.2264, 1.7271, 0.7185, 0.1337, 0.1421, 0.0601, 0.9981]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1692 left_yaw=0.0024 left_pitch=-0.0458 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3941 right_y=0.0688 right_z=0.0096 right_yaw=0.0602 right_pitch=-0.2736 right_roll=-0.0647 right_gripper=0.9981\nstate[joint_eff]: [-0.0752, -1.3744, 7.0496, 1.8193, 0.0122, -0.0611, -0.0122, -0.7179, -7.2, 7.0769, 1.6239, 0.0464, 0.0171, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:202be67a431ccc76e78ec68c119e15cb8b6a30d45e23b73f5dda11824a5dd232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e82188428fbde28cc699e493a32e4f6a5db51d67f9b7a59db29ef82d5c4c83de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7fa112e46b6c1d83aaa79af00569fe2129cf2382a025e4fa95d7f3839465d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS3AgKEAgSGAI4AUIIdGhpbmtpbmcSDMjVXVF4VAzlQAKGYBoMN2cZRHMbOaD1Gzb/IjAiuq7n8NHLLurMJTPw77PcYaJfLUFf/LsIkoXwyjI4MCnizpxrSLPahKM1NWdzjrkq+QeqdMKclxpCdFSHi/nK+hwiWn+vUxY7wbIft2Am8qmdaSS5k/IGhba4xs3RAaP+qWuCVDd09wUtvFcwJ12/2e29QCzpxSjMdgqtH1+qZp5/XterUITMotIiTbpI+3rMOnxeldMxLNte/vFKVTsJP/Y1uZ4Hr4tsb47fhLxHfPV5BsCpkeCuOqq1f0S6WuBzd3mUHsB6DCusKyBn9saxi0Cg1n1nnWQLBVqGO0+OIBTDHpV9mSCBNJB3LTnFHW6hLbvZYW47XD7+M7DQAiMcmQB49o3lkicbQrvyrviAaWpcZejvInaiBFZ9r5EDmAPkut4uL3XVkIYFXrRkTbuNkyZ6cqmFxmZ2ve4uSBCxccSDl3b2JSwQMmn4oo27NVZXOJb2fGwSU3bS95PuKZ62AQ55RnETt7u8ZSRVG3SLUmDXD7y6D4PtjiPf4qFS12bTAdCIu4ruvpNyTI+njLoO4exiRO+qDGwC3IwhK+hw0CWzxaezucGB96bq6Yb+GcK5HSu0g+wrzYiGmQgetkY3MNDIEKiB3OD2ShVpxi6biUq8sR05Ottf0GIGERNUCN+Try+LHEN+Z2qMrzcnvv7yOwyjv7vW6L0lYcd4RF+AQZXa5I7cq9DubFtYIDVhY9BdQ3bGraLD8jShJx9cJPxm3MeFiQ0dzdqT3rhp7sssUVh2EsldRY5M5MQEQloKUaaC3tb4EPwCLytcyVvT8bdrYgAMPRE2phU3eqIr2xLEEdi450nYAVgXKzRcFif6L0bqeXP2lXBZlUgD+unGtfvGsUVAPn+53+W4kghvAjbFZV2S9l+KWbznHxaRbol+fv7DoBScXmPTqerqAQCaQeTQNKVW8dQIX9OhvBblrRhgGtpu6kbvgJ0BBe/vFTx2iFDaeeAp8rmqg0NNqxXNNvphu7fK9UXXRr9CUg/ChRbMz+d1E/gxC4CLqrJbCpjrDMD5TJ6Or9WwH/I2/qTZIm+xyn9wqrWx6tUhTndLVCe25i+OlD2t4UqU1IxdAT32IMU9P74fjxOSJ3Cy68ZRvVQKuqcE1LNHD+3m4UM2SSzqXz1xK0C5oSC8v7NVevM1C4QbyB45TDWQ3c73tGvW2U1VejmS8vWpgWT/RTborvwhqMY0rUozgCLE77ursSYAyHykCqouQvV3Fdb2nSxt8QTX6TADjTVEfhmJsIco1hE/r4bFsNakJnaTPKHMDuPtFZQAS4px6BCQVl5MAeTd5E/jKzRDfpYaeS09dVTuXJ0Rbgwhna+usvDSjCyhWf7ogeA0/YVQDgkbGiuio4frZz7N8qCZcU993q0DGRZb65W9T2M2B5IrLmL7x+2jXhYSfi8W86LnxoH2PBy4sQgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01148e23KWgt6LmmneFNohyC",
      "input": {
        "note": "Lemon is now low in the wrist view, nearly between the jaws; a small final advance before closing.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.065,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01148e23KWgt6LmmneFNohyC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6075, -0.4301, -0.0189, -0.0383, 0.9992, 0.2134, 1.755, 0.7677, 0.0925, 0.1284, 0.0475, 0.9981]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1688 left_yaw=0.0024 left_pitch=-0.0477 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4017 right_y=0.0676 right_z=0.0089 right_yaw=0.0654 right_pitch=-0.2953 right_roll=-0.0654 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -1.2513, 7.1179, 1.7167, -0.0464, -0.0269, -0.0122, -0.8, -6.653, 7.5966, 1.8144, 0.0464, 0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f94510d7309e7a44c3c1d07d54993aa02d4df6cd9c0ca1a29ef2fe597bccf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f865597bc105ff4d300ca5ab337f58efa7ec1c05c039f2ef0f2aec0b5e8b3d25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fee90ea68cb7dbda0340c1012e558931c3a3a660da02f8f2e66f260905b30d95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 3.703 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]: [-0.0189, 0.8013, 0.6075, -0.4137, -0.0193, -0.0383, 0.9992, 0.2527, 1.5829, 0.5602, 0.1822, 0.1646, 0.0864, 0.9982]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1727 left_yaw=0.0027 left_pitch=-0.0294 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3598 right_y=0.0667 right_z=0.0162 right_yaw=0.054 right_pitch=-0.2358 right_roll=-0.0575 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -1.5795, 7.0632, 1.7509, -0.0611, -0.0317, -0.0122, -0.6496, -6.8171, 5.5453, 1.8926, 0.0659, -0.0366, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6075, -0.4282, -0.0189, -0.0383, 0.9992, 0.2264, 1.7271, 0.7185, 0.1337, 0.1421, 0.0601, 0.9981]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1692 left_yaw=0.0024 left_pitch=-0.0458 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3941 right_y=0.0688 right_z=0.0096 right_yaw=0.0602 right_pitch=-0.2736 right_roll=-0.0647 right_gripper=0.9981\nstate[joint_eff]: [-0.0752, -1.3744, 7.0496, 1.8193, 0.0122, -0.0611, -0.0122, -0.7179, -7.2, 7.0769, 1.6239, 0.0464, 0.0171, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6075, -0.4301, -0.0189, -0.0383, 0.9992, 0.2134, 1.755, 0.7677, 0.0925, 0.1284, 0.0475, 0.9981]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1688 left_yaw=0.0024 left_pitch=-0.0477 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4017 right_y=0.0676 right_z=0.0089 right_yaw=0.0654 right_pitch=-0.2953 right_roll=-0.0654 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -1.2513, 7.1179, 1.7167, -0.0464, -0.0269, -0.0122, -0.8, -6.653, 7.5966, 1.8144, 0.0464, 0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f94510d7309e7a44c3c1d07d54993aa02d4df6cd9c0ca1a29ef2fe597bccf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f865597bc105ff4d300ca5ab337f58efa7ec1c05c039f2ef0f2aec0b5e8b3d25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fee90ea68cb7dbda0340c1012e558931c3a3a660da02f8f2e66f260905b30d95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "text": "Close on the lemon.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RQqbkuJeiJ13zGceqzYmWc",
      "input": {
        "note": "Lemon sits between the jaws in the right wrist view; closing the gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RQqbkuJeiJ13zGceqzYmWc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6075, -0.4526, -0.0193, -0.0383, 0.9992, 0.21, 1.7638, 0.7662, 0.0597, 0.1196, 0.0418, 0.0079]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1632 left_yaw=0.0028 left_pitch=-0.0747 left_roll=-0.0025 left_gripper=0.9992 right_x=0.394 right_y=0.0661 right_z=0.0 right_yaw=0.0709 right_pitch=-0.3391 right_roll=-0.0683 right_gripper=0.0079\nstate[joint_eff]: [-0.1709, -1.4838, 6.9812, 1.9512, -0.0659, -0.022, -0.0171, 0.1299, -8.4581, 5.3812, 1.6288, 0.1734, 0.0366, 0.5739]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7984e2cae83c02cb6361924d0edf1becea9eaafadd6bc80efb92e2227109679",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce7947864fb2f2633e8881f090854804f6c9b65be3ac5e11bc5ad286da7261f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6b059f7442bf72084bf2501116e4623dcbb7cd0cc96d56acfa1244c5a8e5c8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 3.736 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]: [-0.0189, 0.8032, 0.6075, -0.4282, -0.0189, -0.0383, 0.9992, 0.2264, 1.7271, 0.7185, 0.1337, 0.1421, 0.0601, 0.9981]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1692 left_yaw=0.0024 left_pitch=-0.0458 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3941 right_y=0.0688 right_z=0.0096 right_yaw=0.0602 right_pitch=-0.2736 right_roll=-0.0647 right_gripper=0.9981\nstate[joint_eff]: [-0.0752, -1.3744, 7.0496, 1.8193, 0.0122, -0.0611, -0.0122, -0.7179, -7.2, 7.0769, 1.6239, 0.0464, 0.0171, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6075, -0.4301, -0.0189, -0.0383, 0.9992, 0.2134, 1.755, 0.7677, 0.0925, 0.1284, 0.0475, 0.9981]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1688 left_yaw=0.0024 left_pitch=-0.0477 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4017 right_y=0.0676 right_z=0.0089 right_yaw=0.0654 right_pitch=-0.2953 right_roll=-0.0654 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -1.2513, 7.1179, 1.7167, -0.0464, -0.0269, -0.0122, -0.8, -6.653, 7.5966, 1.8144, 0.0464, 0.0366, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6075, -0.4526, -0.0193, -0.0383, 0.9992, 0.21, 1.7638, 0.7662, 0.0597, 0.1196, 0.0418, 0.0079]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1632 left_yaw=0.0028 left_pitch=-0.0747 left_roll=-0.0025 left_gripper=0.9992 right_x=0.394 right_y=0.0661 right_z=0.0 right_yaw=0.0709 right_pitch=-0.3391 right_roll=-0.0683 right_gripper=0.0079\nstate[joint_eff]: [-0.1709, -1.4838, 6.9812, 1.9512, -0.0659, -0.022, -0.0171, 0.1299, -8.4581, 5.3812, 1.6288, 0.1734, 0.0366, 0.5739]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7984e2cae83c02cb6361924d0edf1becea9eaafadd6bc80efb92e2227109679",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce7947864fb2f2633e8881f090854804f6c9b65be3ac5e11bc5ad286da7261f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6b059f7442bf72084bf2501116e4623dcbb7cd0cc96d56acfa1244c5a8e5c8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSvgcKEAgSGAI4AUIIdGhpbmtpbmcSDJvQT1bGjPVyVbe/YxoMXt8+qEkq15XzvZcLIjBKpoQxwPXhdNO8zsGkM5SXMy4mmPuXpRqMrrFiV6+O9vm6/hmti1WvyyVLxoI36xwq2waQDWIZcvgk9E3J5sUOD/yenYT/9Zzh/l5Hqm2n6KwH7MrS/0RXDfesGpN9HmRN9sNSas/L2HgCOfMUxsN91FuRhT/M//z8OJlyw5jwn1RE3GXGcAwYUBzb4a1Chgj64shh56IkEXdh+6IeLsnOixEcrmwIc+oGFqI7fVcCZKEHRO9skKhsBLg/oqekZwiIvNwWhOl/26Ht+OolhNMOZAe03PUIJRojPGFPDk8ORiGHcxOp8hXIbgA4RZFf6jfOJOloG5sRaTeJGbxdwhU9HX7GDctU/FedJrQlc74pZzQHLxykfdz4HYRNYJ1MEJElNTPe/OSXrikXpqpnU2oh9Le4CBqU5kVTL2wugzU4MCEX4nooKHkWUz9j8QXI99OAaFI3eBUJJYPRApqn7ce+ncrWoUXH+/CX3Wf+I5zvkpM6DdaLGxtnAvGwsrkja/PMRSR2dq2W/0IB93UDed4X444FaVtviSR5g9fv8myqEhRpSsl8pv1P6c2AAZMhvLXZX4pCmpInOVF0TvONVId+z9kIzPt2ebnhaYdZGkBfLudG04xkpju4OQ1xejcxSbWw0GpRgGjuQjaly8ckfYCn6f7UbtQ4SLJ8fVjS5qW34GURJY7XIAFyYf9Gq2245hfLMKXSRW0wg8iLRuLc3wdOLrrrUe7e0+2L9ljjaTF3H9zRUxB2WiiS8xrTCusIYd2wP++ZnhiP6QQ4xQmNs5M++l5bRzLRBvlYdA5Dc7haKLpctjioqhuHpr7k7o35WhjjWssV3ESQVPjD8C2QV3U0mesljz4X3Z1uuIruFi433ftCKPDjzFdnJu5nK/gKU2iM08Har/0Qt1nzlaBqppjaAonrY57n0rJss0gY3kXs14fxfEqz6drN2qaUPjgSGIoV/VkhQb0hlhaebz89mJ+6NL+WyiVx9UqVW3LnG+jUlr14uIbV+77o6pMTUaBvHVmY44EVXmjkW+BYFPqLc73YOX/WtMlhuoObJ3plYBpDU6/b3J2sg/c/5/w/PAl3WyNAIENd02/bcGjGGig7Ofcu274YPJCARUy+/n3H4/ko4toTHNjmB7lxc5IVvyPaiLGchtGhRuFDBLQY8AWd+DY3o25RG9zInuteb1Tsak/sqEIvKqS+lrD3lqv4OXbzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UQpsZD5dNMxqjNVU9rF2cW",
      "input": {
        "note": "Empty close: lemon is still in front of the jaws. Opening and advancing ~4 cm.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.44,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UQpsZD5dNMxqjNVU9rF2cW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4587, -0.0193, -0.0387, 0.9992, 0.1856, 1.8439, 0.9501, -0.0967, 0.1059, 0.0071, 0.9943]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1616 left_yaw=0.003 left_pitch=-0.0816 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4216 right_y=0.0638 right_z=0.0075 right_yaw=0.0768 right_pitch=-0.3942 right_roll=-0.0847 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -1.1282, 7.3778, 1.7363, -0.0708, -0.0317, -0.0122, -0.5675, -7.665, 8.5675, 1.536, 0.0952, 0.0757, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2fcf74a037540893944dba58927f8afeaabe8e492ce03a39db4145e01a543cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7267bee93be221e69bb86bcaf4916bf466dd475747d4b496c04676f4301b60a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1a4c5296570a093a8f462a4c23dc61b2747e6bcd826407fcacba6e9d053d2d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 3.18 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]: [-0.0189, 0.8032, 0.6075, -0.4301, -0.0189, -0.0383, 0.9992, 0.2134, 1.755, 0.7677, 0.0925, 0.1284, 0.0475, 0.9981]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1688 left_yaw=0.0024 left_pitch=-0.0477 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4017 right_y=0.0676 right_z=0.0089 right_yaw=0.0654 right_pitch=-0.2953 right_roll=-0.0654 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -1.2513, 7.1179, 1.7167, -0.0464, -0.0269, -0.0122, -0.8, -6.653, 7.5966, 1.8144, 0.0464, 0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6075, -0.4526, -0.0193, -0.0383, 0.9992, 0.21, 1.7638, 0.7662, 0.0597, 0.1196, 0.0418, 0.0079]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1632 left_yaw=0.0028 left_pitch=-0.0747 left_roll=-0.0025 left_gripper=0.9992 right_x=0.394 right_y=0.0661 right_z=0.0 right_yaw=0.0709 right_pitch=-0.3391 right_roll=-0.0683 right_gripper=0.0079\nstate[joint_eff]: [-0.1709, -1.4838, 6.9812, 1.9512, -0.0659, -0.022, -0.0171, 0.1299, -8.4581, 5.3812, 1.6288, 0.1734, 0.0366, 0.5739]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4587, -0.0193, -0.0387, 0.9992, 0.1856, 1.8439, 0.9501, -0.0967, 0.1059, 0.0071, 0.9943]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1616 left_yaw=0.003 left_pitch=-0.0816 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4216 right_y=0.0638 right_z=0.0075 right_yaw=0.0768 right_pitch=-0.3942 right_roll=-0.0847 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -1.1282, 7.3778, 1.7363, -0.0708, -0.0317, -0.0122, -0.5675, -7.665, 8.5675, 1.536, 0.0952, 0.0757, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2fcf74a037540893944dba58927f8afeaabe8e492ce03a39db4145e01a543cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7267bee93be221e69bb86bcaf4916bf466dd475747d4b496c04676f4301b60a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1a4c5296570a093a8f462a4c23dc61b2747e6bcd826407fcacba6e9d053d2d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSrAcKEAgSGAI4AUIIdGhpbmtpbmcSDH/puNMjUsCPOVaQJxoMIxaCFAEfTRCeUAdeIjA96PqqsWgFfTE5/VbkeJKI6Gucwruq4nHpxaZC8jcYuAsyxe2trCbDiouHB0F9TlQqyQaGqQsVkV31MThFAz+8zvADLLCMHI2aJiE23r1QUmcw2TcaP4NCaUHESHtuN4u/HlFVcuhRlJxDvAvd08hbhs+lvRV/b3E1anhwOSOgmKkFlrzzlYHDX5AHML+JS1UL+WTq4w78/PNXjcINkQY1pXDJ0ncwDZlmZymfJfyDzZHQ8/d5vsZhsbZ16tRJ1Jhp6cDvJrikIg80kUnxC3Xdky0BCx6YOAHC1f7jupqdwbajzveIx+5TLrKbGgRpZ3EqZvPcoXSUrs+9X6i07nHQL6XSvHlczIRq0Nlu9EbEs+m3T7kcnG79+EhmT+7r8YKGDHnnncSHazmy1IM8aPa7rohE0n87ZgVfeDi4tNvP+dw5i8RA5P9Zr/qhoMNfWUP/qG9ONqRrajPiFqwdlsGSyxRSwEjcTCVLIKSSJvfgEG/hMJNV1Fx40PKmAA4OyjSrthK6VFjwgAi87NKP47byOqvbgBroap1xjSNGT+brsf6JBhVbW9NLVVBaHKfGTqYQa5hgFdfJNYLyir/2oQv2EqD+aSKph8L4NUKEg/V8xvxbGDOeUMu7rCXyeWQvsGtQp2YYDt5PlNkM8QaQGJnev4H2EwfoRDpmtH9TXmb0tOVJdixnGI59y23kuORVs+Rcb1VYGAxuLngKdd3x5CBrOhQUFu8H0meNpdRhheFGdi1k6PlyW/plmtT1Nt741p2dgOe6rayJu7I2xxyUxIUlTYrXVM+TAr0kGoC6yqT1o2RwBmH9G3zQeRJd9OH7pBK26Ivcm8gSKxMbwJIcEwSAUBTXSKnGSQiRqeb97+5UPGX4q2TVYjioL/CgPG7doflAwBcfr+jFGZ2A//PuNgdacFtaWpXScVerZwSvhz5zPpU0xynXu/fBtl/ZZWjdX4klJS6WiflLmJg18y8bmzkw662pkVVPrh5JHXowYg7eSSZRwJuZ56Kzy4qDUel3YSWdtTXqWPwvZCxlk9cy8DFrKhYcjTgmiHDkigtBzEUCWpPGbu/d04XDk9aZsBbRpFUmfqdV1EIWtSKyH9lLKdpKH3Bhymvl0L/YuNe/pwD6PTIZb6xLGyOAAcwRZveUaAhR6vifFXli2T0pyryxNAZVtliOo/JU4SosVGfLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017RrmMAPCEk4kuXtJ4m9gGn",
      "input": {
        "note": "Lemon is now down at the jaws in the wrist view; one more small advance so it is fully between the fingers.",
        "targets": {
          "right_x": 0.45,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017RrmMAPCEk4kuXtJ4m9gGn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.4618, -0.0189, -0.0383, 0.9992, 0.1768, 1.9007, 1.0454, -0.1665, 0.0929, -0.0048, 0.9957]\nstate[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.1607 left_yaw=0.0025 left_pitch=-0.0858 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4353 right_y=0.0648 right_z=0.0065 right_yaw=0.0855 right_pitch=-0.4269 right_roll=-0.0832 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.0598, 7.1316, 1.6679, -0.0464, -0.0024, -0.0122, -0.6496, -8.3897, 7.8154, 1.4335, 0.0806, -0.0317, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:092fbe09a263d8302887d2d2fd3f958bb565ccf7ca4f99649ad2438ad73be75c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af1905cd2c4f840a3849a431126b375d15a0cd44eebccc96e9279a77972d9e2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18fbe0be46d955d654d43ba97ccc2613a42d96d46aa33da545e1c4b0ed9f2cb1",
        "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 · 5.002 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]: [-0.0189, 0.8078, 0.6075, -0.4526, -0.0193, -0.0383, 0.9992, 0.21, 1.7638, 0.7662, 0.0597, 0.1196, 0.0418, 0.0079]\nstate[eef_state]: left_x=0.2857 left_y=0.0016 left_z=0.1632 left_yaw=0.0028 left_pitch=-0.0747 left_roll=-0.0025 left_gripper=0.9992 right_x=0.394 right_y=0.0661 right_z=0.0 right_yaw=0.0709 right_pitch=-0.3391 right_roll=-0.0683 right_gripper=0.0079\nstate[joint_eff]: [-0.1709, -1.4838, 6.9812, 1.9512, -0.0659, -0.022, -0.0171, 0.1299, -8.4581, 5.3812, 1.6288, 0.1734, 0.0366, 0.5739]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4587, -0.0193, -0.0387, 0.9992, 0.1856, 1.8439, 0.9501, -0.0967, 0.1059, 0.0071, 0.9943]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1616 left_yaw=0.003 left_pitch=-0.0816 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4216 right_y=0.0638 right_z=0.0075 right_yaw=0.0768 right_pitch=-0.3942 right_roll=-0.0847 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -1.1282, 7.3778, 1.7363, -0.0708, -0.0317, -0.0122, -0.5675, -7.665, 8.5675, 1.536, 0.0952, 0.0757, -0.022]\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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.4618, -0.0189, -0.0383, 0.9992, 0.1768, 1.9007, 1.0454, -0.1665, 0.0929, -0.0048, 0.9957]\nstate[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.1607 left_yaw=0.0025 left_pitch=-0.0858 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4353 right_y=0.0648 right_z=0.0065 right_yaw=0.0855 right_pitch=-0.4269 right_roll=-0.0832 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.0598, 7.1316, 1.6679, -0.0464, -0.0024, -0.0122, -0.6496, -8.3897, 7.8154, 1.4335, 0.0806, -0.0317, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:092fbe09a263d8302887d2d2fd3f958bb565ccf7ca4f99649ad2438ad73be75c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af1905cd2c4f840a3849a431126b375d15a0cd44eebccc96e9279a77972d9e2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18fbe0be46d955d654d43ba97ccc2613a42d96d46aa33da545e1c4b0ed9f2cb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wYKEAgSGAI4AUIIdGhpbmtpbmcSDNwU6Ghy2stCPWLDoxoMX8WHpI7xLC1xWNHLIjBj0VllAaIm7nCQSJgjBg+zK/jjIzSlcs1Yfo3h2RaJBS0kqmCEwZwcYVJ2UUqE8JsqlAaZt/2WtZleQgWm49XVSEnp6+pdXYpYKAK6QECrcqhYeUWcoSI7aamMewpPIGyAEAWt5RgGx5rgiDw1PL8GFEpbO2Omq65TEMD6rUI+5c95hs7T8TcTONU5K0w7YuXL6zxzCxwFeYllINIe9ocC/uWgMnuvKKzVGWyIvnHhrgCxeQ7yGu96ktHZOynKTpQ/vHKN+6TTaVhZZXiD9Z1Tovoa3jdBcfm0XaXgVvknBV1tbmBmDOCQHBs7se9qOXonPYwE0DitFVg0genXMeJgl1R4YhTRrVoLSPqoW/D6Fr2GHU8M3Ue+NqhBXNxB0qyuWtRD3K6LalaurikqwvYPf8DsC2IKydQSyilSSA/ewkWXpmmgjxP+hIcFEeJGEGKCXP0S5jmxtBE5NMSM41d4l0CYTwSBCBIbyhn9kYhb7bA4wWBk+CHEWmqjLf6VFASXdv5ko+gnmUHYaY1/mZVJonCeSIgPesTX6Vq4u4UeheZMb/9ZA8TbQjGJ76TCk//DUC2EES3j+8TkwslC5C2ytxcHsn0Nl1lnIKpmC9nYIKzBrf76HYVEb0JrnmOcn/9xIBTuUMYGl2J/bG8JV+f07zibWqA22P7/sl0CbOY5rsVK4oo8wxeyAcgDqb5eKXNJrN4kI6UfMdsHrBSpb9lKSxc5pjJdnbydX32F8PT+q/NICSeYGJseM2fWipQEP7gQW/w9XjH2X5IX9VbBT6t1WhGRJBrrWciOcWqLcW/ksRxedXMd5+jC18YKqWhlBT55fcThJhYWFC8SSX0PW2uppvt4rNRkiiTY4sC8Au46zJwQ3iV+whwXCkA9CTKA61hAJcnm8wwjKFJe1rJW3PBff/gpRZ+5mYupyhZRxkLbzurzg1i7xAMXKcNQ8a4QDJGlTrWhjSwPyrtCyRJ8Gxni8N8izzxXayVC2aNBtIrbXrUjC6JrCSw2cPTzxTLnL6HJ0pVSgP6VP1DC4N335JZcfts8sa1JqyuAWYgAFt+5KhtRmKotR1GaQ1O3Ejxkv6TZoEvTpC3nP4OTfjKTT4+umI6GzkymlhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EKPr1sytwW7NaDXTtn4o8a",
      "input": {
        "note": "Lemon is between the jaws at the bottom of the wrist view; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EKPr1sytwW7NaDXTtn4o8a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.1753, 1.9095, 1.0546, -0.1852, 0.0925, -0.0082, 0.4971]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0976 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4338 right_y=0.0639 right_z=0.0035 right_yaw=0.0857 right_pitch=-0.4454 right_roll=-0.0866 right_gripper=0.4971\nstate[joint_eff]: [-0.0889, -1.306, 6.9675, 1.7558, -0.022, -0.0708, -0.0122, 0.0479, -10.1128, 5.1487, 1.3846, 0.022, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b61c5456aaa22ecbb183eda0ecb2ed1b64af797d4eff66ab8e138472d8d554f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:265844460b9e214a8e509b3089d6ba6ef08d2ccce81d3756b95adfde33ad4e7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cbbee38779a13dd1f1b764dd26c301b77e8eae03d4e04ebadccc17516429000e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.025 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]: [-0.0189, 0.8078, 0.6067, -0.4587, -0.0193, -0.0387, 0.9992, 0.1856, 1.8439, 0.9501, -0.0967, 0.1059, 0.0071, 0.9943]\nstate[eef_state]: left_x=0.2847 left_y=0.0016 left_z=0.1616 left_yaw=0.003 left_pitch=-0.0816 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4216 right_y=0.0638 right_z=0.0075 right_yaw=0.0768 right_pitch=-0.3942 right_roll=-0.0847 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -1.1282, 7.3778, 1.7363, -0.0708, -0.0317, -0.0122, -0.5675, -7.665, 8.5675, 1.536, 0.0952, 0.0757, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8089, 0.6067, -0.4618, -0.0189, -0.0383, 0.9992, 0.1768, 1.9007, 1.0454, -0.1665, 0.0929, -0.0048, 0.9957]\nstate[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.1607 left_yaw=0.0025 left_pitch=-0.0858 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4353 right_y=0.0648 right_z=0.0065 right_yaw=0.0855 right_pitch=-0.4269 right_roll=-0.0832 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.0598, 7.1316, 1.6679, -0.0464, -0.0024, -0.0122, -0.6496, -8.3897, 7.8154, 1.4335, 0.0806, -0.0317, 0.1392]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.1753, 1.9095, 1.0546, -0.1852, 0.0925, -0.0082, 0.4971]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0976 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4338 right_y=0.0639 right_z=0.0035 right_yaw=0.0857 right_pitch=-0.4454 right_roll=-0.0866 right_gripper=0.4971\nstate[joint_eff]: [-0.0889, -1.306, 6.9675, 1.7558, -0.022, -0.0708, -0.0122, 0.0479, -10.1128, 5.1487, 1.3846, 0.022, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b61c5456aaa22ecbb183eda0ecb2ed1b64af797d4eff66ab8e138472d8d554f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:265844460b9e214a8e509b3089d6ba6ef08d2ccce81d3756b95adfde33ad4e7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbbee38779a13dd1f1b764dd26c301b77e8eae03d4e04ebadccc17516429000e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSvAkKEAgSGAI4AUIIdGhpbmtpbmcSDICzDrW/rCmHlCHEwhoM3obBU+h+ZqxWk1tTIjAZWpYR3DBg0VP07JKlpOtzO4LeA0sYT0sPhtHzLdo+V3Vh002qKeGyzvtn6qMao6Aq2QiRjNZsx1ezVjlfDRREZCgWndSoyUw98XANYDp8U59LF2kWnYyvLCKEDO642own/gtW0ay2ORmSfI2e8iNdGEICimYa1gtmiQ2XxEtZXfy+ILtmK2PDIFD5PDvKPQb6y58PUEdU7dPGwUnKpvszNzoQsqWupnalr+gi/5GBT3LubPdcg61iskcIc+VA8Y8BPJPAiUTP3EnuP09ZiExbq6DnGQjlP8ZWapXFHuAJinFOxbnDjsprKc9OSQx0SKJ+gZr9kP876oDuXQ9kRQ3RHZuU+SgIloQO2U8TEOnGmfipBv0VXhUh0qM5qo3X1CDfHdn2EDZ1s+2w08Jd9LnuMwuZ1HoUTze1b5T75c1vYvFevp9hLgTDcwTTvs+cumRpfOssVL1tp3gAfXgtHdmdp/qknd/3tMiUFzO/Xq8HZzWE6pnAjbmoEnGLZIroGP/rYbYwlzRmjblTAh0wJ0C9cKwMkU/QnSLDyd3YTY+BxKk2e36SpTm10fvK3mmpLRAnc7YoKCIep4RwHpZ+sDQovfW5LHE8WVm+waRHMbLJ855AauMqfG4dM7UF3QAs4TPsyZN23gA2rhAvJEKFPcshlFEiG1wG78194yKK0wxECMq9nSskdBPM1O8Hv61DYMki4rwApzJ33ITOsh+uuuPMGSUvS2Zs3gLgeCNRpvc5aGKDzK9kYNLsKXsySnZN89peu/1XE+clRoM4BFdi8RahRjkqQHCsuOCvf4qrlSWfc4B79kdTsAteKma+Ra77+r6l0ByStkTZ6SOn6gv2WPndK3AgOwSDLngHLq7RZo+EU3poba1Tr9FEwBPE7DaXIhOMudrbRysO19qvUdksO+g5qr4LxxWDLsTytZtOJWAa471UEEKDPLgRO+127RsTsZlq89f0Shh0gQG5qI1CJydJh1nU5e03U5Ekf/mL+IAaEsTa2uIL0pblOT0c/YRk1aKnxkuh/JpW8yY5FSftpQvb3B30Waw2Nh98/F/a6e2tLSSqx7EDK7hw6K+IMI4DlwXxPGbN2v+vCQmB2HmsBOK8QswE8aqrfpKp8ChHHnCWUQCYr65nEMIsW8/hMHHie+dlPQycFGxUeS4Wqq+ohsmDvXY+t1vrmT7VFpZy2d6oELqc6DHgQHTHz2PTketgS0iu8HBvPB3FAcqQTwjr8zIrICpmHXz6POEaUBteMV0/kCol6dStU+yrD7PkcKmFzJhSzF4Zl3ffX0XrWSicj6BCYBMzuZzhQio13wKCaw4P78kz5sZnqyMLCapATLsazdao7Ks/zif8zUcazS1P02vX/hZuYpXDw3xf/oV55XMPU1guyMJBg+RUlBiD+DBV9sq6DUnFaiEIcxPBB99Wjl383mIjbjoVWeAan+RTnoAY7ufPon6tFQ5vvkNyv1MrsaFlbiZh8z0IbWrs+TbW1ztoC4VcnX3jF/H5zVr9J/VZkdim372R1Doww+fwoJOO6WG6s9o4XzVH/LGlgYIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012G5uJ5sV3Qyjj5nCbisXJR",
      "input": {
        "note": "Gripper settled at ~0.50, so the lemon looks grasped. 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_012G5uJ5sV3Qyjj5nCbisXJR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6067, -0.4877, -0.0193, -0.0383, 0.9992, 0.1764, 1.7542, 1.6054, -0.9218, 0.0925, -0.0181, 0.4977]\nstate[eef_state]: left_x=0.2805 left_y=0.0017 left_z=0.1545 left_yaw=0.0029 left_pitch=-0.1163 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4327 right_y=0.0642 right_z=0.1789 right_yaw=0.0916 right_pitch=-0.4763 right_roll=-0.0951 right_gripper=0.4977\nstate[joint_eff]: [-0.0615, -1.4701, 7.1316, 1.7607, -0.0806, -0.0122, -0.0122, -0.4581, -9.8667, 8.7453, 1.2625, 0.0269, 0.0806, 0.6813]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68028feeaea1ca7943fe850f37f4a0b77e1c0d302cc8e3a5ae2357e045d05487",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc3c63ba5059701816809f39c27b1f5ed7b5558d4f5551b93f0f27b9fd1e38e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3e92376d1d91687bfb46d2fd0419e50f9fbf96af4300928d18eb5cc21765444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 5.332 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]: [-0.0189, 0.8089, 0.6067, -0.4618, -0.0189, -0.0383, 0.9992, 0.1768, 1.9007, 1.0454, -0.1665, 0.0929, -0.0048, 0.9957]\nstate[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.1607 left_yaw=0.0025 left_pitch=-0.0858 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4353 right_y=0.0648 right_z=0.0065 right_yaw=0.0855 right_pitch=-0.4269 right_roll=-0.0832 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.0598, 7.1316, 1.6679, -0.0464, -0.0024, -0.0122, -0.6496, -8.3897, 7.8154, 1.4335, 0.0806, -0.0317, 0.1392]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.1753, 1.9095, 1.0546, -0.1852, 0.0925, -0.0082, 0.4971]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0976 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4338 right_y=0.0639 right_z=0.0035 right_yaw=0.0857 right_pitch=-0.4454 right_roll=-0.0866 right_gripper=0.4971\nstate[joint_eff]: [-0.0889, -1.306, 6.9675, 1.7558, -0.022, -0.0708, -0.0122, 0.0479, -10.1128, 5.1487, 1.3846, 0.022, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6067, -0.4877, -0.0193, -0.0383, 0.9992, 0.1764, 1.7542, 1.6054, -0.9218, 0.0925, -0.0181, 0.4977]\nstate[eef_state]: left_x=0.2805 left_y=0.0017 left_z=0.1545 left_yaw=0.0029 left_pitch=-0.1163 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4327 right_y=0.0642 right_z=0.1789 right_yaw=0.0916 right_pitch=-0.4763 right_roll=-0.0951 right_gripper=0.4977\nstate[joint_eff]: [-0.0615, -1.4701, 7.1316, 1.7607, -0.0806, -0.0122, -0.0122, -0.4581, -9.8667, 8.7453, 1.2625, 0.0269, 0.0806, 0.6813]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68028feeaea1ca7943fe850f37f4a0b77e1c0d302cc8e3a5ae2357e045d05487",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc3c63ba5059701816809f39c27b1f5ed7b5558d4f5551b93f0f27b9fd1e38e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3e92376d1d91687bfb46d2fd0419e50f9fbf96af4300928d18eb5cc21765444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQcKEAgSGAI4AUIIdGhpbmtpbmcSDCSXsCSIo8Sum8/aMxoMVNSyKK/9v7xKUilXIjBZYMs5AZ5fB9+VKOFVMlAStp5w9XATFWqXGaDeTHxUU584pQQ/4Z/ewKO5EpIC7AYqxgYsk3mwMUrCoxDxK2nKAMLyfg1NVOam1iO+P+i4hMYHECBHzQQG1FDl5moG/oTPx8j72P6t9gucV2xJBi+803nIj8+x8+fXsvNQNL/zmBzM1q9pzb5unUtH6MxbMosevzPtrgCDvaMSLQLsfXa3cK6BjbLXGekfBR8NCLj7e+AdBh4gGV7iwNSgsXfcQaf87gOJKff/DmQXmdipzV50sOvKmeZz7rraoYCZuX/m6/hKW04o6W6qhb4MAD+xDMx/yd3phVHcOyqKXWFOPKl85/Z/a+ffyRW824N6vvHd+1o+RCfACdkzhPL3R5PY5eJmX3zqhhw2V9Aq36XO8QqygHk7rJYUjljbMhe04Du0X6wddhYWEac/g+r7reQwR16A3jPrrKMyFJ6lRAr/2VY0HW9TxakLnu38qQ4fgBJ/LrBG8vG78k0VdLq8QujWXli4BRhfETPKWBdcHwz0nK9UyAuDwWDisZXv3/AaKOxZ1OExGfa0Ps8WhOQhocincvU2ZGz551yisvhiOuMg9qf36V/3TxV3uqJQPPCGweGoPDxPZm8atJ24bbNUHXP1WzBLaw7yRoc2Q37lgkb2nh33KZvxLqQT1lHzexnH3NNjAMpVdlaPm+RMBS54l0DVnWWFWlpyMZcaBSOouPSfsODQcJxt18dRzTCqMlp8nUuxZR1YTeXXYMcmshbXdJ82p3NaxfC3f7PDVUMxLzDhcs8Zedjw7PTPP2zbiJx5kWoCUp+mhmP9mgPxcgicZ3CKaN8i/24yJINNZqzbi3aMrtgyhwnvzA3nhqaHDO71GU4MF2cF1idjBGKNwHnDIIWp/Ea9ceQlbGGQBVTU+8hyDIo0ZCG612PehpT0cTSWNdh3znRPikkKqJQ3Vr/8xl7YjG5D00IhhLH8NJ4onpUcBO/gbljolmKed0RDtJZ3Xmcw5Rc/tiWln/ZM/82Wunk0qb0CCdYc4ng1UaVtAJYv1SOTsSLLLA4jP8AMcT82V2tDN8E0yHVzkLp1UwYs9Ns/5RZmlzkWK6K2Bn91L5RthgkD2VveJo24BuyQOkJmFUpgioOEs3TUPACWJ/TCbKiW4XhkeIHAlb7QEz5EHnItgsasiaV4xvYiOpABGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N1vBwHgSLxPKhpHnjRv9RK",
      "input": {
        "note": "Lemon is held and lifted. Carrying it left over the red interior of the safe.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.22,
          "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_01N1vBwHgSLxPKhpHnjRv9RK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.503, -0.0193, -0.0383, 0.9992, 0.5938, 1.9045, 1.8656, -1.1404, 0.2592, 0.321, 0.4993]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1515 left_yaw=0.0029 left_pitch=-0.1323 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3925 right_y=0.2147 right_z=0.1894 right_yaw=0.1265 right_pitch=-0.5209 right_roll=-0.1152 right_gripper=0.4993\nstate[joint_eff]: [-0.0342, -1.2376, 6.9812, 1.7656, -0.0855, 0.0024, -0.0122, 0.1436, -9.1282, 8.6632, 1.16, 0.3541, 0.1538, 0.4176]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd68a3c51f7650cfa10d6b8a28953e5d03a4bc5699ae094bc8179d81db92f602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9af2a842a7f12290dfdde16e6eca6f90f411be5c03eb242c48377a2fa2ba33f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:423fe037247aa083381eb269f1350268bf64cd49848f3b46df0809921caae572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 3.427 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]: [-0.0189, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.1753, 1.9095, 1.0546, -0.1852, 0.0925, -0.0082, 0.4971]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0976 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4338 right_y=0.0639 right_z=0.0035 right_yaw=0.0857 right_pitch=-0.4454 right_roll=-0.0866 right_gripper=0.4971\nstate[joint_eff]: [-0.0889, -1.306, 6.9675, 1.7558, -0.022, -0.0708, -0.0122, 0.0479, -10.1128, 5.1487, 1.3846, 0.022, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6067, -0.4877, -0.0193, -0.0383, 0.9992, 0.1764, 1.7542, 1.6054, -0.9218, 0.0925, -0.0181, 0.4977]\nstate[eef_state]: left_x=0.2805 left_y=0.0017 left_z=0.1545 left_yaw=0.0029 left_pitch=-0.1163 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4327 right_y=0.0642 right_z=0.1789 right_yaw=0.0916 right_pitch=-0.4763 right_roll=-0.0951 right_gripper=0.4977\nstate[joint_eff]: [-0.0615, -1.4701, 7.1316, 1.7607, -0.0806, -0.0122, -0.0122, -0.4581, -9.8667, 8.7453, 1.2625, 0.0269, 0.0806, 0.6813]\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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.503, -0.0193, -0.0383, 0.9992, 0.5938, 1.9045, 1.8656, -1.1404, 0.2592, 0.321, 0.4993]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1515 left_yaw=0.0029 left_pitch=-0.1323 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3925 right_y=0.2147 right_z=0.1894 right_yaw=0.1265 right_pitch=-0.5209 right_roll=-0.1152 right_gripper=0.4993\nstate[joint_eff]: [-0.0342, -1.2376, 6.9812, 1.7656, -0.0855, 0.0024, -0.0122, 0.1436, -9.1282, 8.6632, 1.16, 0.3541, 0.1538, 0.4176]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd68a3c51f7650cfa10d6b8a28953e5d03a4bc5699ae094bc8179d81db92f602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9af2a842a7f12290dfdde16e6eca6f90f411be5c03eb242c48377a2fa2ba33f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:423fe037247aa083381eb269f1350268bf64cd49848f3b46df0809921caae572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSnAkKEAgSGAI4AUIIdGhpbmtpbmcSDA9PRH/lKDO+K/aE7BoMXlKMJzsyJz9YRKKJIjCyPqFzsQODfBGcayLB5DNILs3g0XQDWO1weIixpokIskckTC/f7+4IcwZdYg+nuIsquQjJus/5qQYTIHqtzTTVKwlu/B7ad8TCzLUoTbHuZlMJiJ1IbPygKbpUHxOT31R/RmQDHX96O9l94G1PMAY1PfdRBlgHjj5yJ6cychYzxCJN+YcJHUT/Rziab2yfv7i/XMmaChGgFkcEQK78B0VF2CPBJqQC56XNqd9ZDbzmKLWNRnIukfBWVltFklwqJBWszYRlL3osWrPvsCYMyWuY4EYmfNu3TM6ZEMArKX1mB37C04VlCIt9pQCy72TS+p7Z4OP1FUyugupKVkFNoAs4puosijFuzimMf2D3GXQx8iFbJPQoSKuUKpntJHiupAhULFmImsEkWoH5MieHh8OmSapEXEBm6K2Bl3lkDOHBJYVChxmk7NXofjcYDRBdMiLXtwVJ99myDemJgN6BLHP3+B/11UNufXqRgqOK7JzWz8hJJ8lBJaaDNaHzvMXb/OmmMeoiGrfjCJTYB7z68IG8YMIrz5StbVzjIPnQgRF7Fvt0C343q6W38eJfo5xA45sBydI5uSRdib7kaDp9NM55i71p6QUOxOjkoOkAJV5sFeoS54aBdpqBbeR/d4j5Ch7OTC0MRTlS+mIBW/xDLzoLQm2ekRt1Pf3ki3khgSPjZzhhvHg9qD29q9cqNcZ46Toi/pQvW144LDj7hcASG9aZgxW1EmQpdlTuu7kaTewk25m4ATHsxU2v95Bcb9ZXeECwsAK9ICWHbhQaft1yF4affVfPwOaQJOZR+wiUKvNTu3tQF05tLH1Ks3w/1b1FRxBkE0xyjI1UOs1W3SSZ9cYVQ8LGXMDfkhaldKkEmhZIbAFeHiP6tvrDgpo8PZy6O668kI9cv6iptPxvAWehFw9PTOTaRunh5HJM4ttvLtIzJrVjsjtcTt7B+lINUGJEkSLkPcqiNBmlXpz+Stu8MTF9GE8u6G6gDyJ7fFK2UK8kg4SfH/mfXxdliF1lvFcdB54dWz26aIVyERn7ZYdNb4K4oLxfINxEEia8HHiyLVhfDbOCTYKBNAPj/xnlATiOzqGsdqtCA6eYxf5iow9VzryBVwcIIKfknnFJDWRWLI7bdcpkf5Tjt0n4g4Y27u9rj2nAKIo46AAP2xwtrAcstRoYAeVzQhCuYTtT6egAsdZRUOjjwWdAfghwItnuTxKyYjHqxg+xprc7um5kv7YAy8nh9iX5lZCddD9qWBnT7zK9rgKOEsKdb/ktmM6CKMAK1C02Zj+Klf9bpCVGyk4+hMsJuXzRkavWrZwHGpCxQRyby7UMUEBbbYrb4zjOKbYFye9ZNA+qygk9YceTcBaeFuUAAuUQ+zz333PHlP6PBDip8wJTS5kX45JYRxFPBCuqcfOhnqT3Q7kK03diBkLEingSOa8iTA4KeodBjF37AcDSiiDj7clf9+IBynx9f+/3taysS4pUWoJSJ+6eTW1qGL5F9i8iuIJQ7tjWOkpQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EwXdPkwcq7A16KDder7Pub",
      "input": {
        "note": "The safe interior appears just ahead of the lemon in the wrist view; shifting forward and slightly left to be over its centre.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.24,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EwXdPkwcq7A16KDder7Pub",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5163, -0.0193, -0.0387, 0.9992, 0.5819, 2.1651, 2.2757, -1.2926, 0.2508, 0.3111, 0.5023]\nstate[eef_state]: left_x=0.276 left_y=0.0018 left_z=0.1485 left_yaw=0.0032 left_pitch=-0.1476 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4365 right_y=0.239 right_z=0.1944 right_yaw=0.1276 right_pitch=-0.5274 right_roll=-0.1136 right_gripper=0.5023\nstate[joint_eff]: [-0.0615, -1.4291, 7.0906, 1.7411, -0.0659, -0.0611, -0.0122, -0.335, -12.0137, 7.3915, 0.6325, 0.2173, -0.022, 0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b36cd8f4ed93f5caf9a4557975e16d2c60441481bc89d16b6c6ee0a5b27279b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c64f200b799e2fce45f5f507e255c06e2cd097acbe70a1872f8ea62a1276f6ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0e14980720b47c4282e8a2b594a514dfc6b2dcdebc8065aff322834667b1ea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 3.578 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]: [-0.0189, 0.8135, 0.6067, -0.4877, -0.0193, -0.0383, 0.9992, 0.1764, 1.7542, 1.6054, -0.9218, 0.0925, -0.0181, 0.4977]\nstate[eef_state]: left_x=0.2805 left_y=0.0017 left_z=0.1545 left_yaw=0.0029 left_pitch=-0.1163 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4327 right_y=0.0642 right_z=0.1789 right_yaw=0.0916 right_pitch=-0.4763 right_roll=-0.0951 right_gripper=0.4977\nstate[joint_eff]: [-0.0615, -1.4701, 7.1316, 1.7607, -0.0806, -0.0122, -0.0122, -0.4581, -9.8667, 8.7453, 1.2625, 0.0269, 0.0806, 0.6813]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.503, -0.0193, -0.0383, 0.9992, 0.5938, 1.9045, 1.8656, -1.1404, 0.2592, 0.321, 0.4993]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1515 left_yaw=0.0029 left_pitch=-0.1323 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3925 right_y=0.2147 right_z=0.1894 right_yaw=0.1265 right_pitch=-0.5209 right_roll=-0.1152 right_gripper=0.4993\nstate[joint_eff]: [-0.0342, -1.2376, 6.9812, 1.7656, -0.0855, 0.0024, -0.0122, 0.1436, -9.1282, 8.6632, 1.16, 0.3541, 0.1538, 0.4176]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5163, -0.0193, -0.0387, 0.9992, 0.5819, 2.1651, 2.2757, -1.2926, 0.2508, 0.3111, 0.5023]\nstate[eef_state]: left_x=0.276 left_y=0.0018 left_z=0.1485 left_yaw=0.0032 left_pitch=-0.1476 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4365 right_y=0.239 right_z=0.1944 right_yaw=0.1276 right_pitch=-0.5274 right_roll=-0.1136 right_gripper=0.5023\nstate[joint_eff]: [-0.0615, -1.4291, 7.0906, 1.7411, -0.0659, -0.0611, -0.0122, -0.335, -12.0137, 7.3915, 0.6325, 0.2173, -0.022, 0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b36cd8f4ed93f5caf9a4557975e16d2c60441481bc89d16b6c6ee0a5b27279b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c64f200b799e2fce45f5f507e255c06e2cd097acbe70a1872f8ea62a1276f6ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0e14980720b47c4282e8a2b594a514dfc6b2dcdebc8065aff322834667b1ea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwcKEAgSGAI4AUIIdGhpbmtpbmcSDFXrKBwSIvxFN/ZzZxoMJZ2wfe2EJ8yPXyVrIjADTNJwnovp0b+ODdJ6hHloLJGMhwUeArzZ9b/tJpB7Rxx9DpBksVA5BMJ35D/p0VcqpAbO8YIsf9wZJV+bZugh2tcOV3GCkEif24Oh9DqG9zXAgke1v9hklacOJLwkSYaabnybqWs8Pt3fe3aFgzbV7qLGvwRAi8N8nq8yEx29oEkEK5BHfmUBU/ERlP0TuWm+ItqaSv6GbPUlIuPDXIde4KJvYq89cwBbLNA28vhC8p6IcsHlL5dU8WdFb3dnMFNI48AKdTUkxpXLcG9/y7lF8SNRz+J9tkJ8dQQQQv1ywLzTvgi6lcWljn6HqeJ66eCIeOfyBX5xljmrDdP/GV0F6emmdROYBNejZNdz1TvJ3ZG4KJxUHeBDBmC6Dd3ezAiCHT0yGm9JLC4Wb7eZNBhO/hGhg1kjb3Xq6iGYp7U057X8g40P5rqgas51v4bH0ne7/9uUOVP4lThfuKtK8TE2mi3s0DS/hpVH8VAr0jWw0RFNX7aeMgW7DxxIKYwaJl5yFZdLy4nwdhEMQyN16xw6a5l+s4Kppx20t+FqX3p6EXa4Q+YjPOgfzDzAXw2n3B49IJWclUa5mIIa0t6McFFGjD6prORK7wXkQlJVu/TB3xW3ARneGTxfyzVsQF30FW/ram2/QPN/vOqcag4LKu1DJ1n/DYn+Em/HrtLYB4VGDODc4jk5s96eoNt4ctlKTlr0JL/r5xzjF+GgPp3l4fdjeu/GfaxmZZbWvM9qXVEa1bRdVPH93YOMGH6gzltxqXJ0Dl+ot2p+/yMtojGgE+1zgv8poYCVhHIdAv1inp1NL6FK19kKc+FsLdhPtND+8ES3ASdOPmPRsv2aqM6ru6PmuafUAeumwCdNOdRsriPrjM0i70BzXeR//XrMgl2Cz1cWlWykGxgYUNXzqe46TuFiZTBxPB887bDnat3JlxIxVSLw1ajvT2QfAISmnOnC/bSALVSsNJNGtgJu6MOboJtICs8KvgUpTphP+4PQbkJCQyKexJPRff0Dnaoprb0kNIU2sA5Vuh9NizSEd3cn3LJXp3rnp9dL6clqHzLe93zyXrGtjC3q5O4kXdEGk86PtieITlcw+lWmMJyn9f0EC1E2p2k+gxNmekdLkLo2lP5ydBKRpwxPsVUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B4oHGacCAnrSNvjdtx61JB",
      "input": {
        "note": "Lemon now appears to be over the safe's red interior; lowering to 10 cm to check alignment before release.",
        "targets": {
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01B4oHGacCAnrSNvjdtx61JB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5255, -0.0193, -0.0387, 0.9992, 0.5819, 2.1265, 1.8042, -0.9565, 0.2466, 0.3069, 0.504]\nstate[eef_state]: left_x=0.2746 left_y=0.0018 left_z=0.1461 left_yaw=0.0032 left_pitch=-0.1594 left_roll=-0.001 left_gripper=0.9992 right_x=0.4227 right_y=0.2308 right_z=0.0845 right_yaw=0.106 right_pitch=-0.6161 right_roll=-0.163 right_gripper=0.504\nstate[joint_eff]: [-0.0479, -0.9094, 6.9265, 1.6435, -0.022, -0.0708, -0.0122, -0.3487, -14.0513, 7.0769, 1.1111, 0.1148, -0.0024, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4ce412ef9bd6ac343a5999255a00cb5e62d4b928c14ac2b59c3f4db5eeb520f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7607f9cc4c482d8cb6149e06121c0dde9b9cd082dadc2fac566bb7ac665e002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d29acad4dc0456afa05552e9615b188396bd4ff9875f1fa2e7e1254407e5caf8",
        "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 · 7.323 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]: [-0.0189, 0.8143, 0.6067, -0.503, -0.0193, -0.0383, 0.9992, 0.5938, 1.9045, 1.8656, -1.1404, 0.2592, 0.321, 0.4993]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1515 left_yaw=0.0029 left_pitch=-0.1323 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3925 right_y=0.2147 right_z=0.1894 right_yaw=0.1265 right_pitch=-0.5209 right_roll=-0.1152 right_gripper=0.4993\nstate[joint_eff]: [-0.0342, -1.2376, 6.9812, 1.7656, -0.0855, 0.0024, -0.0122, 0.1436, -9.1282, 8.6632, 1.16, 0.3541, 0.1538, 0.4176]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5163, -0.0193, -0.0387, 0.9992, 0.5819, 2.1651, 2.2757, -1.2926, 0.2508, 0.3111, 0.5023]\nstate[eef_state]: left_x=0.276 left_y=0.0018 left_z=0.1485 left_yaw=0.0032 left_pitch=-0.1476 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4365 right_y=0.239 right_z=0.1944 right_yaw=0.1276 right_pitch=-0.5274 right_roll=-0.1136 right_gripper=0.5023\nstate[joint_eff]: [-0.0615, -1.4291, 7.0906, 1.7411, -0.0659, -0.0611, -0.0122, -0.335, -12.0137, 7.3915, 0.6325, 0.2173, -0.022, 0.3004]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5255, -0.0193, -0.0387, 0.9992, 0.5819, 2.1265, 1.8042, -0.9565, 0.2466, 0.3069, 0.504]\nstate[eef_state]: left_x=0.2746 left_y=0.0018 left_z=0.1461 left_yaw=0.0032 left_pitch=-0.1594 left_roll=-0.001 left_gripper=0.9992 right_x=0.4227 right_y=0.2308 right_z=0.0845 right_yaw=0.106 right_pitch=-0.6161 right_roll=-0.163 right_gripper=0.504\nstate[joint_eff]: [-0.0479, -0.9094, 6.9265, 1.6435, -0.022, -0.0708, -0.0122, -0.3487, -14.0513, 7.0769, 1.1111, 0.1148, -0.0024, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4ce412ef9bd6ac343a5999255a00cb5e62d4b928c14ac2b59c3f4db5eeb520f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7607f9cc4c482d8cb6149e06121c0dde9b9cd082dadc2fac566bb7ac665e002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d29acad4dc0456afa05552e9615b188396bd4ff9875f1fa2e7e1254407e5caf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSkAcKEAgSGAI4AUIIdGhpbmtpbmcSDEgeAQfTtsBj9X/WpRoMWHHK+ezrCExUnoS6IjDoGnK/Wvj4fig4JAqCMOb1VfBPgYYxAvPXGaWbXwdLHY8dlI7/M4pERELZCc+VNKwqrQZDBan7KopXRcwZoLMAbsFFdOoXTISiYyx9s43YEvsBD3dQR4e9pcZLgvGeVfMfwjonGF4QiJjtyr/dCzjKPZADxZn7XAaLAUqLBymkDC7mlOgUi+cToRc5iw7MERtSI3mxCys89dum3wsxN84V2muxCD8rdCN6rzYa7EaB14ONljUHOSXerO1xjwqNyRkeGNArkGtNgMJcpOiSqXHmMyUn7S5snApCpqfhonZwv4ghHnLdWhlZUtulH9VPgcCq5Fowj/kpeAAbZjyCFv/sDTKxHnS/KtZPKauPhJ17Gv56vl3yDPPUlPIPP1KNECRx/AnhAIZ3Kjeuua1UAauvG99VOoiOUZNWQ7heQuWyJNLTca/AgwSfwQOa4gvePGnkMX10PCcEMTP+jwZGmoCSg0mxlfO4Hk6nVdtusDEtnhpa50IWKGDZvsi59x+2lqBcpuiRUOCXKNGSUgyR0LM8XJO0QYCn0eYzGlxk4ywyf/ZtZh76z964gs/R84VoVW9D29Nu/8/yYNRwKHQK6Oqi5mVa40lIxG4euUIIxyJPLS3RlUZ4Li5dnDk+NK3lYeCMMTCbv42nFL38xdvRbYSVNsv2M2uraemHMb2XuLfWzk669KYgTIQaKIieVVPFTB69ASKcMZjkCqsonYD96/cs5Jd0sVVD7Jp+vuidkyUvsZBRd8bKVay7kc6Rl6sfR9x2cT3hTXEIfEY8/5KIdSyF/i0tIOb6eejg0tfo3INJ8CFaZG37jHeNLKkk3i/VgATM+ihwB+as7CfU/PbjpfhnrDwZbf4hYELxLF8H4kc3fCkM7iaG9UeG2+bI+v4N8yRfTq6ToGqZ/pEctgZ0BzbMYDFCsocHfQeBgcXdvbhky2SzWPduPdyDftNu+1ZpRXalSlhZvrQc/q1EP0pBGaJYnIFRZOIpiqbrHbyFvkqkdDU/DF8IZ/tfSVLUy/tJGBkkkoBQKd5CndH/YLs7u7+wwaG9DmaTMWIih5C1fbD0+NNRlImVb3/R6cflr+M1cCOyrcdKQ79YLmEUwrIYv+ptWa9UIICo6K0c3NJuPh7+eBXMbZZdEANyvB1Re4eQT4IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VDe1SGpxLvkCTTxvPfJZXB",
      "input": {
        "note": "Lemon is inside the safe's walls per wrist and top views; releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VDe1SGpxLvkCTTxvPfJZXB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5365, -0.0193, -0.0387, 0.9992, 0.5823, 2.1265, 1.779, -0.9295, 0.2474, 0.3031, 0.9946]\nstate[eef_state]: left_x=0.2727 left_y=0.0018 left_z=0.1441 left_yaw=0.0032 left_pitch=-0.1705 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4226 right_y=0.2308 right_z=0.0784 right_yaw=0.1089 right_pitch=-0.6144 right_roll=-0.1644 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -0.8821, 7.0632, 1.6972, -0.0562, -0.0513, -0.0122, 0.0342, -12.6838, 6.188, 0.7692, 0.149, -0.0024, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20de5ce017b357874f1bd36f8a745a18ab980a1804f42a6f0720652d8a68fbfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0404b84a9aa1c3280f67948df1081460afaebb4ced11f30ae5495bfa829e1d49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f951195e6609afd5e92a61c8e87669764638d6760a793b45e2374396d0564cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 5.252 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]: [-0.0189, 0.8162, 0.6067, -0.5163, -0.0193, -0.0387, 0.9992, 0.5819, 2.1651, 2.2757, -1.2926, 0.2508, 0.3111, 0.5023]\nstate[eef_state]: left_x=0.276 left_y=0.0018 left_z=0.1485 left_yaw=0.0032 left_pitch=-0.1476 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4365 right_y=0.239 right_z=0.1944 right_yaw=0.1276 right_pitch=-0.5274 right_roll=-0.1136 right_gripper=0.5023\nstate[joint_eff]: [-0.0615, -1.4291, 7.0906, 1.7411, -0.0659, -0.0611, -0.0122, -0.335, -12.0137, 7.3915, 0.6325, 0.2173, -0.022, 0.3004]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5255, -0.0193, -0.0387, 0.9992, 0.5819, 2.1265, 1.8042, -0.9565, 0.2466, 0.3069, 0.504]\nstate[eef_state]: left_x=0.2746 left_y=0.0018 left_z=0.1461 left_yaw=0.0032 left_pitch=-0.1594 left_roll=-0.001 left_gripper=0.9992 right_x=0.4227 right_y=0.2308 right_z=0.0845 right_yaw=0.106 right_pitch=-0.6161 right_roll=-0.163 right_gripper=0.504\nstate[joint_eff]: [-0.0479, -0.9094, 6.9265, 1.6435, -0.022, -0.0708, -0.0122, -0.3487, -14.0513, 7.0769, 1.1111, 0.1148, -0.0024, 0.1636]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5365, -0.0193, -0.0387, 0.9992, 0.5823, 2.1265, 1.779, -0.9295, 0.2474, 0.3031, 0.9946]\nstate[eef_state]: left_x=0.2727 left_y=0.0018 left_z=0.1441 left_yaw=0.0032 left_pitch=-0.1705 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4226 right_y=0.2308 right_z=0.0784 right_yaw=0.1089 right_pitch=-0.6144 right_roll=-0.1644 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -0.8821, 7.0632, 1.6972, -0.0562, -0.0513, -0.0122, 0.0342, -12.6838, 6.188, 0.7692, 0.149, -0.0024, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20de5ce017b357874f1bd36f8a745a18ab980a1804f42a6f0720652d8a68fbfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0404b84a9aa1c3280f67948df1081460afaebb4ced11f30ae5495bfa829e1d49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f951195e6609afd5e92a61c8e87669764638d6760a793b45e2374396d0564cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A98KkUJBWx1QScc1D6yYbf",
      "input": {
        "note": "Lemon is in the safe. Next target: brown bear lying in front of the safe; moving the right arm up and back over it.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.24,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01A98KkUJBWx1QScc1D6yYbf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5476, -0.0193, -0.0383, 0.9992, 0.8421, 1.7653, 1.6291, -1.2129, 0.3035, 0.5278, 0.9958]\nstate[eef_state]: left_x=0.2709 left_y=0.0019 left_z=0.142 left_yaw=0.0031 left_pitch=-0.1819 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2859 right_y=0.2464 right_z=0.1645 right_yaw=0.1418 right_pitch=-0.6239 right_roll=-0.1705 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.265, 6.8718, 1.6923, -0.0855, -0.022, -0.0122, 0.1709, -10.2496, 7.1453, 0.8278, 0.3883, 0.1148, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b64a9619d43efcd8bc48d408a08a32ba3a44cc9ab1751c18f0275fc8b7526c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92c989066c3c1bb87b4c17575588b91cfb3e10d9d2fe6f3b4cbf824e5ccfdb5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a06fd496eaca6cec6bcda8f93d0bcd75f16a891dd7c7b35f43e648b48f4314e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 3.71 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]: [-0.0189, 0.8188, 0.6067, -0.5255, -0.0193, -0.0387, 0.9992, 0.5819, 2.1265, 1.8042, -0.9565, 0.2466, 0.3069, 0.504]\nstate[eef_state]: left_x=0.2746 left_y=0.0018 left_z=0.1461 left_yaw=0.0032 left_pitch=-0.1594 left_roll=-0.001 left_gripper=0.9992 right_x=0.4227 right_y=0.2308 right_z=0.0845 right_yaw=0.106 right_pitch=-0.6161 right_roll=-0.163 right_gripper=0.504\nstate[joint_eff]: [-0.0479, -0.9094, 6.9265, 1.6435, -0.022, -0.0708, -0.0122, -0.3487, -14.0513, 7.0769, 1.1111, 0.1148, -0.0024, 0.1636]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5365, -0.0193, -0.0387, 0.9992, 0.5823, 2.1265, 1.779, -0.9295, 0.2474, 0.3031, 0.9946]\nstate[eef_state]: left_x=0.2727 left_y=0.0018 left_z=0.1441 left_yaw=0.0032 left_pitch=-0.1705 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4226 right_y=0.2308 right_z=0.0784 right_yaw=0.1089 right_pitch=-0.6144 right_roll=-0.1644 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -0.8821, 7.0632, 1.6972, -0.0562, -0.0513, -0.0122, 0.0342, -12.6838, 6.188, 0.7692, 0.149, -0.0024, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5476, -0.0193, -0.0383, 0.9992, 0.8421, 1.7653, 1.6291, -1.2129, 0.3035, 0.5278, 0.9958]\nstate[eef_state]: left_x=0.2709 left_y=0.0019 left_z=0.142 left_yaw=0.0031 left_pitch=-0.1819 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2859 right_y=0.2464 right_z=0.1645 right_yaw=0.1418 right_pitch=-0.6239 right_roll=-0.1705 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.265, 6.8718, 1.6923, -0.0855, -0.022, -0.0122, 0.1709, -10.2496, 7.1453, 0.8278, 0.3883, 0.1148, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b64a9619d43efcd8bc48d408a08a32ba3a44cc9ab1751c18f0275fc8b7526c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92c989066c3c1bb87b4c17575588b91cfb3e10d9d2fe6f3b4cbf824e5ccfdb5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a06fd496eaca6cec6bcda8f93d0bcd75f16a891dd7c7b35f43e648b48f4314e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSpwkKEAgSGAI4AUIIdGhpbmtpbmcSDEGWbev5ut5G0Q7I9hoMdydkAMhHt0xKpPJgIjC43KIo+b3OhqRiHe5n1KGG8LsMkiQoCkLuix5G9X3IqiFSWDpm8Ncj8wTbydPhY60qxAh/XTqNULk8c+Am0Yj/65A6vfRFtsgrW2IMGR8Vzeamfbpe3KN3XXOoFxr86Uh2xJUtZHZ3/nkvjhm5dd0hwth+fChPXWsTY1MHSfRsT5ARO4/GNqPkEmw7a8Afq2D0ZFmjmCqSzOk5IAC1UAi2RxiL0728Nymwy1zaRWPOE/1g9J1WA7Fs9mPl7At7Zb+VEB3a1B222Qxfa/nGXqcGF1GQVFN9k0Xcv6G0hCgjsIjnQ3CTsrSuohc2DG+BAcw+xS/MY3Iq6xOtC243s8bwQtLfIHI8obddViOqXk7P7YXwn0fdsLeqc0HPIJuDBG+NhsaQ1cNF9eCjvMOhGG5nz9MA32h44vpVlNANvmSd679trWm20dFJVqb5n3iOb358vqaKuQAi951K8iZ5/uPY7gEt5DLmHyFcLTI9Hjtfa3NuYLrWlqnEbp+fS8q4IeVn8Re1oWU3Bm9k3wDcZLkCYNPTNYZrq8HnZgABUpU32E801L/2bUxsvV48c+l9056amjDoggVWf7lxZy31Opb2mKP0nK+yGxcGZ2OiUEoSN+ApkmqgAyqT4skne88OZpmSsyWfOKwY5qvxv/5CD5NLT+W9PeH3WzquCzaHpsiDi22ycyGPV7BioJaT/WNuOc+86wXCgGY2+QGLKBa2DNI7pJ3W/lPK5NeuuO0BJVdFyBMUreTXxEx2T1b8fZjE11xrVc2ibzXi3KoDHA1XP4svJzCCFv9s19teYWOpaXEmEePOyznFUJSc1mIGRSaWrQj6Ldxb+f9b0jHLHaIPNPESZwhQX8oEaMb33YV/8tP4DGDkuU5LIG15gvmCsRkHJE2W8axPYDDhQXMC8AwVEymxdS7r7Wtk9SgeZx4lYY/6UMqd6VNpi8egoX0Bb9UmmbSKFT9L32PBFApkIByTIB1Dck4vsEMW7TwPyCAHdneZh6GBs/oI5naq6YFY4JH/EX9YefD7Y5pf2Rx19tQ9dTZ/LdD1PCNt+qfNRg4XV49Qp02vjRWwV2uOLuHEnYZR/xeNQqVKBD5+ahISmu2x0pR5jEHrLOi02rNwqH5mPfas4p2rczJYp6BlZi9e8fjnNzjUbUTab+7UQJqyJjmMpz4/rUtJVF1kQvL8h3hGY/lUIpm+cYtZ0gZ09aoE8nuQ2WLrk3AKDBQLn4fvUvOWFV2VEQgZrL8CeABnNjy6QeZOKuTjDfz8i6gA4+Tiq31Bnvm1WuivRa4XKsYD4fERLVzcfzICz2rSr3b65+byI+1cwtJGxBuivF/bp9KVFoONnCMMDNf+9oYWceGws4MdGeP7j4GeHbFkruN/DWn3p9wM4Kj8bDYTLrICbLPGVJc3rlvBQdxc7SIpqfZOteOTRV50KgBkvbkj6VtpwntN/q8JB7Wq085MQu3w69etrxhBP0LfBORpxSlX+Y/zNJFO9M4KXS1y7qmxXkuZz0DrOrJvl5c7Aw20QF0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FpqNbYo8jkVohdLPEpLLkY",
      "input": {
        "note": "Brown bear lies just ahead and slightly left of the jaws in the wrist view; descending onto its body.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.26,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FpqNbYo8jkVohdLPEpLLkY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5625, -0.0189, -0.0387, 0.9992, 0.8497, 1.8957, 1.2411, -0.7132, 0.3069, 0.5274, 0.9959]\nstate[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1394 left_yaw=0.003 left_pitch=-0.1968 left_roll=-0.0004 left_gripper=0.9992 right_x=0.2903 right_y=0.2549 right_z=0.0272 right_yaw=0.1383 right_pitch=-0.636 right_roll=-0.1889 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -1.2239, 6.8581, 1.7021, -0.0464, -0.0366, -0.0122, -0.4718, -8.1162, 5.5726, 0.7155, 0.2515, -0.0659, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd11d8de79d6a5925066b3dbdfcef614ec38322b6f4f4322e4c99e8c51fab73b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2816949721afd27231a89e2c2a99d1c3a54e2884079bbd0e8d6df499f219096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2e791f051336c7ae1424fb87a3d3e9da36483749e3f2277d8422d61e1c8ce2d",
        "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 · 4.145 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]: [-0.0189, 0.8188, 0.6067, -0.5365, -0.0193, -0.0387, 0.9992, 0.5823, 2.1265, 1.779, -0.9295, 0.2474, 0.3031, 0.9946]\nstate[eef_state]: left_x=0.2727 left_y=0.0018 left_z=0.1441 left_yaw=0.0032 left_pitch=-0.1705 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4226 right_y=0.2308 right_z=0.0784 right_yaw=0.1089 right_pitch=-0.6144 right_roll=-0.1644 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -0.8821, 7.0632, 1.6972, -0.0562, -0.0513, -0.0122, 0.0342, -12.6838, 6.188, 0.7692, 0.149, -0.0024, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5476, -0.0193, -0.0383, 0.9992, 0.8421, 1.7653, 1.6291, -1.2129, 0.3035, 0.5278, 0.9958]\nstate[eef_state]: left_x=0.2709 left_y=0.0019 left_z=0.142 left_yaw=0.0031 left_pitch=-0.1819 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2859 right_y=0.2464 right_z=0.1645 right_yaw=0.1418 right_pitch=-0.6239 right_roll=-0.1705 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.265, 6.8718, 1.6923, -0.0855, -0.022, -0.0122, 0.1709, -10.2496, 7.1453, 0.8278, 0.3883, 0.1148, 0.1099]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5625, -0.0189, -0.0387, 0.9992, 0.8497, 1.8957, 1.2411, -0.7132, 0.3069, 0.5274, 0.9959]\nstate[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1394 left_yaw=0.003 left_pitch=-0.1968 left_roll=-0.0004 left_gripper=0.9992 right_x=0.2903 right_y=0.2549 right_z=0.0272 right_yaw=0.1383 right_pitch=-0.636 right_roll=-0.1889 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -1.2239, 6.8581, 1.7021, -0.0464, -0.0366, -0.0122, -0.4718, -8.1162, 5.5726, 0.7155, 0.2515, -0.0659, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd11d8de79d6a5925066b3dbdfcef614ec38322b6f4f4322e4c99e8c51fab73b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2816949721afd27231a89e2c2a99d1c3a54e2884079bbd0e8d6df499f219096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2e791f051336c7ae1424fb87a3d3e9da36483749e3f2277d8422d61e1c8ce2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmgcKEAgSGAI4AUIIdGhpbmtpbmcSDB11NkqTpM5YYbUsZxoMfMZ39RTK5n+1hOMYIjDthjcB+00ad4jnPDFyfRpmRWqwDbGgM81tSwGnIf0leDa3T/YBWq0/iMPsEt8sHVsqtwZir+RMO0a5PQF/i8myvUhCoE3at+CoIq1ztqXTwD1eCxka6/JZjqpFKfXeUd3lVFl2STsvz/Is2CR8cxz07Jb1cccG0qPG+ZgBQuJ2WXHE1Oqmk6xbkFVQiVbruYh1HSfjPT8wCmvcnTz9pu/aVmBN+Bu1/8qVDGNufHJzj3m8TPBOvUYFrXLyBxyBVHG6/0CFiIIKVZwTqFShBxXNV++A4H1GjHS8p0VslkoD6CnJSEd6lLzbiikyF5rhlsx6fMLxlUGeqwD5n9X4+NruW0KztVUnkSg2eHltfmi4AhQJ2hp0uginnqAgjqsOTmQAeqPVpOIhbzckwMP1XS9IkKJN+o8ZBx6axR4wNcCY94Z1LwprC8TBT5H5L22MKeyhY3jjYwTXgNHjdLHsI0Wf/XCha/j9bCz4zy/gtcI3t8FHVzS7ZQPO9mn6PhU1lBfJzhunuE0yZkDHK9sNU/EByCJWO1xPAsvbG37EtErPFF3Weke8G/LT19R1FKrVUM419y6a5hcwNxpyFkvzWqSmGVLzxYTTmtnC/WShPCl/qB9jVl3qvJDnMkC6bnQjWGueRkhk1Ui7gCwR3qBSHjh9kgCnnKpqBX9vjYLVxxnonMf0IRgk3+C/+SKAFETVirMO5iTJ/6yclEdGiMNDLJN1eMqflDAEHbf4Ykx0vwZQGsr1jjKv3y4eLcVdW7kIdAiVNRcIRO0j+hh4DkbPfomsOhfOAbxghGQOQL1tlGxHPoQkau6VVSwSi2xv+/ILm9u1u0ji3bR6dIDv7KTwSvlGhQ9+hWZUDz5t7GV7JosCUPuq/nSRknbDO1ULvaAHvIxWAGeAQtI1Q6qVPugp5fFu62rkqwgAhJwNjEP1u9aKhmf823/NRlH3kIJPXr9vzD1p4cudNa3jhVKeWODfZOEJpxZpFrGDSys9roA7TXL8jIQ/Zts86hNZUJC7rAbxLzy377t5Mcs3XJ+Th7sivP/H7coaMKYF7+NmWioFMYM+/sxR/2rYrpaBLKAZGZcMq9Cn1gpUgJq17t1h1kGm78YCkLjGo7dPjj0z8ThFlJY3fKknE1VIay+Rx3J4euTIvhqBvOBG8DuczkdyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018bKTu3XyN4WJFrFYepUCbT",
      "input": {
        "note": "Bear's body fills the space between the jaws; pressing slightly lower and closing.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018bKTu3XyN4WJFrFYepUCbT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5743, -0.0193, -0.0387, 0.9992, 0.8581, 1.906, 1.1702, -0.6106, 0.3183, 0.527, 0.0082]\nstate[eef_state]: left_x=0.2664 left_y=0.002 left_z=0.136 left_yaw=0.0034 left_pitch=-0.2139 left_roll=0.0003 left_gripper=0.9992 right_x=0.2886 right_y=0.2549 right_z=0.0096 right_yaw=0.1485 right_pitch=-0.6125 right_roll=-0.1823 right_gripper=0.0082\nstate[joint_eff]: [-0.0342, -1.7026, 6.9949, 1.6386, -0.0708, -0.0415, -0.0122, 0.1299, -8.2667, 4.9162, 0.8767, 0.2662, 0.0757, 0.5592]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93ac9cf6debd1cc8d164e443b825c69c6a6c95c597a3867b02feda3acb77f78f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a267ab93cfb27c82941c79c5a197b0ec148995254b1073e298b9ce5518c3d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7dcc28659801a361d6a2106a199edd66bbd029c9720f4e9449787ac1b08582ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.141 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]: [-0.0189, 0.8192, 0.6067, -0.5476, -0.0193, -0.0383, 0.9992, 0.8421, 1.7653, 1.6291, -1.2129, 0.3035, 0.5278, 0.9958]\nstate[eef_state]: left_x=0.2709 left_y=0.0019 left_z=0.142 left_yaw=0.0031 left_pitch=-0.1819 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2859 right_y=0.2464 right_z=0.1645 right_yaw=0.1418 right_pitch=-0.6239 right_roll=-0.1705 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.265, 6.8718, 1.6923, -0.0855, -0.022, -0.0122, 0.1709, -10.2496, 7.1453, 0.8278, 0.3883, 0.1148, 0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5625, -0.0189, -0.0387, 0.9992, 0.8497, 1.8957, 1.2411, -0.7132, 0.3069, 0.5274, 0.9959]\nstate[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1394 left_yaw=0.003 left_pitch=-0.1968 left_roll=-0.0004 left_gripper=0.9992 right_x=0.2903 right_y=0.2549 right_z=0.0272 right_yaw=0.1383 right_pitch=-0.636 right_roll=-0.1889 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -1.2239, 6.8581, 1.7021, -0.0464, -0.0366, -0.0122, -0.4718, -8.1162, 5.5726, 0.7155, 0.2515, -0.0659, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5743, -0.0193, -0.0387, 0.9992, 0.8581, 1.906, 1.1702, -0.6106, 0.3183, 0.527, 0.0082]\nstate[eef_state]: left_x=0.2664 left_y=0.002 left_z=0.136 left_yaw=0.0034 left_pitch=-0.2139 left_roll=0.0003 left_gripper=0.9992 right_x=0.2886 right_y=0.2549 right_z=0.0096 right_yaw=0.1485 right_pitch=-0.6125 right_roll=-0.1823 right_gripper=0.0082\nstate[joint_eff]: [-0.0342, -1.7026, 6.9949, 1.6386, -0.0708, -0.0415, -0.0122, 0.1299, -8.2667, 4.9162, 0.8767, 0.2662, 0.0757, 0.5592]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93ac9cf6debd1cc8d164e443b825c69c6a6c95c597a3867b02feda3acb77f78f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a267ab93cfb27c82941c79c5a197b0ec148995254b1073e298b9ce5518c3d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dcc28659801a361d6a2106a199edd66bbd029c9720f4e9449787ac1b08582ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSsQcKEAgSGAI4AUIIdGhpbmtpbmcSDLJ8zR0alU6CXiqzfBoM+ZEbo1VmZJZyVeqlIjDXgCje0xjhSL/Sv6SByqOHm9HHJKmveIGT/gheC05a9ERpaE5eVmiOlHqP8PaDctwqzgYKs5JO1mFzydnkHeCwVyyy5K6y5v4uVMDGoB4jK9LzwGnw2RWcQaL3sFbHR73Ry5RU234EDDOa4gYTWYNOkCJEdRb5OPkM8JyGzPmh5TLWDa9SiSQQOTA76j7Xd4sA0CG50qvY+l+hfcZO1LIr36ATH6jgzB37EmFkHEc1eSSsO7azynyfsNOxnxiCiBnlsn22Ryv64Fkwq0Un53Ywod4Vx9ZQ3m/72FXeqZacwRfOSehV8z/Zmk5wvD4W/76opIxeyMvJFWaaSUJLPV1D2X9MDTo1wpUbek8uSqy2bE/1I9beWnhjHVdyyhrQPyKDyz0ZKUfKfzuDYbVWHhmBz6ogub0cZUKSWh1INRaRTPta2t5n3nSHLZll5JmvzIpAmgDX3uAdQDmJQcKEdnVIxY7jnjzbAe5i2nBwdEwVb9QESD2j4+CFF11BGZl0nZybG9hXw7L3qPRUJhB64TAcpN3vQMhCCY5wQeLn9GmkkD3zvS11zLo9SIepbB8TawVD/sqtlbjIkUmTqi728MwhKU/3wSoUwZbmObnAk6FvB1rJFgdS1GJJ4CprvN9uW0tS4b/qiqBm36gk6LaornFOhV16tsaaP0C9hgPIsvWChk3AOHY1/7DxBrMDPIA3VwcWwqzO8pjvnNK5guzPUgm2kS/Rnx78sVJh9IQnwsjiTE4EqlL4xFiYZ1CW1FbX0T0FZYdrAfmEv6OXADv8OTJQJkpnsO4TLJkSehEoCBzxrSAM9iONRqp9i/kXWAhx0ZRrE4l/lf30qNG4L51Gh16XFFTpQjdyDBPFn4R8WN0vDrAX4l31NPgWGzzXpxWWtahv9fUIn1O+UQYqPztE69bryS1b8ufTDgJyUmhKOWdS5fF+qu62j0gdepJ9YcgnGe0pTbbssfDJ36ea9ESY6cnffl544MjaMJxr1IzqHwauTSTAqAgzRI/6iYRPfoY5kWqaV4Q61x3Rg0zMRsT/tTPxWfiEd86Ny2SW7MZ/YQ/wB4CzX3vSvJQMWcQkql2RPCcAOSjHEIc/rCVbtFFi3XJEfpMRMkvBeOmmynJ2IPcVrmLpdscORl4bwrL0nLkWRdFL7tiXc1s0Ei41eSvCoXUBMHzBaLtMVAtwQgR10n0ak2gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N9119JEh7stwmLqTLaasvb",
      "input": {
        "note": "Gripper closed nearly fully on the plush bear (soft, so it compresses). Lifting to check whether the bear comes along.",
        "targets": {
          "right_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_01N9119JEh7stwmLqTLaasvb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.585, -0.0193, -0.0387, 0.9992, 0.8581, 1.8221, 1.3582, -0.8913, 0.3176, 0.524, 0.0095]\nstate[eef_state]: left_x=0.2645 left_y=0.002 left_z=0.1341 left_yaw=0.0035 left_pitch=-0.225 left_roll=0.0005 left_gripper=0.9992 right_x=0.289 right_y=0.2556 right_z=0.0795 right_yaw=0.147 right_pitch=-0.62 right_roll=-0.19 right_gripper=0.0095\nstate[joint_eff]: [-0.0479, -1.2786, 6.8444, 1.5946, -0.0806, -0.0611, -0.0122, 0.1709, -11.1111, 7.665, 0.7741, 0.315, 0.0513, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33fb74d86b7247789af64843bec20fa6dbd21ff27dc5fe9df543c421e10dd9d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b7c6dd1db36c4a8a2f569aed916aa8192f26156e7a5094cfa04ddac78786d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4235aa4a35819ab2eecd14991bf1111251ddf2c2741b84b322b0176f7988b65b",
        "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 · 3.402 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]: [-0.0189, 0.8192, 0.6067, -0.5625, -0.0189, -0.0387, 0.9992, 0.8497, 1.8957, 1.2411, -0.7132, 0.3069, 0.5274, 0.9959]\nstate[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1394 left_yaw=0.003 left_pitch=-0.1968 left_roll=-0.0004 left_gripper=0.9992 right_x=0.2903 right_y=0.2549 right_z=0.0272 right_yaw=0.1383 right_pitch=-0.636 right_roll=-0.1889 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -1.2239, 6.8581, 1.7021, -0.0464, -0.0366, -0.0122, -0.4718, -8.1162, 5.5726, 0.7155, 0.2515, -0.0659, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5743, -0.0193, -0.0387, 0.9992, 0.8581, 1.906, 1.1702, -0.6106, 0.3183, 0.527, 0.0082]\nstate[eef_state]: left_x=0.2664 left_y=0.002 left_z=0.136 left_yaw=0.0034 left_pitch=-0.2139 left_roll=0.0003 left_gripper=0.9992 right_x=0.2886 right_y=0.2549 right_z=0.0096 right_yaw=0.1485 right_pitch=-0.6125 right_roll=-0.1823 right_gripper=0.0082\nstate[joint_eff]: [-0.0342, -1.7026, 6.9949, 1.6386, -0.0708, -0.0415, -0.0122, 0.1299, -8.2667, 4.9162, 0.8767, 0.2662, 0.0757, 0.5592]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.585, -0.0193, -0.0387, 0.9992, 0.8581, 1.8221, 1.3582, -0.8913, 0.3176, 0.524, 0.0095]\nstate[eef_state]: left_x=0.2645 left_y=0.002 left_z=0.1341 left_yaw=0.0035 left_pitch=-0.225 left_roll=0.0005 left_gripper=0.9992 right_x=0.289 right_y=0.2556 right_z=0.0795 right_yaw=0.147 right_pitch=-0.62 right_roll=-0.19 right_gripper=0.0095\nstate[joint_eff]: [-0.0479, -1.2786, 6.8444, 1.5946, -0.0806, -0.0611, -0.0122, 0.1709, -11.1111, 7.665, 0.7741, 0.315, 0.0513, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33fb74d86b7247789af64843bec20fa6dbd21ff27dc5fe9df543c421e10dd9d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b7c6dd1db36c4a8a2f569aed916aa8192f26156e7a5094cfa04ddac78786d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4235aa4a35819ab2eecd14991bf1111251ddf2c2741b84b322b0176f7988b65b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmAcKEAgSGAI4AUIIdGhpbmtpbmcSDEIttkWtzlAvxSEvyRoMjXEDL7ZM8DthZ+egIjDH30PQS40ojwoBEOIZWlWokHPchjjQQD+d7JD9r2WDwPGzV89kwmIcnC2IJYy5T48qtQZJzzbiaDvjYY/0kteEW0bbNS9x+fVBaZG9cf45ztu0Di/Nutd/NVnQCNN0Xvelm/NWnpVenNgX6LSqTOxR4ykI7fHmQNX+AUuO+83k6YCv58/9CRt54Z6FioSlh/JvXVuCCUModS6sLJPr0WNZahqbJMq6vz2tGsmWUUsuWqz5XM6anhrO5gP/yF74huDCCsyLysR3jm4AWsmwIquQ38EUeR7i14yYPPQU2bUhyZBfUDmzXMseWmiASw7PFOgDcqm6zPu2dm9G/jt1lGzi7OOedB01CWojMYXll4EuPH4NK8qIk/M1aYr1r792LprMLpYQ+Cuo/gnM/5gM6PL6gNA9JU6T7wL27/snGIjtRn0kIQRFEMlMMKoVcXpjQ7tJmhQkNtY/9Byl4IoJf97PwxtmSzuEm1ONYxF1IqkIMQ90pc93MSapBvX9i2tcOU6BDKCAh4xG8srAUWVlOnvKSqhs+O0Yivvj+28QqMCnfl2Xdh5vQ6oBBSOYTr+BNWHB6DR8jgsa5IURjrE3LIdyH8y4Hy6N5CcmPCcGqEG9NFdYrbqEFrKDSIp9Ox1qT0vroQ0s+MlCfKBO5fDfDWvtjLnWeai3UppT/ljxKgsbFm+8f6s32X2q/3ncxA6REd57jKMWLR9T2q+6124UbPAqK+3iauPrubJElpjm7Us2R+jRgvDiGKEpdHPAMbum3+pPIRcrJxc0PSuECNeFHTSrCpSZ/r+/bEZQzqIclms4M5jDRckBfMjyIHKfJ8nd99PjA0x4YtPzLI6y9uWIL+6ILEY/T6/WBlSwlHHS0yBKzDYEavIMwb3zrdwgfEkxBoGWajEECXoWnLNZbLi6+mMnRpRic7cGDyupK0QJnsFf0iHVeuoZ60KgfU0eVqQATjILT+dQMUiwpKCQFZs4f7wCSruOwiUnNuH5RODaGan8q7zLseRMiGdtuRa0d5dV47hQLtLDTHzBPU0ULPFdmDIxfN7StBv7S685M8xYur/Qw77Q+R7nOGvMbO4NLLfovObhNJnB3DSF6a2mgVZfDKLI7HxzVbilw+0STv1UPinraeLU+yVT7htsuF0EtItAEJl34oCxBufY9xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N48R9woJ1n59jX2hVuzDeS",
      "input": {
        "note": "The brown bear is hanging from the jaws. Raising high so it clears the safe's front wall.",
        "targets": {
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01N48R9woJ1n59jX2hVuzDeS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.5892, -0.0189, -0.0387, 0.9992, 0.8639, 1.8641, 2.0224, -1.483, 0.318, 0.524, 0.0123]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1332 left_yaw=0.0032 left_pitch=-0.23 left_roll=0.0003 left_gripper=0.9992 right_x=0.2904 right_y=0.2604 right_z=0.2321 right_yaw=0.1662 right_pitch=-0.5965 right_roll=-0.1662 right_gripper=0.0123\nstate[joint_eff]: [-0.294, -1.306, 6.8308, 1.5116, -0.0171, -0.0562, -0.0122, 0.0342, -8.1299, 6.9128, 0.6618, 0.3004, 0.0269, 0.2711]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99414abb742f75954de199ee3a647ef2e2ec1da81701a3c7bbf2d84ef114e02b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:403bddb90c82a8b21f257abcc367cfeaa9dede1ae03cd2c5de5a5b94187ce2b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:228e6282237a398a9131b9acdbd866f530306aadd4e3fc87f46445b0ab3e22e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.708 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]: [-0.0189, 0.8246, 0.6067, -0.5743, -0.0193, -0.0387, 0.9992, 0.8581, 1.906, 1.1702, -0.6106, 0.3183, 0.527, 0.0082]\nstate[eef_state]: left_x=0.2664 left_y=0.002 left_z=0.136 left_yaw=0.0034 left_pitch=-0.2139 left_roll=0.0003 left_gripper=0.9992 right_x=0.2886 right_y=0.2549 right_z=0.0096 right_yaw=0.1485 right_pitch=-0.6125 right_roll=-0.1823 right_gripper=0.0082\nstate[joint_eff]: [-0.0342, -1.7026, 6.9949, 1.6386, -0.0708, -0.0415, -0.0122, 0.1299, -8.2667, 4.9162, 0.8767, 0.2662, 0.0757, 0.5592]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.585, -0.0193, -0.0387, 0.9992, 0.8581, 1.8221, 1.3582, -0.8913, 0.3176, 0.524, 0.0095]\nstate[eef_state]: left_x=0.2645 left_y=0.002 left_z=0.1341 left_yaw=0.0035 left_pitch=-0.225 left_roll=0.0005 left_gripper=0.9992 right_x=0.289 right_y=0.2556 right_z=0.0795 right_yaw=0.147 right_pitch=-0.62 right_roll=-0.19 right_gripper=0.0095\nstate[joint_eff]: [-0.0479, -1.2786, 6.8444, 1.5946, -0.0806, -0.0611, -0.0122, 0.1709, -11.1111, 7.665, 0.7741, 0.315, 0.0513, 0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.5892, -0.0189, -0.0387, 0.9992, 0.8639, 1.8641, 2.0224, -1.483, 0.318, 0.524, 0.0123]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1332 left_yaw=0.0032 left_pitch=-0.23 left_roll=0.0003 left_gripper=0.9992 right_x=0.2904 right_y=0.2604 right_z=0.2321 right_yaw=0.1662 right_pitch=-0.5965 right_roll=-0.1662 right_gripper=0.0123\nstate[joint_eff]: [-0.294, -1.306, 6.8308, 1.5116, -0.0171, -0.0562, -0.0122, 0.0342, -8.1299, 6.9128, 0.6618, 0.3004, 0.0269, 0.2711]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99414abb742f75954de199ee3a647ef2e2ec1da81701a3c7bbf2d84ef114e02b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:403bddb90c82a8b21f257abcc367cfeaa9dede1ae03cd2c5de5a5b94187ce2b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:228e6282237a398a9131b9acdbd866f530306aadd4e3fc87f46445b0ab3e22e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QfX8V2k1AAYiqbTf61apCU",
      "input": {
        "note": "Bear is lifted high. Carrying it forward over the safe's interior, where the lemon sits.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.23,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QfX8V2k1AAYiqbTf61apCU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 0.5903, 2.199, 2.5111, -1.5974, 0.242, 0.2611, 0.013]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1317 left_yaw=0.0035 left_pitch=-0.2372 left_roll=0.0008 left_gripper=0.9992 right_x=0.4019 right_y=0.2226 right_z=0.2263 right_yaw=0.1474 right_pitch=-0.6282 right_roll=-0.1817 right_gripper=0.013\nstate[joint_eff]: [-0.1709, -1.5658, 6.8171, 1.5653, -0.0464, -0.0659, -0.0122, -0.4034, -10.3316, 7.788, 1.033, 0.0024, 0.0513, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc2b9eb98ffd903702f7c4342348ee41a1f750e202383ac2780adf8a7bf1a8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8a52a5926dc6f5160a861650d7e56ae40bb8ead468e7deff48ae0b391e72d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c08c05c710daf53238dd76b8ec2e9ace2214dc9d651d5506d7060763f3c10a5b",
        "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 · 3.773 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]: [-0.0189, 0.8249, 0.6067, -0.585, -0.0193, -0.0387, 0.9992, 0.8581, 1.8221, 1.3582, -0.8913, 0.3176, 0.524, 0.0095]\nstate[eef_state]: left_x=0.2645 left_y=0.002 left_z=0.1341 left_yaw=0.0035 left_pitch=-0.225 left_roll=0.0005 left_gripper=0.9992 right_x=0.289 right_y=0.2556 right_z=0.0795 right_yaw=0.147 right_pitch=-0.62 right_roll=-0.19 right_gripper=0.0095\nstate[joint_eff]: [-0.0479, -1.2786, 6.8444, 1.5946, -0.0806, -0.0611, -0.0122, 0.1709, -11.1111, 7.665, 0.7741, 0.315, 0.0513, 0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.5892, -0.0189, -0.0387, 0.9992, 0.8639, 1.8641, 2.0224, -1.483, 0.318, 0.524, 0.0123]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1332 left_yaw=0.0032 left_pitch=-0.23 left_roll=0.0003 left_gripper=0.9992 right_x=0.2904 right_y=0.2604 right_z=0.2321 right_yaw=0.1662 right_pitch=-0.5965 right_roll=-0.1662 right_gripper=0.0123\nstate[joint_eff]: [-0.294, -1.306, 6.8308, 1.5116, -0.0171, -0.0562, -0.0122, 0.0342, -8.1299, 6.9128, 0.6618, 0.3004, 0.0269, 0.2711]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 0.5903, 2.199, 2.5111, -1.5974, 0.242, 0.2611, 0.013]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1317 left_yaw=0.0035 left_pitch=-0.2372 left_roll=0.0008 left_gripper=0.9992 right_x=0.4019 right_y=0.2226 right_z=0.2263 right_yaw=0.1474 right_pitch=-0.6282 right_roll=-0.1817 right_gripper=0.013\nstate[joint_eff]: [-0.1709, -1.5658, 6.8171, 1.5653, -0.0464, -0.0659, -0.0122, -0.4034, -10.3316, 7.788, 1.033, 0.0024, 0.0513, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc2b9eb98ffd903702f7c4342348ee41a1f750e202383ac2780adf8a7bf1a8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8a52a5926dc6f5160a861650d7e56ae40bb8ead468e7deff48ae0b391e72d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c08c05c710daf53238dd76b8ec2e9ace2214dc9d651d5506d7060763f3c10a5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwkKEAgSGAI4AUIIdGhpbmtpbmcSDNFFqJ07fDfnC9yO/BoMteHC+F4MIoSFW4QGIjDX6Y8iQyOIO3vD936mUJcjJaAlC7j9Fi4HkRxQK9QjFubsbfYa3+U2wrutvye7PoYqyAigmb40uwawcFqObUoqffWPWk5uEjhBskkW5bKDeEh8qHHdXmmPK640012KlwAiSSeD4pbygir+sVqfiWcZhRqoOzAzbZLW+sRClDsp7NXQOmsKw43Iv63tdN6I1F7mIOXNoLzuWs1Kscjvr7R+iOHIUROL+ihpxd6ahMCbgc2/ZDYf5Ju3cjkJXIo/rCHniKS3Jh+5FXZBJBsi/1yH2J0/8RlJH/h1lqVGhSN9WvmP9F75GxSjzY2QpnyMnLDxUjxYZYPTurfw2jPwTe1BOxin8jHSUnodW31ZFJVkAjUWSqstRw/1oWyEj0Hu06l1Fw/XDtmgB6w0e8yrltVIjkSv2reyrvkdpt7I8VJNELEFb0O6aS/9g6e/+b4t/bTQdrNbfyM11AJlteRASuXA5e7/oUdO3OchNN8GwGg6g4YviNTfHSBE7B9k/B/v3Mt7DnCtXxtQfsBhOuoVf09CVt8VaO9j51aIBENrLNzhFoQTqmdTnbV7j+awgjivxTJK3VqQj7XoQhkV4LvFxc1+1D2aYZGyHxhVGzIHxPGGZh4mqUKMfsAir/S18mRWuYgZL1piXqCG4Ls7kB62n/N9xUCCJQANJm8HAGIdoM7AyrCOy5lPqlfQ9VRsKAlR9tZ42f9gBaN9DU0qVfvEOtRaVVQEmfnIQvROoRXTf254MZDTSGMigVS/riJN3YxcL/FJMzz+xnTHDlNis2iJh8WMXC6zwauJ8MBJD4fzxA0t7nro/hy0EGdL9Y0yuItndTGLBbyA+s9kk70zX+kF6jCVeM4oOqyt9AuVj/KPU+Lj9WAm14jFkiRxV6Nb9KxiqP2NvnuUNvV+cph15WRcZMTVLWrmcKFeivYzfBxrFB5iSloyDMl3gwipunhYeXgfGUxa3supAvdJy+uhw6adQaKjAiAxW4u2qg13o5UBOr3qfSYU0UT28JNwC2CIcrApKl5db8K7F5Ibjj/FEdL5Tv0BNMufPM7bWbsFt5oOh/8bOqgN2ZC5btip86+r7oAi6UFuITqT8oLC9Tu6g6w2k0vcBMd4px0cRLXsNYOFvTFQ58x8EHZsgpzT1DMwDgxE40IvqYZMhvspvgzkqzV++peH5z7cxJ35taew0G2O3yAxijs18uCRjJ/zc1q1oouS/tC6XIOmy7MIWobvEy17XADB3nDMsfkONRbS+OdTjd52iVNAkQZlsQe915sveu91x6HfeINdhRQlccr54jteUvpjQW2FReYLoCYMBeGfPjmeDFV9yDtmp8Af/uOUChcrUpVSuq+wmfHIO6jpX+GWUo3DO90n6dkRmtxI5b3obrB4IGwZthxmYwTZxdry9uOShU5TP1pHTK9FxDrFdBU49/p+8H6DoCWFdL9yb5KttMZ3eJNTUJi8O57Z0iiScQolVcdo3T+VYujSt4OX3iNde3O4be4Jo3ShYftD0LsbAMQJrRr7hV62yuMJlG5vGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SnSM13SQqLazweWzupNSZm",
      "input": {
        "note": "Bear is above the safe but its legs hang near the front wall; moving a bit further in and lower before releasing.",
        "targets": {
          "right_x": 0.46,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SnSM13SQqLazweWzupNSZm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.593, -0.0193, -0.0387, 0.9992, 0.5312, 2.2807, 2.4001, -1.4391, 0.234, 0.2008, 0.0132]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1314 left_yaw=0.0036 left_pitch=-0.2384 left_roll=0.0008 left_gripper=0.9992 right_x=0.4398 right_y=0.2151 right_z=0.1668 right_yaw=0.1264 right_pitch=-0.6692 right_roll=-0.2157 right_gripper=0.0132\nstate[joint_eff]: [-0.1436, -1.3333, 6.8171, 1.4823, -0.0659, -0.0464, -0.0122, -0.335, -11.494, 8.5949, 1.033, 0.1294, 0.0366, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f14e7e564ff0fed771291718387916e8a81eb358243f106933be02bdd1034386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff3cef0e83eda92946a2186ebb20b3a12cbd31c12cd46454341b2738c54b553",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52dd349e1ac31f89ad1bedd1df544503635d9976805eb01a95b9b8e5bdc3699c",
        "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 · 8.085 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]: [-0.0189, 0.8257, 0.6067, -0.5892, -0.0189, -0.0387, 0.9992, 0.8639, 1.8641, 2.0224, -1.483, 0.318, 0.524, 0.0123]\nstate[eef_state]: left_x=0.2638 left_y=0.0019 left_z=0.1332 left_yaw=0.0032 left_pitch=-0.23 left_roll=0.0003 left_gripper=0.9992 right_x=0.2904 right_y=0.2604 right_z=0.2321 right_yaw=0.1662 right_pitch=-0.5965 right_roll=-0.1662 right_gripper=0.0123\nstate[joint_eff]: [-0.294, -1.306, 6.8308, 1.5116, -0.0171, -0.0562, -0.0122, 0.0342, -8.1299, 6.9128, 0.6618, 0.3004, 0.0269, 0.2711]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 0.5903, 2.199, 2.5111, -1.5974, 0.242, 0.2611, 0.013]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1317 left_yaw=0.0035 left_pitch=-0.2372 left_roll=0.0008 left_gripper=0.9992 right_x=0.4019 right_y=0.2226 right_z=0.2263 right_yaw=0.1474 right_pitch=-0.6282 right_roll=-0.1817 right_gripper=0.013\nstate[joint_eff]: [-0.1709, -1.5658, 6.8171, 1.5653, -0.0464, -0.0659, -0.0122, -0.4034, -10.3316, 7.788, 1.033, 0.0024, 0.0513, 0.0659]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.593, -0.0193, -0.0387, 0.9992, 0.5312, 2.2807, 2.4001, -1.4391, 0.234, 0.2008, 0.0132]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1314 left_yaw=0.0036 left_pitch=-0.2384 left_roll=0.0008 left_gripper=0.9992 right_x=0.4398 right_y=0.2151 right_z=0.1668 right_yaw=0.1264 right_pitch=-0.6692 right_roll=-0.2157 right_gripper=0.0132\nstate[joint_eff]: [-0.1436, -1.3333, 6.8171, 1.4823, -0.0659, -0.0464, -0.0122, -0.335, -11.494, 8.5949, 1.033, 0.1294, 0.0366, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f14e7e564ff0fed771291718387916e8a81eb358243f106933be02bdd1034386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff3cef0e83eda92946a2186ebb20b3a12cbd31c12cd46454341b2738c54b553",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52dd349e1ac31f89ad1bedd1df544503635d9976805eb01a95b9b8e5bdc3699c",
        "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/AYKEAgSGAI4AUIIdGhpbmtpbmcSDDhSWXDcE7PqQSNnUBoMoThPW60c26n6klBBIjA2hjkxSOX4sIyRROwHCscsdNS3jsGCC2GLQ/fqNLzsrqVA3craHlgQpNvyg2A/9QwqmQYLpMxuv7I2VSdfZ3HAOqEjL78XFBYfh/aCrrMWbK18btNl9AUeITILuc4/I3ybF/RLLE/Xf0rVxM3ia3qGJe66xjmMTU1Nk2V+oPa/gi6JPyTxxxl3nuT2oZ1uRuKWDOfeCjQVcBvXgZM0CBiKtsvHKOwgKwjT8rnefVDeKEJyxkTyYgk49mVJDliYeHXiLnu+YlGNs83f8saKZdhMzY+pbZY4DHeBFZP+ygM2OHccIdGjapYnQCDDswmtPqcf+ZdJ/0dXEsYUVyOHyaicucGDfC5R7ATXzpQcRs53EXgSOMNXNPsoNjV7L3VSHTApbQnzBAw+ZryHcjxghLxA8ryssGRDeWMwYIczAw+32324CQSqY3yAFga1EPeSZhk/Ld8I4QL3YRfsidpCZgcOmQXn6dWNl/AGe1g1j1nNI8zbKhLDrOwmQaOjab/7ChOvDZhfSgWhEwxI9SOROIQ3gH3pMIfCM1xa9nAweCqYy9NZ+tBipGCy5DdZT3lhD/GCB8Qap926GJgDqdIiKCXeXUHTboJEG8hF23WeXRaZTCOkTo9/7CUJZMNk5XpdpodF7R2SVNPZv4r3HLO9EfQH/RLpOj11eDowV0BtKfqsYtcwt1QY+mmK1mtWKhZpz9T6m3i1afsq4tkZqdFqtLUGa3NqN6Aexp2YEDgOIPzagqV23Uim7lR/O1ueL1KSac8ysJAEfna1yEC54BZLHGiMFsM/37094V6MIog0SNXEhyOV9EelmeI+moRspnaW+TsHCMmHs/I5yHxtY6SAtroVD2xEZ5CikaEFcDmgT1bFJdp8iGT5WJAxVkyGaqw5Otd2BFWPlY5pQzFymno8OAT/dh0vGEmkxXmoa/Ht95dFZXYKKX2luIScXAnVmHWo+vtD0M44jOLY8nSybQ4T29tIbpFMKkOUJuIm53gT72Qp/Jy8ATZ35oahSZvX+eBX5Owv/sFH4Sz37EmWNG23FGfNvbbyP1nFKhoE9tAtbUkUS1fPg6bA4HL3+hIr09Wwv42n0zA7iWVKYc33G/DcOduVMY0vk6qgm0rc6xWRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ab4cTqwKZBqmvi8PkAhj7Q",
      "input": {
        "note": "Bear is over the red interior; releasing it into the safe.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ab4cTqwKZBqmvi8PkAhj7Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.5934, -0.0193, -0.0383, 0.9992, 0.524, 2.3081, 2.4035, -1.4033, 0.2276, 0.1825, 0.9943]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1313 left_yaw=0.0033 left_pitch=-0.2387 left_roll=0.0011 left_gripper=0.9992 right_x=0.4498 right_y=0.218 right_z=0.1568 right_yaw=0.1416 right_pitch=-0.6628 right_roll=-0.2099 right_gripper=0.9943\nstate[joint_eff]: [-0.0342, -1.1692, 7.1453, 1.5165, -0.0806, -0.0317, -0.0122, -0.3214, -12.9026, 7.9248, 1.0427, 0.1685, 0.0269, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66129a374b898ff89827dedb702654efcd9519a2546baa40612b0af2c51b1921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e9e98199c590e0487339c3050a83bd663bba4d45e30fc8c329ed3a990775b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8066dadac4ee85f9e6ffa470198227658565b4557fa8d592d2571010334a0bbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 4.918 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]: [-0.0189, 0.8295, 0.6067, -0.5926, -0.0193, -0.0387, 0.9992, 0.5903, 2.199, 2.5111, -1.5974, 0.242, 0.2611, 0.013]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1317 left_yaw=0.0035 left_pitch=-0.2372 left_roll=0.0008 left_gripper=0.9992 right_x=0.4019 right_y=0.2226 right_z=0.2263 right_yaw=0.1474 right_pitch=-0.6282 right_roll=-0.1817 right_gripper=0.013\nstate[joint_eff]: [-0.1709, -1.5658, 6.8171, 1.5653, -0.0464, -0.0659, -0.0122, -0.4034, -10.3316, 7.788, 1.033, 0.0024, 0.0513, 0.0659]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.593, -0.0193, -0.0387, 0.9992, 0.5312, 2.2807, 2.4001, -1.4391, 0.234, 0.2008, 0.0132]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1314 left_yaw=0.0036 left_pitch=-0.2384 left_roll=0.0008 left_gripper=0.9992 right_x=0.4398 right_y=0.2151 right_z=0.1668 right_yaw=0.1264 right_pitch=-0.6692 right_roll=-0.2157 right_gripper=0.0132\nstate[joint_eff]: [-0.1436, -1.3333, 6.8171, 1.4823, -0.0659, -0.0464, -0.0122, -0.335, -11.494, 8.5949, 1.033, 0.1294, 0.0366, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.5934, -0.0193, -0.0383, 0.9992, 0.524, 2.3081, 2.4035, -1.4033, 0.2276, 0.1825, 0.9943]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1313 left_yaw=0.0033 left_pitch=-0.2387 left_roll=0.0011 left_gripper=0.9992 right_x=0.4498 right_y=0.218 right_z=0.1568 right_yaw=0.1416 right_pitch=-0.6628 right_roll=-0.2099 right_gripper=0.9943\nstate[joint_eff]: [-0.0342, -1.1692, 7.1453, 1.5165, -0.0806, -0.0317, -0.0122, -0.3214, -12.9026, 7.9248, 1.0427, 0.1685, 0.0269, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66129a374b898ff89827dedb702654efcd9519a2546baa40612b0af2c51b1921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e9e98199c590e0487339c3050a83bd663bba4d45e30fc8c329ed3a990775b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8066dadac4ee85f9e6ffa470198227658565b4557fa8d592d2571010334a0bbd",
        "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_01XxZAA2nNaqogJqXGGbpWpN",
      "input": {
        "note": "Bear released into the safe. Moving the right arm out of the way and bringing the left arm over the small white bear to the left of the safe.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.36,
          "left_y": -0.27,
          "left_z": 0.15,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01XxZAA2nNaqogJqXGGbpWpN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8505, 1.7641, 1.3643, -0.6632, -0.5251, -0.7269, 0.9993, 0.2481, 1.3979, 1.3586, -1.1805, 0.1623, -0.0723, 0.9958]\nstate[eef_state]: left_x=0.3517 left_y=-0.261 left_z=0.1363 left_yaw=0.0023 left_pitch=-0.2795 left_roll=0.0173 left_gripper=0.9993 right_x=0.3025 right_y=0.0509 right_z=0.193 right_yaw=0.121 right_pitch=-0.6224 right_roll=-0.2144 right_gripper=0.9958\nstate[joint_eff]: [-0.6085, -8.7043, 9.2239, 1.2039, -0.5397, 0.0611, -0.0904, -0.1709, -6.3932, 6.5299, 1.0525, -0.0024, -0.1587, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e162375b0647ee3feb539bf07a390f9ab1fa44035fbd8e557c4e6d4e8c85dd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:487538a982e2ce0146ade1194c58b20ae6d87dfe15224f10ec87c7685f7507ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d18b236bd59b6c53899ca27707b50b75cb115d11104865da9f437c9b2865077f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.415 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]: [-0.0189, 0.8303, 0.6067, -0.593, -0.0193, -0.0387, 0.9992, 0.5312, 2.2807, 2.4001, -1.4391, 0.234, 0.2008, 0.0132]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1314 left_yaw=0.0036 left_pitch=-0.2384 left_roll=0.0008 left_gripper=0.9992 right_x=0.4398 right_y=0.2151 right_z=0.1668 right_yaw=0.1264 right_pitch=-0.6692 right_roll=-0.2157 right_gripper=0.0132\nstate[joint_eff]: [-0.1436, -1.3333, 6.8171, 1.4823, -0.0659, -0.0464, -0.0122, -0.335, -11.494, 8.5949, 1.033, 0.1294, 0.0366, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.5934, -0.0193, -0.0383, 0.9992, 0.524, 2.3081, 2.4035, -1.4033, 0.2276, 0.1825, 0.9943]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1313 left_yaw=0.0033 left_pitch=-0.2387 left_roll=0.0011 left_gripper=0.9992 right_x=0.4498 right_y=0.218 right_z=0.1568 right_yaw=0.1416 right_pitch=-0.6628 right_roll=-0.2099 right_gripper=0.9943\nstate[joint_eff]: [-0.0342, -1.1692, 7.1453, 1.5165, -0.0806, -0.0317, -0.0122, -0.3214, -12.9026, 7.9248, 1.0427, 0.1685, 0.0269, 0.0171]",
      "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]: [-0.8505, 1.7641, 1.3643, -0.6632, -0.5251, -0.7269, 0.9993, 0.2481, 1.3979, 1.3586, -1.1805, 0.1623, -0.0723, 0.9958]\nstate[eef_state]: left_x=0.3517 left_y=-0.261 left_z=0.1363 left_yaw=0.0023 left_pitch=-0.2795 left_roll=0.0173 left_gripper=0.9993 right_x=0.3025 right_y=0.0509 right_z=0.193 right_yaw=0.121 right_pitch=-0.6224 right_roll=-0.2144 right_gripper=0.9958\nstate[joint_eff]: [-0.6085, -8.7043, 9.2239, 1.2039, -0.5397, 0.0611, -0.0904, -0.1709, -6.3932, 6.5299, 1.0525, -0.0024, -0.1587, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e162375b0647ee3feb539bf07a390f9ab1fa44035fbd8e557c4e6d4e8c85dd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:487538a982e2ce0146ade1194c58b20ae6d87dfe15224f10ec87c7685f7507ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d18b236bd59b6c53899ca27707b50b75cb115d11104865da9f437c9b2865077f",
        "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/QgKEAgSGAI4AUIIdGhpbmtpbmcSDFw9Mm5nrHlB9cmuDBoMYWPANwfPrurbBxDiIjAhvMpgq3bMzSKmTOtKbxcAIUnFpD4jVWPFEzR736OUjUCECyd/Dbmn472ovUosatQqmgiEnAsPKa/BOeZVtsT/ojqZwjGSWAi5z2wjYCo6Ti6H5IwN7nLSkwrZzJhHO1P9C4gtcZmEsdB+sJ4PDu4WZYoe88IZlyE1H1oEXUBtz/5UoeZjCHWRYPGfbhkYCiqYgRVJ6f/WM50RDCsOU0FmTwR1S5d9mLjYlrmoUuk+qzfTd7negTPMKaSSohyN6neofYA/+0ycSzsZP9/ftbJ3qOePH4lJlWtVOxBAqc3GKymCypDT8DqO2OVgVWYqx1kfM46ayh3jzDNJ1FzHgeaubb8IuAlmTlZRqy0uBl+5vR/uu/GcJZHS3bnUvHIP3gzZ+RaJR0GnLpzFDfOcm8vxaQ8EgBD2uAZTVPn7MU2JgPGNiT3ZpE3tQkoZI72sUzQZhPsBon8F+EWpXaK70te8W+Bz0urAj79+m/7why2mgxY0udXZAXj8rDrUyfYTYiIUY1vZ/P/vzgndWid4oWDj8zqe7sCnsZuYW9UQA9AJqTmyrNoiezX4koPXtWDTrjgHTCdXes8lip2jd7pY8vHk3JDJ8OeiXlJniRb3mxIZT74p5tlNIxb+WT15WAhdLzhpjxgP30JJUEOQOQResYS0ZNmrjyEYVBrUzvIyD6KDPe9hTJgVlZ8HmDd3z/YpuPYaxXd6y1/+p28I66BjGTp2X45PQZVn2+/kuXd29u0H7aZPj3rUx6rs9Sjd8AlypkRPiwl7KNJwb/aRqv05JW+QKKjD6WckSzg7PFpElAqzAO/wHxA2MANt7EejIQEOzHI6vZD1AOUuTTtRYsjuEO86e1/1caoMkBhnVF+nqOYe6H1ciPQ9ANIJ7tn7O1OPsfTxn6nnUIBkbdBtH+6SykLImhPIW/ENP0TXIqlOC43suhOHi7z1ubvf0QEaRlb5kD3M1UZ3cFaa1rS17OD+uaIC5sSnuXW/wt7mjbFSKKZshUH1Ee4kvYhdNz0DylBvldZdpPM9BibX3QHeHG2hdIF5np9Hi5DY4POtt60a4yyp/D43YhkZPaNU7JzR4vJ1XnNtKFP5iaN7VGWgcWBAGwQ+2VA1fl+vjUFOXiWKfOs41SaGAxFBRZ/tHqfTjo3X67V1xkxRy9UHuQ8yqCtqSJIXLsyNsS+L4utf4d6JswzI1uNvjVigj479G0JRflgpUTCP2vvSMbEon/sH23sPI6MeJt6RhOl4VrKwpz6CzP+SUZOkIwqqGjT9P8xHEgl30m/eKleeq9Q/GTd0GgFInyjJzevtop953gVdnLsJ6g4ya8pQqAXWg7tbi/922nlwuWQSdeoIZNVBLnDBO6aEWHOerRGMfHJiUYfpuO+uew7d6SoeKtiSBOP7upvHVppiPEpJfGgdRK4BqUqV8LgZ9/kx17a8AC682T9c+gMnep0eC4QWJMmYZ2cAg6/XftkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017QrdUCfuts1cCdgjbHyUMe",
      "input": {
        "note": "White bear is left of the jaw column in the left wrist view; shifting left ~4 cm and descending onto it.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.22,
          "left_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_017QrdUCfuts1cCdgjbHyUMe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7376, 1.8549, 1.0058, -0.2188, -0.4751, -0.6308, 0.9992, 0.2474, 1.383, 1.3319, -1.1877, 0.16, -0.0856, 0.9959]\nstate[eef_state]: left_x=0.3605 left_y=-0.2135 left_z=0.0222 left_yaw=0.0279 left_pitch=-0.3168 left_roll=0.0539 left_gripper=0.9992 right_x=0.295 right_y=0.0492 right_z=0.1878 right_yaw=0.1299 right_pitch=-0.6432 right_roll=-0.2204 right_gripper=0.9959\nstate[joint_eff]: [0.253, -7.8154, 5.4769, 1.4286, -0.1636, 0.105, -0.022, 0.1846, -5.5316, 6.4068, 1.1893, 0.0952, 0.1343, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22dff3c6249405abf8eb1791d791a6e637fb1042638f95077e61bbe6d05e02a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48ae0a58a9667a8aeccd46ad8d5b784b7509aae35fc9b59e6fc7755cffde13b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:066a386a96327aeec76b9d91dead855df491cdf1658d2e5b976ce9fd8f6ef8c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 3.139 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]: [-0.0189, 0.8303, 0.6067, -0.5934, -0.0193, -0.0383, 0.9992, 0.524, 2.3081, 2.4035, -1.4033, 0.2276, 0.1825, 0.9943]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1313 left_yaw=0.0033 left_pitch=-0.2387 left_roll=0.0011 left_gripper=0.9992 right_x=0.4498 right_y=0.218 right_z=0.1568 right_yaw=0.1416 right_pitch=-0.6628 right_roll=-0.2099 right_gripper=0.9943\nstate[joint_eff]: [-0.0342, -1.1692, 7.1453, 1.5165, -0.0806, -0.0317, -0.0122, -0.3214, -12.9026, 7.9248, 1.0427, 0.1685, 0.0269, 0.0171]",
      "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]: [-0.8505, 1.7641, 1.3643, -0.6632, -0.5251, -0.7269, 0.9993, 0.2481, 1.3979, 1.3586, -1.1805, 0.1623, -0.0723, 0.9958]\nstate[eef_state]: left_x=0.3517 left_y=-0.261 left_z=0.1363 left_yaw=0.0023 left_pitch=-0.2795 left_roll=0.0173 left_gripper=0.9993 right_x=0.3025 right_y=0.0509 right_z=0.193 right_yaw=0.121 right_pitch=-0.6224 right_roll=-0.2144 right_gripper=0.9958\nstate[joint_eff]: [-0.6085, -8.7043, 9.2239, 1.2039, -0.5397, 0.0611, -0.0904, -0.1709, -6.3932, 6.5299, 1.0525, -0.0024, -0.1587, 0.1392]",
      "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]: [-0.7376, 1.8549, 1.0058, -0.2188, -0.4751, -0.6308, 0.9992, 0.2474, 1.383, 1.3319, -1.1877, 0.16, -0.0856, 0.9959]\nstate[eef_state]: left_x=0.3605 left_y=-0.2135 left_z=0.0222 left_yaw=0.0279 left_pitch=-0.3168 left_roll=0.0539 left_gripper=0.9992 right_x=0.295 right_y=0.0492 right_z=0.1878 right_yaw=0.1299 right_pitch=-0.6432 right_roll=-0.2204 right_gripper=0.9959\nstate[joint_eff]: [0.253, -7.8154, 5.4769, 1.4286, -0.1636, 0.105, -0.022, 0.1846, -5.5316, 6.4068, 1.1893, 0.0952, 0.1343, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22dff3c6249405abf8eb1791d791a6e637fb1042638f95077e61bbe6d05e02a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48ae0a58a9667a8aeccd46ad8d5b784b7509aae35fc9b59e6fc7755cffde13b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:066a386a96327aeec76b9d91dead855df491cdf1658d2e5b976ce9fd8f6ef8c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAcKEAgSGAI4AUIIdGhpbmtpbmcSDESMzmDMfIIuIjNsMxoMTW/FuTYHeHQGeOzQIjDptFdirqDi732UISOPlMOqzeWuZa5x5Jmjj4+9h8SXuZkscyZAT88trfonV5X5TPwquQbVXz2c6rsbv6gdoY9D7aZntccTHyUyRdJDuQZlopPpbMdBkS7Tj3smlAA/VHpy2e04MZNCsjYMKW2Kn9mpjLyHAS8/MtWhXkqX8K7ySADsTAXV8nwrREaGBLTThTKQiMUUDh3ePMpBjhHfGJqeMWpFowYSAp9SEMm4oOA54XMcf/X56PMEnPUfOPSf1rtwSJJokNp13T0xAOgw0oE2D6j0/THY+6poy2VLzcqZgdyjEfz74YyUuesHuOGJvww1D2Seo6BoLhjCUHm4WxHl78xMLorHtLKe87FpnQ1Q7Npx4YgHuPrfbQ8T68nxondWunbCF6u0THuHA1mHsMvHo0zOfqS8nW5g20adWnohl9lhdSLqr7DmrA5V4LeFidUjZM6I2p0U57H5znLoTfilcer7yLuPnejWMKGfr7QHF+l0xCwmElh3gcF4P5D2QewWX6eFpcjiJhoRAxWpT++W8jy71PAzaCRB3lNZ++6dFHZtseG+m/ue25D24lSxMflMgQXl9TBmngI+NpGozYrlYcl0WFmh0kKjNS1W0fxjESBdX7MEjFsx9m35x0NYeQbKHkMBPef18udbj6j0Bd9Vh39YHrjKpqYOtUOpZVNwm3gVG+fK+kRWmGZP7OgmevlIHEBFH1BmLTkkXiG5jVfrQBl0/eH9tIN0ycrtTddWugMXYo7wtimqOO1m34GpHjpG6NGxY1HvyzR3xrLWZP1kH2oJwpYGNtqGLbkuocOV/f1OewIKgAoGZQOet1BRpM4WNjU6z3r4r46Y9CpE9gAHMKRzXxpBVOCxK7c/qYElo1DzGvUhITwyOxCJkYxxgZ6tr32DgRhiQoOmiza0dc1+lDlnrHg/gCITSkXjjDulhhjiH+Kcdfm5ySfyVl4Y2CaPqitK/Ur4DDo6bsdPz4LBZyWa/qrPC3YlCkk2zrGrwUJaD1gsKtppLxFhgpYB1jmnywc92lbr+h7Fc+dMgcxF87rm1Vd4yGUXn2Ru10SCLeVrrtBcp4mDywOMWnygjFJBM+UQxz/sw64CJr5s0bR/+OfRUoVyw/IbLRlR7xmiJdUsPRC6DoSEZtyBdAs9PVUcsE/Ve35UAbucfuoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018cYwpK4u25fs6rfPDfAgEs",
      "input": {
        "note": "White bear fills the view slightly left of the jaws; nudging left and forward and pressing down so its body is between the fingers.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.2,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_018cYwpK4u25fs6rfPDfAgEs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7029, 1.895, 0.9886, -0.1375, -0.4564, -0.6033, 0.9992, 0.2474, 1.3682, 1.3003, -1.1683, 0.16, -0.0868, 0.996]\nstate[eef_state]: left_x=0.3711 left_y=-0.2076 left_z=0.0089 left_yaw=0.0285 left_pitch=-0.3111 left_roll=0.0423 left_gripper=0.9992 right_x=0.2926 right_y=0.0486 right_z=0.1831 right_yaw=0.1309 right_pitch=-0.6407 right_roll=-0.2205 right_gripper=0.996\nstate[joint_eff]: [1.2239, -7.5282, 5.8872, 1.2234, -0.1734, 0.1783, -0.0122, 0.2393, -6.2427, 6.4205, 1.199, 0.0904, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814136bafc6692116eb04518a29f122362956b8446d4ac0ac579eafbf73f424b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58c5b0700b325a77b9089b93676e8a428192edd946e7876e64a5d19f0a4c0c57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc4f5bab6ecb05b474d5a6aa82d4647706cd7a1520eb215565c1410e54e81f54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 5.217 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]: [-0.8505, 1.7641, 1.3643, -0.6632, -0.5251, -0.7269, 0.9993, 0.2481, 1.3979, 1.3586, -1.1805, 0.1623, -0.0723, 0.9958]\nstate[eef_state]: left_x=0.3517 left_y=-0.261 left_z=0.1363 left_yaw=0.0023 left_pitch=-0.2795 left_roll=0.0173 left_gripper=0.9993 right_x=0.3025 right_y=0.0509 right_z=0.193 right_yaw=0.121 right_pitch=-0.6224 right_roll=-0.2144 right_gripper=0.9958\nstate[joint_eff]: [-0.6085, -8.7043, 9.2239, 1.2039, -0.5397, 0.0611, -0.0904, -0.1709, -6.3932, 6.5299, 1.0525, -0.0024, -0.1587, 0.1392]",
      "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]: [-0.7376, 1.8549, 1.0058, -0.2188, -0.4751, -0.6308, 0.9992, 0.2474, 1.383, 1.3319, -1.1877, 0.16, -0.0856, 0.9959]\nstate[eef_state]: left_x=0.3605 left_y=-0.2135 left_z=0.0222 left_yaw=0.0279 left_pitch=-0.3168 left_roll=0.0539 left_gripper=0.9992 right_x=0.295 right_y=0.0492 right_z=0.1878 right_yaw=0.1299 right_pitch=-0.6432 right_roll=-0.2204 right_gripper=0.9959\nstate[joint_eff]: [0.253, -7.8154, 5.4769, 1.4286, -0.1636, 0.105, -0.022, 0.1846, -5.5316, 6.4068, 1.1893, 0.0952, 0.1343, 0.0024]",
      "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]: [-0.7029, 1.895, 0.9886, -0.1375, -0.4564, -0.6033, 0.9992, 0.2474, 1.3682, 1.3003, -1.1683, 0.16, -0.0868, 0.996]\nstate[eef_state]: left_x=0.3711 left_y=-0.2076 left_z=0.0089 left_yaw=0.0285 left_pitch=-0.3111 left_roll=0.0423 left_gripper=0.9992 right_x=0.2926 right_y=0.0486 right_z=0.1831 right_yaw=0.1309 right_pitch=-0.6407 right_roll=-0.2205 right_gripper=0.996\nstate[joint_eff]: [1.2239, -7.5282, 5.8872, 1.2234, -0.1734, 0.1783, -0.0122, 0.2393, -6.2427, 6.4205, 1.199, 0.0904, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814136bafc6692116eb04518a29f122362956b8446d4ac0ac579eafbf73f424b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58c5b0700b325a77b9089b93676e8a428192edd946e7876e64a5d19f0a4c0c57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc4f5bab6ecb05b474d5a6aa82d4647706cd7a1520eb215565c1410e54e81f54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0126UTKpcbyzmBhYcYf6jdP8",
      "input": {
        "note": "White bear's body is between the jaws; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0126UTKpcbyzmBhYcYf6jdP8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6678, 1.9148, 0.9882, -0.1005, -0.4465, -0.5766, 0.1332, 0.2493, 1.3453, 1.2545, -1.1461, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.3814 left_y=-0.1991 left_z=0.0045 left_yaw=0.0377 left_pitch=-0.3048 left_roll=0.0417 left_gripper=0.1332 right_x=0.2875 right_y=0.0479 right_z=0.176 right_yaw=0.1351 right_pitch=-0.6419 right_roll=-0.2221 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -8.1573, 5.6137, 1.1355, -0.2418, 0.0952, 0.989, -0.2393, -5.9145, 6.4479, 1.1551, 0.0952, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe6fca98deedbff119a3dcfdc8792a47c2ce393cdaa2edbb4d9ed8a14bf139e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd1405436a9c74676cb905a5e372220ada365c4c1fbe0fd0d5addfeb79b92afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7619407feb67f5ac4b4acfe57552b5d7c85cf950228f80a4654f7c1f1251b775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 5.077 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]: [-0.7376, 1.8549, 1.0058, -0.2188, -0.4751, -0.6308, 0.9992, 0.2474, 1.383, 1.3319, -1.1877, 0.16, -0.0856, 0.9959]\nstate[eef_state]: left_x=0.3605 left_y=-0.2135 left_z=0.0222 left_yaw=0.0279 left_pitch=-0.3168 left_roll=0.0539 left_gripper=0.9992 right_x=0.295 right_y=0.0492 right_z=0.1878 right_yaw=0.1299 right_pitch=-0.6432 right_roll=-0.2204 right_gripper=0.9959\nstate[joint_eff]: [0.253, -7.8154, 5.4769, 1.4286, -0.1636, 0.105, -0.022, 0.1846, -5.5316, 6.4068, 1.1893, 0.0952, 0.1343, 0.0024]",
      "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]: [-0.7029, 1.895, 0.9886, -0.1375, -0.4564, -0.6033, 0.9992, 0.2474, 1.3682, 1.3003, -1.1683, 0.16, -0.0868, 0.996]\nstate[eef_state]: left_x=0.3711 left_y=-0.2076 left_z=0.0089 left_yaw=0.0285 left_pitch=-0.3111 left_roll=0.0423 left_gripper=0.9992 right_x=0.2926 right_y=0.0486 right_z=0.1831 right_yaw=0.1309 right_pitch=-0.6407 right_roll=-0.2205 right_gripper=0.996\nstate[joint_eff]: [1.2239, -7.5282, 5.8872, 1.2234, -0.1734, 0.1783, -0.0122, 0.2393, -6.2427, 6.4205, 1.199, 0.0904, -0.0269, -0.0073]",
      "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]: [-0.6678, 1.9148, 0.9882, -0.1005, -0.4465, -0.5766, 0.1332, 0.2493, 1.3453, 1.2545, -1.1461, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.3814 left_y=-0.1991 left_z=0.0045 left_yaw=0.0377 left_pitch=-0.3048 left_roll=0.0417 left_gripper=0.1332 right_x=0.2875 right_y=0.0479 right_z=0.176 right_yaw=0.1351 right_pitch=-0.6419 right_roll=-0.2221 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -8.1573, 5.6137, 1.1355, -0.2418, 0.0952, 0.989, -0.2393, -5.9145, 6.4479, 1.1551, 0.0952, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe6fca98deedbff119a3dcfdc8792a47c2ce393cdaa2edbb4d9ed8a14bf139e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd1405436a9c74676cb905a5e372220ada365c4c1fbe0fd0d5addfeb79b92afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7619407feb67f5ac4b4acfe57552b5d7c85cf950228f80a4654f7c1f1251b775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwoKEAgSGAI4AUIIdGhpbmtpbmcSDLGyAaS9oZhm8rYC5xoMsKFdVDZnGevm8FHGIjCFFgml477dChfKaYx3Uw48UafWQgm1os/jVNrzn3mmgNQ++6RfVk59Xv7UR4gGxW0qsAnQ5NXF/DTrvLLwH4H4QhPO7hK2zMdV0FIaA0mn6iQ9305oWHJBRQPXOROJpVPw3NLYn2cb9+hLdTnWpFhN+VXvoHQ+e7NZrTZjNhMhi9XcKsOtGSN9EaPczfUkTK4NfEJ4CpKpIrHMUS0B3c793sivcGdAKe652QivHdUIUypExCgoeQYjVsjZbnaCKXyHdxYscP2dG0FLEcHDI/njKJ9fnuS3vhgzHHoJkcUMMEamv3rv9QJr6CO2jvaci/sB+hzRXv5UdhjyczKyEoUGjWaP4siJ2wkR4kK1ahpY9DR09RQB4LCKtjOKFnJb30IRoYyzms1fEiuxGMUQyC5HUu0OKm97BVxVoy2F1CtlzBFcUo/Unsaj7Mhemg/dRIf7hHmZrXFqLL4ltYSJjF6hAPmGcvRclkeDRdhzVG73gOv60WCIZDQAqKKfYThLUkG6IHn++gU7Fr62MLqzdXRCIUlQ6UotWVVE9Vf84qZiLNO+TzujAPk4CnZmGZfQhUPM4WtHBYoyZb91zGT2xbNBAgeZB8hiZ905+rzY3wUTwRa+JuuJPyePFfc2eyJtr2wxelJ4NihjTsPmkZ8oc7LsaBIs3N2w+EU3AP5olzJsouJKFbYHkYJhplmcpZdFW+WRx92YTmvNOJWcT3iEc07/gPTaHLGfEIBoqNuFMDY8Cy4U9MZS4WUWq17vCKewM8cBkcgvQxhRxSb0JXlNh9AbZEWPJ5d8X/pvcm0exNp9GsAdMcnxNMsab/FRRJ/N154ZWZN8fF1nBSOaHPYEBAdPWc07Bq243MJooz0/bexP1F+GXS/ce+5JKOPH2ImmvyVgALTC0VPRL4rSzEXRZRk3RrApy6jd/+eXysxWr3KlyRqyl296VWkSKQ0/55VLL63pNuFomcMMkXhWtjTj7SdrT1zhcem/WX+mU58f86SGAzmbExUfmZrZlDYL6BVYCZkejuBHo769Q+Czmf7UcsxoVvIAJ5U9M+dLCkptJaSN/aFCgcaE4+yDMzGxGLTEoxRRaPvEDvu7PwHNWWtevHhNLbrmkS8UrUBETIHCwJ3b7dSNVwEpFEqCUYfLOTAtsldoh1/jd0F3x83XxQe6+vMjxyIFQUYMqeu+Vdx3mVPJHFgIPChkgc9t+ezLrt6UqSA77Dbe2lfwZ0FoFrlbAuH0qeQYha/xyXC0S64jH8XwXo3zHfELwYe7agtdnRsnoZvbeau+XYDGunAgF+TspMH3XWDzF9SXchj+/UiGD8L8xOz3pDcITtmAtNpbZ4Cc/+uYw69YXLKdMAakyQinsji5ZKs+4jnGmeu35ZBSdaxjLfypTa4FhhH0oxHhV4y51/R/LXZGMffPO7jq6MUV8f5GtVGpCPkHGJ6dTINtCBnuqjTUhONUw4V2QyiPQck4tFgt2D8P9kSsHKA1zXu9fmE8WEynIz/HeMT7YY3kOAe49ddrUHajzeUM370llt522K4y9oZnCtojLwrXUEdI3vyN4yi6Q+IxPyWgeQyLSm8iEGvYt8Zh/8K76ax1970FRHnC04OvV6XyDt1074bnwchxQSUJMlt93Z7OErGO9KsYfTnPN5Yf6M14VvjXIjvCmFT08gMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UoqoJNb2D4E1LhUBPBbTJG",
      "input": {
        "note": "White bear grasped (gripper 0.13). Lifting it high. Note: brown bear appears to have ended up at the safe's front edge; will recheck after.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01UoqoJNb2D4E1LhUBPBbTJG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6678, 1.7325, 1.7306, -1.034, -0.4374, -0.5911, 0.136, 0.2493, 1.3254, 1.2057, -1.1233, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.3822 left_y=-0.2015 left_z=0.2343 left_yaw=0.0412 left_pitch=-0.3162 left_roll=0.0318 left_gripper=0.136 right_x=0.2821 right_y=0.0465 right_z=0.1671 right_yaw=0.1346 right_pitch=-0.648 right_roll=-0.2229 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -7.8564, 8.7453, 1.1404, -0.3199, 0.0904, 0.7595, 0.0752, -6.106, 6.653, 1.1013, 0.0659, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a601b70a04c7fe9ea8d3ed8caed7bd6246273a8b2793aad027370c29d8f6d05b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76a06ced4795797a6a6e3a5407415fbc4e015904ef7edf6dca8b18a685d8a92b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9df250dcc22a90fa4fb1f4f0a2dd3d01e3a3b4b0425a2ef4ea3c7bc761f63ea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 3.975 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]: [-0.7029, 1.895, 0.9886, -0.1375, -0.4564, -0.6033, 0.9992, 0.2474, 1.3682, 1.3003, -1.1683, 0.16, -0.0868, 0.996]\nstate[eef_state]: left_x=0.3711 left_y=-0.2076 left_z=0.0089 left_yaw=0.0285 left_pitch=-0.3111 left_roll=0.0423 left_gripper=0.9992 right_x=0.2926 right_y=0.0486 right_z=0.1831 right_yaw=0.1309 right_pitch=-0.6407 right_roll=-0.2205 right_gripper=0.996\nstate[joint_eff]: [1.2239, -7.5282, 5.8872, 1.2234, -0.1734, 0.1783, -0.0122, 0.2393, -6.2427, 6.4205, 1.199, 0.0904, -0.0269, -0.0073]",
      "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]: [-0.6678, 1.9148, 0.9882, -0.1005, -0.4465, -0.5766, 0.1332, 0.2493, 1.3453, 1.2545, -1.1461, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.3814 left_y=-0.1991 left_z=0.0045 left_yaw=0.0377 left_pitch=-0.3048 left_roll=0.0417 left_gripper=0.1332 right_x=0.2875 right_y=0.0479 right_z=0.176 right_yaw=0.1351 right_pitch=-0.6419 right_roll=-0.2221 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -8.1573, 5.6137, 1.1355, -0.2418, 0.0952, 0.989, -0.2393, -5.9145, 6.4479, 1.1551, 0.0952, -0.0073, -0.0122]",
      "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]: [-0.6678, 1.7325, 1.7306, -1.034, -0.4374, -0.5911, 0.136, 0.2493, 1.3254, 1.2057, -1.1233, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.3822 left_y=-0.2015 left_z=0.2343 left_yaw=0.0412 left_pitch=-0.3162 left_roll=0.0318 left_gripper=0.136 right_x=0.2821 right_y=0.0465 right_z=0.1671 right_yaw=0.1346 right_pitch=-0.648 right_roll=-0.2229 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -7.8564, 8.7453, 1.1404, -0.3199, 0.0904, 0.7595, 0.0752, -6.106, 6.653, 1.1013, 0.0659, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a601b70a04c7fe9ea8d3ed8caed7bd6246273a8b2793aad027370c29d8f6d05b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76a06ced4795797a6a6e3a5407415fbc4e015904ef7edf6dca8b18a685d8a92b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9df250dcc22a90fa4fb1f4f0a2dd3d01e3a3b4b0425a2ef4ea3c7bc761f63ea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AkKEAgSGAI4AUIIdGhpbmtpbmcSDGn3GwvBnOgbB5gSlxoMf1FAIOpMB8nJlZi4IjDSA6P5yEDlcgTH2a+dJo6KyYWFOjzNmVknOI84OA4Xas5xTZwdcQK+2nRkW0hKesIq+Qikr2usdV7jEE/ml7lJ0VGOrTpb09555HoohThwfeNqLhMzhHeJ2/ce8Po5hsRMDpy05OjzU6oaKCGxHFqIdj9Q/5a2Z+l0k/ceW8ijxPzn/R23S8NRDFWZOstM7Q434GXcAqGfsJDSUBcYyrPiV9UdaTytrGDXBGrNJUpK28MuXcagfBrP7dlmYQVXq9J1u8RZjAqSAHq630tcuysFnbK13NZmDlOtOj9uVNfq5tfFcFCWI9mhiVwTiw40HQqrr5tMx2v0l/uTH2LmszincSHGk9uNKNUbayjr0SyLRobG3lSyxDpsUsPbvc8n63MJWSTfX18GlgjZrRD6k1HG70lz3m5oCSVCnLFDwGqjcoYgF7oPJWfveUMAvg+70ofslMi5rGwsFxL/auBumDH0aPJ9EpX3GfG2geAfYUkhh3WDa81SU+yG/A8aJPkuMR5FxFf/89yi3yKWW9ZHf7EsJ0t/9F7XOf9xM/zdzyEr22Shmr9kSxliHh9xH8fmKl+GM+QxQfSdKhm2QQv3PZDZrP3878qIvCVlv0/BatxZtJPXt7pzQOghHbjDXcv1rqmUYaKtPNJb2gOQpTxcNjefuS6kDSI9eijGqy59mqzeDqAEJFFPFOoXPvxBQ/IED5VcdY7n54be0JArwA4HcFMEdQPT+VL0lVE+s9YKjQDV7ISyBe5j53jnUu5r9XBGSUrWI+/nCDuQ77lB65/9dmxnl9QnGCkZVNqUn4pH6RnPDTW+jq1ARPslbaiO+fw2GNfpl7IDRh5aMRjsGIy/L71VofWkktNB72LlONWJhSBa0M6FgexELrCQa33IIfWN2I/nJPLNGQJQAoMxx1TKFEo3pFSKcsvT658allctKb6/h12rtvhom7EfpkKVxZGjeofTH9f+HSK+4waEhMIih/hgWjVTeS9IfOr9wqHCQpIAycpeHEpe6vMoxTvc7sREM3F/KSUvymyOa8TVUfvbN99FAo9ogz0kvDCqtPKTirqJu39fhIXvU7lTbZcyeDLEX1gTCfo+YaPAQ7WbpuoCAWO2gtT6tdWkoRdhwFd7MEjUoOm5R9NksubEGuKs7mKD2FrirjaLrym4qe9+XMAGrnWouFjvvrrz2oUaaXlJY3Hl6pEECEz86ujiQyxqg5q0HURWXplQCt1I9Ab6o35qxlH5FstVo2IzvQYUd/vXiaioQb6Zzhb60R6dT5TJjXVWHbw2bapCEwqDgr2BCLEwW1PC2ywPXxLJyf26FGVQyVnb9vw10oGCRbX6tZPnOKUPfgsy+CM97By5A/Sf9gaVJZBf2bfAnnqifgr7YsnSXI27icYYhATZkn6lGotpGchgAffI85eLrubGN3SnerGlD5RdZ7kYW6agiUxk+buqPuVpoAinrQcPltlLfIFoyhFd+OI2u1WDnhrErvfJJa1ctgialza50M+ahK0Cj5YROgBXdVF/gaqb36A9ulyap5kPxtyUv5/cTwAmnIoeUxVXe6yy0DcI09QMRrDslppdjgKY3Ujiw7B42gC+Kyv18BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019WYGfcY4NEtWf7ktxDZjbw",
      "input": {
        "note": "Carrying the white bear right and forward to hover over the red interior of the safe.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.31,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019WYGfcY4NEtWf7ktxDZjbw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7685, 2.4664, 2.8265, -1.4879, -0.4679, -0.6968, 0.1385, 0.2493, 1.2976, 1.1553, -1.0996, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4402 left_y=-0.3098 left_z=0.2139 left_yaw=0.0453 left_pitch=-0.3614 left_roll=0.0516 left_gripper=0.1385 right_x=0.2761 right_y=0.045 right_z=0.1596 right_yaw=0.1347 right_pitch=-0.6468 right_roll=-0.2228 right_gripper=0.996\nstate[joint_eff]: [-0.4034, -16.0889, 8.6359, 0.6569, -0.442, -0.0073, 0.7057, 0.2256, -5.641, 6.4205, 1.1551, 0.1294, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ffcd33fe45f932db2c234cfa2165090acd8a9e6893d11753b6992704bf2f3cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6ded3a637bc37232ce7ca23504dc8da0c4afb06ee5083f7b50992161e9fced9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:871064749d11b1338a2d5f2489f0358603eaaf4d35f4bee8c28fa6f7c451167d",
        "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 · 3.249 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]: [-0.6678, 1.9148, 0.9882, -0.1005, -0.4465, -0.5766, 0.1332, 0.2493, 1.3453, 1.2545, -1.1461, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.3814 left_y=-0.1991 left_z=0.0045 left_yaw=0.0377 left_pitch=-0.3048 left_roll=0.0417 left_gripper=0.1332 right_x=0.2875 right_y=0.0479 right_z=0.176 right_yaw=0.1351 right_pitch=-0.6419 right_roll=-0.2221 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -8.1573, 5.6137, 1.1355, -0.2418, 0.0952, 0.989, -0.2393, -5.9145, 6.4479, 1.1551, 0.0952, -0.0073, -0.0122]",
      "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]: [-0.6678, 1.7325, 1.7306, -1.034, -0.4374, -0.5911, 0.136, 0.2493, 1.3254, 1.2057, -1.1233, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.3822 left_y=-0.2015 left_z=0.2343 left_yaw=0.0412 left_pitch=-0.3162 left_roll=0.0318 left_gripper=0.136 right_x=0.2821 right_y=0.0465 right_z=0.1671 right_yaw=0.1346 right_pitch=-0.648 right_roll=-0.2229 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -7.8564, 8.7453, 1.1404, -0.3199, 0.0904, 0.7595, 0.0752, -6.106, 6.653, 1.1013, 0.0659, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7685, 2.4664, 2.8265, -1.4879, -0.4679, -0.6968, 0.1385, 0.2493, 1.2976, 1.1553, -1.0996, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4402 left_y=-0.3098 left_z=0.2139 left_yaw=0.0453 left_pitch=-0.3614 left_roll=0.0516 left_gripper=0.1385 right_x=0.2761 right_y=0.045 right_z=0.1596 right_yaw=0.1347 right_pitch=-0.6468 right_roll=-0.2228 right_gripper=0.996\nstate[joint_eff]: [-0.4034, -16.0889, 8.6359, 0.6569, -0.442, -0.0073, 0.7057, 0.2256, -5.641, 6.4205, 1.1551, 0.1294, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ffcd33fe45f932db2c234cfa2165090acd8a9e6893d11753b6992704bf2f3cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6ded3a637bc37232ce7ca23504dc8da0c4afb06ee5083f7b50992161e9fced9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:871064749d11b1338a2d5f2489f0358603eaaf4d35f4bee8c28fa6f7c451167d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wYKEAgSGAI4AUIIdGhpbmtpbmcSDJhzO8V0KRVYQppo4xoMwlT6HHHIKUTxrcVhIjBdbPGUIIGhmvze/n1dWWl1ykkjkXuUk7lMsmalhlZHC8s2jKZoMnNOApmWUDaMtFUqkAZGf46tAtEpczaHqfZQS+7GIwar/o80RwD3zkjqA4/u7kSIUdsmd7q8g3tJrXnvHTHwmtTkHcj8vWWXCCBn8nUQUCCMNN2MW7t5uCO8v2HL3pIg+VtornsV4aZPPGQ+kelLwNoxhnXZD3DWmX1K63KaAqS7gWhVquYrkhydY/pnfufG9VkZkmEqbx0Md02CjB9xWudQ7EYh3Umo70rrG5NMErZMVI8tC7kePm6rKMb8SXCsBXF2/iqoamj53JFjY+Ge8Oofu6xGCTq1gVcwrIcvd0BsDCuJx5+1pYjttq5ALf40BzSr07LD8pan4ODrNMuqz1fzhGuDvk12un6Q63LHG0emK0ubi6Vk1wvO+xXyMQk0cSKHPuDyDB8aFT7CFrsIQnWYPENA7aIA2O/bOHbZtyOXQdpo+sG+kFtFRqHVzyARdxLVtcPJ6KzFv3pOPC+a0ACW0I7b+hHxmVdoRfCki/TSBg3hv+RHhbm/9IzAq/0nNMZ+jv3JE0wpiL9KR9SAG0kPimtScXg1zoMv8u/lVR0llzGWcWHpsHqerbZ1c7ZAmxxGtAS5R5fbwoV97qaOcJd6VtiIlC+nDJcPPpEfQU94KtSU7IGbjiaX5mSgB+utnzf9wl61aBrnIC1UW4mRC+1mMJohWaT96HmCmRHfGJDvDWeiOOFtVwXqETOnIv8U9tEV11xd4lCbfQqBOK3yeHsnYrHSSoTQHlB3B8EwKnIrNBst1y+cvapzQ+mIBjQa0ac7TntK+J2exro8lRLN53IfC/DZVoQP41r1caNyuXJQztaTeRPhpkFNl5JST/d4kCn22tXIuCp4wzInrUBxjL+D3dLHssYXsAOlQliP3EovwVEGMPwF32JDHy1XwbuffuppOgeCY5DoifQmQJGcRuxp01Yfemx8tw3HUpCCrcZF3EBKxjFkdcM3juR0G9DsOvdDWT6AR5ZPxOqb1NyUB80MTzwDS3E9YIb+5yATw9R3Pb6AmuUTaeS/ZG0D7iAFiPC1Y66ylC8gUNoKT+JaMT1o+wQpn+SXf1BOpyjfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0196tYzzSftnNALnUSgfsbWg",
      "input": {
        "note": "White bear is over the safe interior; lowering before release.",
        "targets": {
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0196tYzzSftnNALnUSgfsbWg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7712, 2.233, 2.1799, -1.0946, -0.4644, -0.7002, 0.1387, 0.2497, 1.2713, 1.1057, -1.074, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4332 left_y=-0.3057 left_z=0.1594 left_yaw=0.048 left_pitch=-0.3772 left_roll=0.0627 left_gripper=0.1387 right_x=0.2706 right_y=0.0437 right_z=0.152 right_yaw=0.1353 right_pitch=-0.6445 right_roll=-0.2224 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -12.3009, 6.3111, 1.6679, -0.3346, 0.0317, 0.398, 0.2803, -5.1897, 6.694, 1.1355, 0.1197, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce0248476f8a79a6bf8b948ce4707ecc7bfe97c30d837ab7765f333c6e71b013",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77854d6b7765602d2d9c78789b1b104a645810b761e9936a45322bdfe18007e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a1590e4c41d073694c519370ff1ed50ace3d2bfd83639cf5a0b6c1fb6341c15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 9.811 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]: [-0.6678, 1.7325, 1.7306, -1.034, -0.4374, -0.5911, 0.136, 0.2493, 1.3254, 1.2057, -1.1233, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.3822 left_y=-0.2015 left_z=0.2343 left_yaw=0.0412 left_pitch=-0.3162 left_roll=0.0318 left_gripper=0.136 right_x=0.2821 right_y=0.0465 right_z=0.1671 right_yaw=0.1346 right_pitch=-0.648 right_roll=-0.2229 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -7.8564, 8.7453, 1.1404, -0.3199, 0.0904, 0.7595, 0.0752, -6.106, 6.653, 1.1013, 0.0659, -0.0415, -0.0122]\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]: [-0.7685, 2.4664, 2.8265, -1.4879, -0.4679, -0.6968, 0.1385, 0.2493, 1.2976, 1.1553, -1.0996, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4402 left_y=-0.3098 left_z=0.2139 left_yaw=0.0453 left_pitch=-0.3614 left_roll=0.0516 left_gripper=0.1385 right_x=0.2761 right_y=0.045 right_z=0.1596 right_yaw=0.1347 right_pitch=-0.6468 right_roll=-0.2228 right_gripper=0.996\nstate[joint_eff]: [-0.4034, -16.0889, 8.6359, 0.6569, -0.442, -0.0073, 0.7057, 0.2256, -5.641, 6.4205, 1.1551, 0.1294, -0.0269, -0.0171]",
      "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]: [-0.7712, 2.233, 2.1799, -1.0946, -0.4644, -0.7002, 0.1387, 0.2497, 1.2713, 1.1057, -1.074, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4332 left_y=-0.3057 left_z=0.1594 left_yaw=0.048 left_pitch=-0.3772 left_roll=0.0627 left_gripper=0.1387 right_x=0.2706 right_y=0.0437 right_z=0.152 right_yaw=0.1353 right_pitch=-0.6445 right_roll=-0.2224 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -12.3009, 6.3111, 1.6679, -0.3346, 0.0317, 0.398, 0.2803, -5.1897, 6.694, 1.1355, 0.1197, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce0248476f8a79a6bf8b948ce4707ecc7bfe97c30d837ab7765f333c6e71b013",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77854d6b7765602d2d9c78789b1b104a645810b761e9936a45322bdfe18007e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a1590e4c41d073694c519370ff1ed50ace3d2bfd83639cf5a0b6c1fb6341c15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CAjc1AwJjqGcfT43DmmZci",
      "input": {
        "note": "White bear is inside the safe walls; releasing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01CAjc1AwJjqGcfT43DmmZci",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7712, 2.2642, 2.1555, -1.1038, -0.4538, -0.712, 0.9952, 0.2493, 1.2453, 1.0599, -1.0554, 0.1604, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4286 left_y=-0.3036 left_z=0.1339 left_yaw=0.0685 left_pitch=-0.4277 left_roll=0.1002 left_gripper=0.9952 right_x=0.2644 right_y=0.0419 right_z=0.1448 right_yaw=0.1344 right_pitch=-0.6456 right_roll=-0.2231 right_gripper=0.996\nstate[joint_eff]: [-0.1026, -15.1726, 8.3897, 0.9744, -0.3687, 0.0513, -0.1148, -0.0068, -4.9026, 6.5026, 1.1404, 0.1148, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f2097c7037ef43e7fc842fae4980cf1727d10b10c598ac3a02ba2c53c9e6c17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10b92fdc844ca6b89b48768046eff31d0601a42679ace7d5de67df3c1cb23a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ed7cd98ca0afe0d2d8428c41d685e9b2e45c5122c61a4cd7a0bae16f86d6d4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 13.84 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]: [-0.7685, 2.4664, 2.8265, -1.4879, -0.4679, -0.6968, 0.1385, 0.2493, 1.2976, 1.1553, -1.0996, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4402 left_y=-0.3098 left_z=0.2139 left_yaw=0.0453 left_pitch=-0.3614 left_roll=0.0516 left_gripper=0.1385 right_x=0.2761 right_y=0.045 right_z=0.1596 right_yaw=0.1347 right_pitch=-0.6468 right_roll=-0.2228 right_gripper=0.996\nstate[joint_eff]: [-0.4034, -16.0889, 8.6359, 0.6569, -0.442, -0.0073, 0.7057, 0.2256, -5.641, 6.4205, 1.1551, 0.1294, -0.0269, -0.0171]",
      "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]: [-0.7712, 2.233, 2.1799, -1.0946, -0.4644, -0.7002, 0.1387, 0.2497, 1.2713, 1.1057, -1.074, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4332 left_y=-0.3057 left_z=0.1594 left_yaw=0.048 left_pitch=-0.3772 left_roll=0.0627 left_gripper=0.1387 right_x=0.2706 right_y=0.0437 right_z=0.152 right_yaw=0.1353 right_pitch=-0.6445 right_roll=-0.2224 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -12.3009, 6.3111, 1.6679, -0.3346, 0.0317, 0.398, 0.2803, -5.1897, 6.694, 1.1355, 0.1197, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7712, 2.2642, 2.1555, -1.1038, -0.4538, -0.712, 0.9952, 0.2493, 1.2453, 1.0599, -1.0554, 0.1604, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4286 left_y=-0.3036 left_z=0.1339 left_yaw=0.0685 left_pitch=-0.4277 left_roll=0.1002 left_gripper=0.9952 right_x=0.2644 right_y=0.0419 right_z=0.1448 right_yaw=0.1344 right_pitch=-0.6456 right_roll=-0.2231 right_gripper=0.996\nstate[joint_eff]: [-0.1026, -15.1726, 8.3897, 0.9744, -0.3687, 0.0513, -0.1148, -0.0068, -4.9026, 6.5026, 1.1404, 0.1148, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f2097c7037ef43e7fc842fae4980cf1727d10b10c598ac3a02ba2c53c9e6c17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10b92fdc844ca6b89b48768046eff31d0601a42679ace7d5de67df3c1cb23a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ed7cd98ca0afe0d2d8428c41d685e9b2e45c5122c61a4cd7a0bae16f86d6d4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GGyFPv9nDwCzvh1FkTpdVK",
      "input": {
        "note": "All three objects (lemon, brown bear, white bear) are now inside the safe per the left wrist view. Raising the left arm above the open lid to reach behind it and pull it closed.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.45,
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01GGyFPv9nDwCzvh1FkTpdVK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7246, 2.3207, 2.693, -1.5761, -0.4366, -0.6655, 0.0095, 0.2493, 1.219, 1.0149, -1.0332, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4179 left_y=-0.2654 left_z=0.2355 left_yaw=0.0731 left_pitch=-0.4362 left_roll=0.1084 left_gripper=0.0095 right_x=0.259 right_y=0.0406 right_z=0.1381 right_yaw=0.1351 right_pitch=-0.6423 right_roll=-0.2221 right_gripper=0.996\nstate[joint_eff]: [0.4718, -14.9949, 4.6564, 1.0134, -0.2711, 0.1148, 0.6764, 0.2256, -4.9573, 6.5026, 1.1013, 0.1099, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:987c5b7e9b8a7f356e64d512693957e0a090cf498476951b4923d160b02b35c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b057b9f7a83f6353bb042a276e584ff5a908596c66e9f58c3808fb9f8220dff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1cdc0316644bc428b9b9b000f9fd9938dea1d3fee9c174e73141e06662d34ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 8.377 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]: [-0.7712, 2.233, 2.1799, -1.0946, -0.4644, -0.7002, 0.1387, 0.2497, 1.2713, 1.1057, -1.074, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4332 left_y=-0.3057 left_z=0.1594 left_yaw=0.048 left_pitch=-0.3772 left_roll=0.0627 left_gripper=0.1387 right_x=0.2706 right_y=0.0437 right_z=0.152 right_yaw=0.1353 right_pitch=-0.6445 right_roll=-0.2224 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -12.3009, 6.3111, 1.6679, -0.3346, 0.0317, 0.398, 0.2803, -5.1897, 6.694, 1.1355, 0.1197, -0.0317, -0.0171]\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]: [-0.7712, 2.2642, 2.1555, -1.1038, -0.4538, -0.712, 0.9952, 0.2493, 1.2453, 1.0599, -1.0554, 0.1604, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4286 left_y=-0.3036 left_z=0.1339 left_yaw=0.0685 left_pitch=-0.4277 left_roll=0.1002 left_gripper=0.9952 right_x=0.2644 right_y=0.0419 right_z=0.1448 right_yaw=0.1344 right_pitch=-0.6456 right_roll=-0.2231 right_gripper=0.996\nstate[joint_eff]: [-0.1026, -15.1726, 8.3897, 0.9744, -0.3687, 0.0513, -0.1148, -0.0068, -4.9026, 6.5026, 1.1404, 0.1148, -0.0366, -0.0171]",
      "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]: [-0.7246, 2.3207, 2.693, -1.5761, -0.4366, -0.6655, 0.0095, 0.2493, 1.219, 1.0149, -1.0332, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4179 left_y=-0.2654 left_z=0.2355 left_yaw=0.0731 left_pitch=-0.4362 left_roll=0.1084 left_gripper=0.0095 right_x=0.259 right_y=0.0406 right_z=0.1381 right_yaw=0.1351 right_pitch=-0.6423 right_roll=-0.2221 right_gripper=0.996\nstate[joint_eff]: [0.4718, -14.9949, 4.6564, 1.0134, -0.2711, 0.1148, 0.6764, 0.2256, -4.9573, 6.5026, 1.1013, 0.1099, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:987c5b7e9b8a7f356e64d512693957e0a090cf498476951b4923d160b02b35c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b057b9f7a83f6353bb042a276e584ff5a908596c66e9f58c3808fb9f8220dff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1cdc0316644bc428b9b9b000f9fd9938dea1d3fee9c174e73141e06662d34ec",
        "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_016W6uP1Eya4RTdv8ECy2L6u",
      "input": {
        "note": "Lid is open and leaning back behind the safe. Rotating the jaws 90° so they can pinch the lid's free edge, and moving over it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.54,
          "left_y": -0.33,
          "left_yaw": 1.57,
          "left_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_016W6uP1Eya4RTdv8ECy2L6u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5831, 2.479, 2.2406, -1.5555, -0.4725, -1.9476, 0.9952, 0.2493, 1.1931, 0.9756, -1.0138, 0.1604, -0.0902, 0.996]\nstate[eef_state]: left_x=0.405 left_y=-0.1666 left_z=0.0533 left_yaw=1.3263 left_pitch=-0.4759 left_roll=0.0572 left_gripper=0.9952 right_x=0.2543 right_y=0.0393 right_z=0.1328 right_yaw=0.1352 right_pitch=-0.6362 right_roll=-0.2217 right_gripper=0.996\nstate[joint_eff]: [1.4154, -12.9026, 5.053, -0.2369, -0.2222, -0.105, -0.1099, 0.0205, -4.588, 6.4752, 1.1111, 0.0904, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a106c1fc3e4ef44bc11c93063a2fe223c458a622cadbe53ef833126d521fe322",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a965cde58adbe8cb618ce42051a84df580a0e425bd84575785350353e232987c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:815700b22df8c7df259ecf91344d79e68d3bb36dd430981f11215131905ece83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 6.461 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]: [-0.7712, 2.2642, 2.1555, -1.1038, -0.4538, -0.712, 0.9952, 0.2493, 1.2453, 1.0599, -1.0554, 0.1604, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4286 left_y=-0.3036 left_z=0.1339 left_yaw=0.0685 left_pitch=-0.4277 left_roll=0.1002 left_gripper=0.9952 right_x=0.2644 right_y=0.0419 right_z=0.1448 right_yaw=0.1344 right_pitch=-0.6456 right_roll=-0.2231 right_gripper=0.996\nstate[joint_eff]: [-0.1026, -15.1726, 8.3897, 0.9744, -0.3687, 0.0513, -0.1148, -0.0068, -4.9026, 6.5026, 1.1404, 0.1148, -0.0366, -0.0171]",
      "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]: [-0.7246, 2.3207, 2.693, -1.5761, -0.4366, -0.6655, 0.0095, 0.2493, 1.219, 1.0149, -1.0332, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4179 left_y=-0.2654 left_z=0.2355 left_yaw=0.0731 left_pitch=-0.4362 left_roll=0.1084 left_gripper=0.0095 right_x=0.259 right_y=0.0406 right_z=0.1381 right_yaw=0.1351 right_pitch=-0.6423 right_roll=-0.2221 right_gripper=0.996\nstate[joint_eff]: [0.4718, -14.9949, 4.6564, 1.0134, -0.2711, 0.1148, 0.6764, 0.2256, -4.9573, 6.5026, 1.1013, 0.1099, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5831, 2.479, 2.2406, -1.5555, -0.4725, -1.9476, 0.9952, 0.2493, 1.1931, 0.9756, -1.0138, 0.1604, -0.0902, 0.996]\nstate[eef_state]: left_x=0.405 left_y=-0.1666 left_z=0.0533 left_yaw=1.3263 left_pitch=-0.4759 left_roll=0.0572 left_gripper=0.9952 right_x=0.2543 right_y=0.0393 right_z=0.1328 right_yaw=0.1352 right_pitch=-0.6362 right_roll=-0.2217 right_gripper=0.996\nstate[joint_eff]: [1.4154, -12.9026, 5.053, -0.2369, -0.2222, -0.105, -0.1099, 0.0205, -4.588, 6.4752, 1.1111, 0.0904, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a106c1fc3e4ef44bc11c93063a2fe223c458a622cadbe53ef833126d521fe322",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a965cde58adbe8cb618ce42051a84df580a0e425bd84575785350353e232987c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:815700b22df8c7df259ecf91344d79e68d3bb36dd430981f11215131905ece83",
        "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_011gRmpQ1QwjUZPbTTMzgoRV",
      "input": {
        "note": "Arm sagged to the left of the safe; the lid stands roughly upright at the back. Going forward beside the safe (clear of the lid) to get behind it.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.58,
          "left_y": -0.17,
          "left_yaw": 0.0,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_011gRmpQ1QwjUZPbTTMzgoRV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3626, 2.6186, 2.7991, -1.264, -0.2569, -0.4488, 0.0089, 0.2493, 1.1687, 0.9424, -0.9997, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.5705 left_y=-0.1646 left_z=0.1341 left_yaw=0.1326 left_pitch=-0.4469 left_roll=0.0091 left_gripper=0.0089 right_x=0.2498 right_y=0.0382 right_z=0.1285 right_yaw=0.136 right_pitch=-0.6309 right_roll=-0.2205 right_gripper=0.996\nstate[joint_eff]: [0.2256, -15.9658, 4.6427, 0.398, -0.359, 0.315, 0.7546, 0.0752, -4.0821, 6.4342, 1.1209, 0.1294, -0.022, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a3d4cc41fc5cc43c6e50a8365b818baa5141986519303d3e59c1011478e0cd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46a52c48f58ddf5269c32edb8d06ce292d0592610a8efcbc259592bc8c8de809",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba7a02ae6869a835ed73aea59121cfdebfedbf34df2c3e89fffc6aeee0590408",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 6.152 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7246, 2.3207, 2.693, -1.5761, -0.4366, -0.6655, 0.0095, 0.2493, 1.219, 1.0149, -1.0332, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.4179 left_y=-0.2654 left_z=0.2355 left_yaw=0.0731 left_pitch=-0.4362 left_roll=0.1084 left_gripper=0.0095 right_x=0.259 right_y=0.0406 right_z=0.1381 right_yaw=0.1351 right_pitch=-0.6423 right_roll=-0.2221 right_gripper=0.996\nstate[joint_eff]: [0.4718, -14.9949, 4.6564, 1.0134, -0.2711, 0.1148, 0.6764, 0.2256, -4.9573, 6.5026, 1.1013, 0.1099, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5831, 2.479, 2.2406, -1.5555, -0.4725, -1.9476, 0.9952, 0.2493, 1.1931, 0.9756, -1.0138, 0.1604, -0.0902, 0.996]\nstate[eef_state]: left_x=0.405 left_y=-0.1666 left_z=0.0533 left_yaw=1.3263 left_pitch=-0.4759 left_roll=0.0572 left_gripper=0.9952 right_x=0.2543 right_y=0.0393 right_z=0.1328 right_yaw=0.1352 right_pitch=-0.6362 right_roll=-0.2217 right_gripper=0.996\nstate[joint_eff]: [1.4154, -12.9026, 5.053, -0.2369, -0.2222, -0.105, -0.1099, 0.0205, -4.588, 6.4752, 1.1111, 0.0904, -0.0562, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3626, 2.6186, 2.7991, -1.264, -0.2569, -0.4488, 0.0089, 0.2493, 1.1687, 0.9424, -0.9997, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.5705 left_y=-0.1646 left_z=0.1341 left_yaw=0.1326 left_pitch=-0.4469 left_roll=0.0091 left_gripper=0.0089 right_x=0.2498 right_y=0.0382 right_z=0.1285 right_yaw=0.136 right_pitch=-0.6309 right_roll=-0.2205 right_gripper=0.996\nstate[joint_eff]: [0.2256, -15.9658, 4.6427, 0.398, -0.359, 0.315, 0.7546, 0.0752, -4.0821, 6.4342, 1.1209, 0.1294, -0.022, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a3d4cc41fc5cc43c6e50a8365b818baa5141986519303d3e59c1011478e0cd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46a52c48f58ddf5269c32edb8d06ce292d0592610a8efcbc259592bc8c8de809",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba7a02ae6869a835ed73aea59121cfdebfedbf34df2c3e89fffc6aeee0590408",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+AoKEAgSGAI4AUIIdGhpbmtpbmcSDIyH4j8HSO50D2rfvhoM7tsdqGG5WcM8mOyBIjD5yOj0RTs9MflQmAHg9ng2+gUMiVoaUKzQqjGvmTYN008euLRA+S5HQ9SAFyFA3X4qlQqNjWbvcNaWqNW5Sdj3p2N3GkbqfR8qlZtYxKskmIkvt+m6f6SBLrbsbq3sTnfQh6NaK0jc0IsPb3LIr6u9BqdRZu8AyEismQtDg+4TyqnU49F+pZ/BwgAdXngmhmK+NgM6iRaOTnUB1DjHq4HRk/23QLpI7grbDhaBAqTwloFWrrC5wOaU/Gg601XSK4vM560Mx6PS0LzPWzyBvxQT9KxLiE2Ez0n3Az7Jt+yj/1GuyhcY1x9x20EEbwVlwRQZxCsbEqFlO7GJam739u3nKtbZwEeHDh0FM6tvXgV4j6Hj9nWUkQuaPPpTbSx9XKJTccviEJZ38DPl72mHTT1O/IVtv1x6mN0gQgmOzbU99+l70Hbkf/VwewPS+9RfusT8svhQdDv8Mk4KI39P2RTD4MPMmjiw6i3woynZ3+TcdWQcoQ/bVgixOAu/TIvuV0H3p46Asqdjmdm96XMLwc1oVU/jFBPaUC8nEO57DJaL9ipAsQIcJ++zPEzCfg/m6dvnYiz8qxbPAYJ0pSOCz2Z+o7KzWUZt/3lq4DEghr6H623eiPegKGzqolGxSY1zLaE47l3tJDU8e1cE7/ho1WEee9o6ploqnalCq7nJ5LKmF6/kmVWLHl9IwNA4qZPoh+rDbmTYzn44Jm9UGIMN76pFEUZABFDduonVTGCWFgmn22YsQ/ak0NCVKM29I/bn6x1M+ABF2LQO5PpK5tiXWy+bjBRZbWxFGHPb5QFAX3lANxmPQ25kecI9vWHxIpV+jpU9KNT8aIhUcm7az7lYBKbSYQ9POGROtubzfAinhC4VQPBavEIKPdSbNKlyHEuZcr9mQzNGN/FG+Bl0jgz9C1lEK5iaefOcJVhnGNzt1DxDaXNV5uBX8Yx95Z+FJuSDySWuR/yoCQrXTC2SRWUU8GP0Vi3Oatqsn3uhx3aqcPdxDhK3H9kKv8exFWOOaTMxTUnR4Kv3a7Dqx0iwjEbGKvX5sDGH/oECX+rj2DWmyA3R87f3kAR0J4fnMNf2didGcmqzaTDjLUqXvi69oMD5KsPA3XPqCSpILfXQmciDC2b4fyNoNnDqBalv0aLzcMpk+41wkn5ApuM7L1lDsxwQOW2wiSHBx99Ndi8GCwywxlXblsu7yYGgvk3f4yHWqsBD6COsUX1/vs+CPW4yT1Bq69k8pz+4Tyw0Cm0MibWAy+ZrR0MagNuwRCjKwZRkoSUc4StEG9rJc5tNO9lseLUg/MjugQWYpIwQ61MnkI/B+umgxwGrhMqgw8v5RRT7By8EFbOxR+EuwonZyPZlFBw6oZ+AANkJ3eyVUAuunDauvuIMrqdyzGHCO7V8y/IFaGPEtEnmCmfsgk2H7qbk8u6tekjLpNjHsfo5oNfM/IRhf5Ygze1DWeRGDxzlhkLSUvttf50Ic82jemDBHNwXfe1zvf5x1fHjl3xTxTb273WEuXMVJCtC/5XarVxvWMy3+YyjX5ROBS2CogPGxLHott1gnFhvYGbSjOUTbrXyeDpreQmyS0EG3DR4spSuPs5ObaJhk5neEyQNRXSSYns9nQVWZboJSEP9fea5Bc81I8RjLb7wewIgBodSJj5jAgQZ7rXDW0yeZ9EI7953NpTCEgcLM2ipfAaahvZtnuhsr1ezEFEd1eIm6yfns7S8p+MWj9JMcsV2kPCUN9DcUbt4vWu1HcETBZfeN/pZ1NmAa0STPuf5u70IbuwbJbD8LncKXbkKChQY3LL4FGVX0xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017vFxZfdjmMtjSKTv1BuFvY",
      "input": {
        "note": "The gripper is just behind and left of the upright lid (its grey back is visible bottom-right in the wrist view). Sliding right behind the lid, slightly below its top edge.",
        "targets": {
          "left_x": 0.58,
          "left_y": -0.3,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_017vFxZfdjmMtjSKTv1BuFvY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4866, 2.6965, 2.9086, -1.211, -0.3481, -0.5259, 0.0114, 0.2493, 1.1526, 0.9131, -0.989, 0.16, -0.0906, 0.996]\nstate[eef_state]: left_x=0.5717 left_y=-0.2302 left_z=0.1375 left_yaw=0.1099 left_pitch=-0.3335 left_roll=-0.0129 left_gripper=0.0114 right_x=0.2454 right_y=0.0371 right_z=0.1233 right_yaw=0.1361 right_pitch=-0.6336 right_roll=-0.221 right_gripper=0.996\nstate[joint_eff]: [-3.0427, -9.8256, 5.3265, 0.4127, 0.1441, 0.1832, 0.5201, -0.1162, -4.2325, 6.4342, 1.1013, 0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbe4fda0b6419f38010f0c2320698b9f0499e081b8d0fb3cd7dc907ffa9b2024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86bc9d0093e2ba5081bb54f7f702b8223fa488d61f06c1a62c953679a342a480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3dd014b5548f2dd48661a1f59d6cc699a386301675d458bf07c7a018940bd13b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 4.883 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5831, 2.479, 2.2406, -1.5555, -0.4725, -1.9476, 0.9952, 0.2493, 1.1931, 0.9756, -1.0138, 0.1604, -0.0902, 0.996]\nstate[eef_state]: left_x=0.405 left_y=-0.1666 left_z=0.0533 left_yaw=1.3263 left_pitch=-0.4759 left_roll=0.0572 left_gripper=0.9952 right_x=0.2543 right_y=0.0393 right_z=0.1328 right_yaw=0.1352 right_pitch=-0.6362 right_roll=-0.2217 right_gripper=0.996\nstate[joint_eff]: [1.4154, -12.9026, 5.053, -0.2369, -0.2222, -0.105, -0.1099, 0.0205, -4.588, 6.4752, 1.1111, 0.0904, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3626, 2.6186, 2.7991, -1.264, -0.2569, -0.4488, 0.0089, 0.2493, 1.1687, 0.9424, -0.9997, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.5705 left_y=-0.1646 left_z=0.1341 left_yaw=0.1326 left_pitch=-0.4469 left_roll=0.0091 left_gripper=0.0089 right_x=0.2498 right_y=0.0382 right_z=0.1285 right_yaw=0.136 right_pitch=-0.6309 right_roll=-0.2205 right_gripper=0.996\nstate[joint_eff]: [0.2256, -15.9658, 4.6427, 0.398, -0.359, 0.315, 0.7546, 0.0752, -4.0821, 6.4342, 1.1209, 0.1294, -0.022, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4866, 2.6965, 2.9086, -1.211, -0.3481, -0.5259, 0.0114, 0.2493, 1.1526, 0.9131, -0.989, 0.16, -0.0906, 0.996]\nstate[eef_state]: left_x=0.5717 left_y=-0.2302 left_z=0.1375 left_yaw=0.1099 left_pitch=-0.3335 left_roll=-0.0129 left_gripper=0.0114 right_x=0.2454 right_y=0.0371 right_z=0.1233 right_yaw=0.1361 right_pitch=-0.6336 right_roll=-0.221 right_gripper=0.996\nstate[joint_eff]: [-3.0427, -9.8256, 5.3265, 0.4127, 0.1441, 0.1832, 0.5201, -0.1162, -4.2325, 6.4342, 1.1013, 0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbe4fda0b6419f38010f0c2320698b9f0499e081b8d0fb3cd7dc907ffa9b2024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86bc9d0093e2ba5081bb54f7f702b8223fa488d61f06c1a62c953679a342a480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dd014b5548f2dd48661a1f59d6cc699a386301675d458bf07c7a018940bd13b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1woKEAgSGAI4AUIIdGhpbmtpbmcSDJbPp73O1y/HAYomRBoMQcsUNUUQB4yTffieIjAvYexA3AXihZsiFk/cLw1zkyTsfUEQ1F9U8RaMXQFamzuVHFaN6OnEvxgxIfoGG+Iq9Ak1nq98R7N7//9L2lS0wFyOaVVDW8t6xJXR3kgoMSwDAKZ3Vap3vhyGa1qTx30OLd1bLope4dPzdwD6zHEAsM4a3IFFhpwTeH2QEl8WhjiYh/SrMCCrOexXhPkgR/2gAucGcbbFVnhgTiNbKSgeOwRe++IZUj/aGRT9IYbM6q6Zmy1pqp0+uQTiFazlaBCSkc5mETKBuvfU4RGOsKPVbc+9XwbrmeB6vdGk58QDbuHrkvDhlgg4GSPRRZTFiZdEOaIz+CbQ3PDtPf05tfMlo4NfqF723wduoCoG9lmLnD7f3iV2FlEKRBj3WyRCWq5kCaVlMnQAf1RwqzGFFEdRl2q3c33EioPTMCxhEnf3KzsLvVe6TbgEbit3kjJ5phD2ygephIpVtXxNV3EGAPZij2zLrAftCMJ5Ioxgi2cpHalYp91iSkUENMs285Ykojnj/hXfqX7dOfPKMn20q9wsF/j0RIbXDiCiyXjRNrXSrJ41wfFo24r90/JlfB89DZlSMqtpATMkDlvYg1NfRpPfZh71znHaf/MnSn6sXf5hWL/2RJSYMUPc8fkL304+9SQh2EZcAsiiIa5WYh/LxHFg7Ndwg05c1FeO58h86QHw1pjyaOcYSBh7kl87Q2VznqXVXMhFFg4jIFiA+EGBjrokUE5Gqeacso6RE70SIyy0O9fCt7whixJgzAMw48y/gPdjaRoy0kXJdWiHz7wheCh6e4BdJagQ8PsZn987G6KpH/lHvvTI0MmrNMOdRm4f9dNtHD65mxjSfSzHUMFT3j2/cYeMzSFwcJH+svwYBIOHElZhNKb+76f/JgAYsWiiatxE8AF0EySIDweC7uCt5T34yTS0yBa8KPinbcVvmKcKUzL3tlmChbDjoYBypZyf/pHvwNvtFHWcZqe0j2H4dtQV6O5067DPfWYXe0Cc1HsMJmTOn3C9YR68ldQXCF7kA80lubLUeT1yn0A1QmGxwDV51bhluJhB3fuZCwsH1As9VQnIQQv4q8DHZwoqRBIerTulyHHg13YRISS2MKWhmKazpcZAqjolATiqeKmexUCVv5zhiOagjXW37ujVa6Z/jDVv3n6bYlQ+CERon7zOqbNZhR9OkBFhMho68gwv5TYQoNiiKXl8pB29bF+SBQGW5WCOO3RlPSe6jbjT4amWRJb7jFhUS64LBM2HbGR8fBrfVCZ9UIqUdPq9vg52pcsYRIkNsQ5dkQaPeQkf/R9/02Hpt1y/i49BtrlHK6LKnE3JRF1kYc9AX4oLYz6yq1KEKXT0g26v2ENMcuHG8eQGjARot2J/3pKGfkR6YVid0mNfbkmV9iqCk8rEwQcNa81prjorBnnje5P2WlxpbhBEFQ6CvcmRTYsj+y5DxA3OgHkP13PcVdSAE+nYT1dnBrtg4HNDiViNw+9cM3CW04GpQsqrsOqB/WxPzXZ1dcEGf65RV7B8U8rVpC9Jh9pVClO9zHe7j9UJYkDf51tOdFHXJ61TSDFTpS2lKWpu2AWqqy/bsCyJIs1yB9gv0a8DV0K+aRGGMyEfofsaJpE5/ydWDCGimAbXcWP9CIfwoi1KE5MfMNaPXL/Z4gqirCe0VYBhJ6AQxGTa8yhpZ4tZKLWGjyriR9IP7q+Fl/EiX7n6yX6FweZJBEjHDRsQWAUaXytOEwSFq1KwmLCKH/bDek95AaQbOwQy0BjghhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dnri13TzHK7fp89UrU84wK",
      "input": {
        "note": "The arm stopped against the lid's corner at y -0.23. Lifting over the lid's top edge while moving right, to drop in behind it.",
        "targets": {
          "left_x": 0.58,
          "left_y": -0.31,
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Dnri13TzHK7fp89UrU84wK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5266, 2.7663, 2.978, -1.3258, -0.3569, -0.5774, 0.0136, 0.2493, 1.1339, 0.8803, -0.9768, 0.16, -0.0906, 0.996]\nstate[eef_state]: left_x=0.5484 left_y=-0.2433 left_z=0.1076 left_yaw=0.1339 left_pitch=-0.4218 left_roll=0.0346 left_gripper=0.0136 right_x=0.2406 right_y=0.0359 right_z=0.1175 right_yaw=0.1359 right_pitch=-0.6355 right_roll=-0.2213 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -14.9675, 7.4325, 1.1355, -0.3492, 0.1099, 0.2173, 0.1846, -3.8632, 6.7077, 1.1062, 0.0757, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dd3500e481def995f7ce49346cf31f8997ea7bebdd16f152354a7f6f38aeebd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82249ee46814d0279b4320eb8f565f75a179b5733bd42abe50311564c6af6ef3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98ad588d21c5132964d9cd10598ebb0f9aa99e4e32e5c24da02824d908fbbc62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 11.45 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3626, 2.6186, 2.7991, -1.264, -0.2569, -0.4488, 0.0089, 0.2493, 1.1687, 0.9424, -0.9997, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.5705 left_y=-0.1646 left_z=0.1341 left_yaw=0.1326 left_pitch=-0.4469 left_roll=0.0091 left_gripper=0.0089 right_x=0.2498 right_y=0.0382 right_z=0.1285 right_yaw=0.136 right_pitch=-0.6309 right_roll=-0.2205 right_gripper=0.996\nstate[joint_eff]: [0.2256, -15.9658, 4.6427, 0.398, -0.359, 0.315, 0.7546, 0.0752, -4.0821, 6.4342, 1.1209, 0.1294, -0.022, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4866, 2.6965, 2.9086, -1.211, -0.3481, -0.5259, 0.0114, 0.2493, 1.1526, 0.9131, -0.989, 0.16, -0.0906, 0.996]\nstate[eef_state]: left_x=0.5717 left_y=-0.2302 left_z=0.1375 left_yaw=0.1099 left_pitch=-0.3335 left_roll=-0.0129 left_gripper=0.0114 right_x=0.2454 right_y=0.0371 right_z=0.1233 right_yaw=0.1361 right_pitch=-0.6336 right_roll=-0.221 right_gripper=0.996\nstate[joint_eff]: [-3.0427, -9.8256, 5.3265, 0.4127, 0.1441, 0.1832, 0.5201, -0.1162, -4.2325, 6.4342, 1.1013, 0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5266, 2.7663, 2.978, -1.3258, -0.3569, -0.5774, 0.0136, 0.2493, 1.1339, 0.8803, -0.9768, 0.16, -0.0906, 0.996]\nstate[eef_state]: left_x=0.5484 left_y=-0.2433 left_z=0.1076 left_yaw=0.1339 left_pitch=-0.4218 left_roll=0.0346 left_gripper=0.0136 right_x=0.2406 right_y=0.0359 right_z=0.1175 right_yaw=0.1359 right_pitch=-0.6355 right_roll=-0.2213 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -14.9675, 7.4325, 1.1355, -0.3492, 0.1099, 0.2173, 0.1846, -3.8632, 6.7077, 1.1062, 0.0757, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dd3500e481def995f7ce49346cf31f8997ea7bebdd16f152354a7f6f38aeebd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82249ee46814d0279b4320eb8f565f75a179b5733bd42abe50311564c6af6ef3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98ad588d21c5132964d9cd10598ebb0f9aa99e4e32e5c24da02824d908fbbc62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSlAkKEAgSGAI4AUIIdGhpbmtpbmcSDEkZokHUkbI64/Vs5hoM/OsGg5SD0IXxQYn2IjCWovPKe86bRbiu6i/FZ+Bo9uTlq/uqUObvEgH6DOo0aWSdLpEQYPREbP8Bf3/6PTEqsQg79b50M3qSUMcqF51F9vdeU+NEoy/kFReeleMtjmYIaDwA6SqMpmyT3QtsqLPAeq6xTGiZCcfUzaI6szj1e1oRK5JUYkhKFThhn9GGr4LqgfYhF+vPHRGMJKsvne+U27L15jnOGE2rQoTS981IJQsyLyMlQN6GEHGwHl7MZPZjJKhUiMmo8ZL+8MwBsFck7sDAkFJnxf6gJZaxi+oS2xCVytju/PiYMfF5zMAP+17YnxsFSDN6jgBrzzUG+99O5TUHx/WlQIt28chh7cXa1Xb5vqWnf5+AyieGgVmSQ/n/XFaihZdNMEgADuMHt/nqljHg5UE+Xj60i7XFsxFn4Hlud5CTx2+sklqTh9HnYwLU3DAK+HlYjoS/4OyDzn4hGRmWuf3t8/RhK0c5EbUIr9v/V798BZ+ZR2ouPWQf6mvPMNhPnOjBt7a84K9ve7zcxc6gWGP0twAm0cHAq+Kz+l9MI/JHTgqM/ruETHBxzV2UIplOweJ40rx0SHa8nU0arwN6tL++jMEMgPyi4ioKVIdr79Xnhdarv58S+Kg0Kkq7InNPjZRLcNceYvpR1wKkTZG6ZuK+eEpIXfAZE+F4bX7Xk2JneY59Hf1mBYMWklIMvnBtwnu+xQovfBaja0yiOT48UpIdtGrqQaIYP5uPWR9IZyQc2+1PodHitDnDVUUDwDBxoqxV0ipf5K6m3ie+icLOtVb5Nl9xsAm+0JRz7rnxS8PW/9u9I6Px31oM1JML9RiSeSMnhbstiE9L0PeiOgI4joQZV37quTByQ3hJms6e3sgXdESXDDLBAHZlTMS84Mre7pd7zKA8NbX5htFUFlLc/ZpoINPxSA3YStFFOyxCcDMYaH7kIDnRDk/8JTaSj6jDfA/G6Xt8GHRklTJN+yaHa3ALobMesMyL2nGL24PV/I81BdcMI0Or4mQbYSCGYa0033Iu36U6auCToTI1iGPipGo3KjsAUBtKLGKlNu5VrAAluXkherIcZSGYXItLDzO2miAcBt6vWzelIKFhThfwcwcCigiC6g26qXfBnm3KdiYvXr5xJ0ZxMZwI5PnkCS3hH/6xL3fe/7f/ODUc+OLd8+34BllEdA0cJ58Cxxb2+rxeDUt6xxwN0A3IWdUFSNVGeDgHpOaEoL4ZBDqJApuhiNAfTxmpHmWhf9jCEPWg23sFwpv5D3zRses44UxpY4F53ooxIEFTn0bdi4nO5vC+4QWexgtr/93yFX3G7CJWxJ0zmPjNJtRMM9pin0kNmzMnF84pfUZ8y55ur05HEKYfQymLDTKbEC/cVg71bAHs1rfvvtQ4560Kfi6Enptwba605JGrBIJt9DE0uU1njUbEBYeYQokBL00i7KLEWIhkqFfawDAK9a3ZQURmxsCwoi8eZTgQm/4Y76AGnvjk7S5YHFzSB/0yiDmPZkZAvFgNPBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C9Jd2U9ACv55kBHXJbNnVF",
      "input": {
        "note": "The lid has swung shut (silver lid now covers the safe), though the brown bear's feet poke out the front. Retracting the left arm clear.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01C9Jd2U9ACv55kBHXJbNnVF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3412, 1.3334, 1.1629, -1.0172, -0.2657, -0.4255, 0.0158, 0.2497, 1.1053, 0.8467, -0.9619, 0.16, -0.0902, 0.996]\nstate[eef_state]: left_x=0.2988 left_y=-0.0531 left_z=0.1632 left_yaw=0.1739 left_pitch=-0.5349 left_roll=0.0868 left_gripper=0.0158 right_x=0.2362 right_y=0.0349 right_z=0.1138 right_yaw=0.1368 right_pitch=-0.6256 right_roll=-0.2198 right_gripper=0.996\nstate[joint_eff]: [0.1846, -9.7436, 8.841, 1.6435, -0.2564, 0.1832, 0.2222, 0.2256, -2.8239, 6.5709, 1.0574, 0.0611, -0.0024, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c220727727305ddc1af20e2a636d3d261dbec8e859ce5b49407edd4edd73b3e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a2f1fe9f9bf375227cec28f2197dc4c42f70e7fc41cd97d7318d701bd7d1f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0dd88e26fc5885ddbd383109ef57771232bb005770f6d4e473dc602e1b690f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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