adhoc

completed
2026-09-22T20:31:42.452703+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
192.9 s
total steps
267
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: open red safe in the centre, small teddy left of it, lemon right, big brown bear in front. Moving the left arm above the small teddy.
move_to
left_x0.4000left_y-0.1900left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3885, -0.0196, -0.0338, 0.9993, -0.0212, 0.794, 0.6083, -0.3958, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1786 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1786 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.4427, 10.1402, 1.9658, -0.0855, 0.1636, -0.0904, -0.5812, -1.6479, 9.6205, 1.9365, -0.0806, 0.0317, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.19, "left_z": 0.15, "left_gripper": 1}, "note": "Scene: open red safe in the centre, small teddy left of it, lemon right, big brown bear in front. Moving the left arm above the small teddy."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteTeddy sits just ahead of the jaws, slightly left in the wrist view. Descending onto it.
move_to
left_x0.4000left_y-0.1750left_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.651, 1.573, 0.9577, -0.1341, -0.519, -0.4198, 0.9993, -0.0212, 0.7986, 0.614, -0.4324, -0.02, -0.0196, 0.9996] state[eef_state]: left_x=0.3886 left_y=-0.1813 left_z=0.1315 left_yaw=-0.0109 left_pitch=-0.0568 left_roll=0.0269 left_gripper=0.9993 right_x=0.2891 right_y=0.001 right_z=0.1725 right_yaw=0.0002 right_pitch=-0.0355 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [-0.5128, -7.1726, 9.2923, 1.7167, -0.3932, 0.0269, -0.0904, -0.3487, -1.5795, 6.5162, 2.0635, -0.0415, -0.0611, -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
move_to({"targets": {"left_x": 0.4, "left_y": -0.175, "left_z": 0.01}, "note": "Teddy sits just ahead of the jaws, slightly left in the wrist view. Descending onto it."})
tool
executing move_to over 8 steps (0.8s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
Teddy is right between the jaws. Closing.
agent noteTeddy fills the view between the jaws at table level; closing the gripper on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6144, 1.8771, 0.7609, 0.3222, -0.5026, -0.4011, 0.9992, -0.0212, 0.8013, 0.6128, -0.4549, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3933 left_y=-0.1689 left_z=0.0097 left_yaw=0.0051 left_pitch=-0.1001 left_roll=0.0588 left_gripper=0.9992 right_x=0.2858 right_y=0.001 right_z=0.1668 right_yaw=-0.0003 right_pitch=-0.0618 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [0.294, -8.2393, 4.4103, 1.6435, -0.1636, 0.0415, -0.022, -0.0752, -1.4291, 7.3778, 1.8828, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
Teddy is right between the jaws. Closing.
move_to({"targets": {"left_gripper": 0}, "note": "Teddy fills the view between the jaws at table level; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteEmpty close: the teddy is still a few cm ahead of the jaws. Opening, lifting and moving 5 cm forward.
move_to
left_gripper1.0000left_z0.0600left_x0.4400left_y-0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6144, 1.8996, 0.7525, 0.3294, -0.5026, -0.4057, 0.0202, -0.0208, 0.8024, 0.6128, -0.4786, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3898 left_y=-0.1665 left_z=-0.0007 left_yaw=0.0091 left_pitch=-0.1192 left_roll=0.0691 left_gripper=0.0202 right_x=0.2823 right_y=0.0013 right_z=0.1619 right_yaw=0.0005 right_pitch=-0.0866 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [0.0068, -10.1265, 5.3949, 1.3895, -0.2027, 0.0659, 1.2967, -0.0342, -1.3333, 6.9402, 1.9316, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.06, "left_x": 0.44, "left_y": -0.17}, "note": "Empty close: the teddy is still a few cm ahead of the jaws. Opening, lifting and moving 5 cm forward."})
tool
executing move_to over 10 steps (1.0s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteTeddy body now sits between the jaw tips in the wrist view; descending to table level.
move_to
left_z0.0000left_x0.4400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5461, 1.8893, 0.9798, 0.0635, -0.4644, -0.371, 0.9949, -0.0212, 0.8024, 0.6128, -0.4999, -0.0196, -0.0196, 0.9996] state[eef_state]: left_x=0.429 left_y=-0.1639 left_z=0.0357 left_yaw=0.0316 left_pitch=-0.16 left_roll=0.0882 left_gripper=0.9949 right_x=0.279 right_y=0.0012 right_z=0.1578 right_yaw=0.0 right_pitch=-0.1079 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [0.4444, -11.5897, 8.335, 1.4139, -0.0806, 0.1929, 0.0855, -0.0479, -1.1966, 6.9265, 1.8681, -0.0122, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0, "left_x": 0.44}, "note": "Teddy body now sits between the jaw tips in the wrist view; descending to table level."})
tool
executing move_to over 3 steps (0.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteTeddy is between the jaws at table level; 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]: [-0.5346, 1.9858, 0.9859, 0.131, -0.4622, -0.3725, 0.9956, -0.0212, 0.8051, 0.6128, -0.5152, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.4349 left_y=-0.1619 left_z=0.0058 left_yaw=0.0443 left_pitch=-0.18 left_roll=0.0983 left_gripper=0.9956 right_x=0.2767 right_y=0.0013 right_z=0.1542 right_yaw=0.0002 right_pitch=-0.1259 right_roll=0.0027 right_gripper=0.9996 state[joint_eff]: [0.5402, -9.5658, 5.2581, 1.2723, -0.1197, 0.6374, 0.0464, -0.1026, -1.3744, 7.0085, 1.8291, -0.0366, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Teddy is between the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteGripper settled at 0.20, so the teddy is held. Lifting to carry height.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.535, 1.9972, 0.9825, 0.1608, -0.4755, -0.3794, 0.1978, -0.0212, 0.8101, 0.6109, -0.5529, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.4377 left_y=-0.1612 left_z=0.0049 left_yaw=0.0564 left_pitch=-0.1617 left_roll=0.0934 left_gripper=0.1978 right_x=0.2703 right_y=0.0014 right_z=0.1452 right_yaw=0.0003 right_pitch=-0.1705 right_roll=0.0036 right_gripper=0.9996 state[joint_eff]: [-0.1983, -10.7556, 5.5316, 1.0769, -0.1343, 0.022, 0.7057, -0.0889, -1.2786, 7.0222, 1.9512, -0.022, -0.0366, -0.0073] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Gripper settled at 0.20, so the teddy is held. Lifting to carry height."})
tool
executing move_to over 13 steps (1.3s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteTeddy is held and lifted. Carrying it right over the safe's red interior.
move_to
left_y-0.2900left_x0.4500left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.535, 1.7535, 1.4097, -0.5629, -0.4755, -0.3908, 0.199, -0.0212, 0.8101, 0.6106, -0.5884, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.4378 left_y=-0.1613 left_z=0.1668 left_yaw=0.0682 left_pitch=-0.2045 left_roll=0.1151 left_gripper=0.199 right_x=0.2642 right_y=0.0015 right_z=0.1387 right_yaw=0.0005 right_pitch=-0.2063 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [-0.0479, -12.2051, 9.2239, 1.4432, -0.2711, 0.1001, 0.1099, -0.0752, -1.1009, 7.0359, 1.8486, -0.0659, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.29, "left_x": 0.45, "left_z": 0.2}, "note": "Teddy is held and lifted. Carrying it right over the safe's red interior."})
tool
executing move_to over 12 steps (1.2s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteGripper with teddy is above the safe; lowering into it before release.
move_to
left_z0.1000left_y-0.3100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7589, 2.1422, 2.0644, -0.9558, -0.5804, -0.6086, 0.2011, -0.0208, 0.8135, 0.6102, -0.6132, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.4487 left_y=-0.2871 left_z=0.1878 left_yaw=0.0576 left_pitch=-0.2303 left_roll=0.1106 left_gripper=0.2011 right_x=0.2598 right_y=0.0017 right_z=0.1335 right_yaw=0.001 right_pitch=-0.2349 right_roll=0.0051 right_gripper=0.9996 state[joint_eff]: [-0.5675, -11.9726, 8.6906, 0.906, -0.5446, -0.0171, 0.2076, -0.0342, -1.4154, 6.8308, 1.707, -0.0415, -0.0415, -0.0073] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1, "left_y": -0.31}, "note": "Gripper with teddy is above the safe; lowering into it before release."})
tool
executing move_to over 6 steps (0.6s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteTeddy hangs over the red safe interior; releasing it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7876, 2.2074, 1.8473, -0.7444, -0.5846, -0.6369, 0.2031, -0.0212, 0.8165, 0.6094, -0.635, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.4421 left_y=-0.3008 left_z=0.1001 left_yaw=0.0609 left_pitch=-0.2733 left_roll=0.1476 left_gripper=0.2031 right_x=0.2557 right_y=0.0017 right_z=0.1288 right_yaw=0.0007 right_pitch=-0.2605 right_roll=0.0056 right_gripper=0.9996 state[joint_eff]: [-0.5402, -11.5897, 6.7761, 1.2283, -0.4322, -0.0708, 0.1978, -0.0205, -1.265, 6.8308, 1.6972, -0.0464, -0.0122, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Teddy hangs over the red safe interior; releasing it."})
tool
executing move_to over 8 steps (0.8s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteTeddy is in the safe. Parking the left arm at home and sending the right arm above the lemon (right of the safe).
move_to
left_x0.2900left_y0.0000left_z0.1800right_x0.4500right_y0.1500right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7914, 2.2108, 1.837, -0.7448, -0.5804, -0.6411, 0.9959, -0.0212, 0.8165, 0.6094, -0.6575, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.4389 left_y=-0.3012 left_z=0.0944 left_yaw=0.0599 left_pitch=-0.2851 left_roll=0.1532 left_gripper=0.9959 right_x=0.2516 right_y=0.0017 right_z=0.1252 right_yaw=0.0005 right_pitch=-0.283 right_roll=0.0059 right_gripper=0.9996 state[joint_eff]: [-0.0205, -12.9162, 7.4325, 1.0379, -0.3932, 0.0024, -0.105, -0.0342, -1.1282, 6.8581, 1.6239, -0.0269, -0.0269, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.18, "right_x": 0.45, "right_y": 0.15, "right_z": 0.13, "right_gripper": 1}, "note": "Teddy is in the safe. Parking the left arm at home and sending the right arm above the lemon (right of the safe)."})
tool
executing move_to over 27 steps (2.7s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteLemon is just ahead and slightly right of the jaw column in the right wrist view; advancing a bit and descending around it.
move_to
right_x0.4650right_y0.1400right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1661, 1.0428, 0.9066, -0.749, -0.2581, -0.112, 0.997, 0.4049, 1.7718, 1.3041, -0.4839, 0.2371, 0.2901, 0.9996] state[eef_state]: left_x=0.2945 left_y=-0.0 left_z=0.1799 left_yaw=0.1053 left_pitch=-0.2782 left_roll=0.1441 left_gripper=0.997 right_x=0.4366 right_y=0.1459 right_z=0.117 right_yaw=0.0203 right_pitch=-0.332 right_roll=-0.0153 right_gripper=0.9996 state[joint_eff]: [-0.0752, -3.0427, 6.106, 1.5263, -0.0757, 0.1148, 0.1001, 0.3897, -8.7043, 8.8547, 1.4774, 0.2173, 0.2271, -0.0562] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.14, "right_z": 0.02}, "note": "Lemon is just ahead and slightly right of the jaw column in the right wrist view; advancing a bit and descending around it."})
tool
executing move_to over 7 steps (0.7s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteLemon is ~3.5 cm right of the jaw centre and slightly ahead; shifting right/forward and lowering.
move_to
right_x0.4750right_y0.1050right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.165, 1.0454, 0.902, -0.7647, -0.2508, -0.1131, 0.9971, 0.3668, 1.9728, 1.1965, -0.207, 0.2115, 0.2623, 0.9996] state[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1747 left_yaw=0.1028 left_pitch=-0.3016 left_roll=0.144 left_gripper=0.9971 right_x=0.4552 right_y=0.139 right_z=0.0242 right_yaw=0.016 right_pitch=-0.3693 right_roll=-0.0241 right_gripper=0.9996 state[joint_eff]: [-0.3077, -2.9333, 7.0222, 1.5263, -0.2076, -0.0415, -0.0024, -0.6222, -8.9231, 5.5043, 1.1697, 0.0659, -0.0806, -0.0171] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_y": 0.105, "right_z": 0.01}, "note": "Lemon is ~3.5 cm right of the jaw centre and slightly ahead; shifting right/forward and lowering."})
tool
executing move_to over 3 steps (0.3s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteLemon is centred between the jaws; closing on it.
move_to
right_gripper0.0000right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.165, 1.0454, 0.902, -0.7681, -0.2508, -0.1131, 0.9971, 0.289, 1.9953, 1.1931, -0.1574, 0.1642, 0.2085, 0.9996] state[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1742 left_yaw=0.1031 left_pitch=-0.305 left_roll=0.1449 left_gripper=0.9971 right_x=0.4696 right_y=0.1132 right_z=0.0182 right_yaw=0.0134 right_pitch=-0.3592 right_roll=-0.0103 right_gripper=0.9996 state[joint_eff]: [-0.1026, -2.7009, 6.653, 1.3651, -0.188, -0.0415, -0.0122, -0.1573, -8.1026, 7.4598, 1.2234, 0.1099, -0.232, -0.0073] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0, "right_z": 0.01}, "note": "Lemon is centred between the jaws; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteEmpty close; the lemon slid and now sits right of and ahead of the jaws. Opening, lifting slightly and shifting right/forward.
move_to
right_gripper1.0000right_z0.0500right_x0.4900right_y0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.165, 1.0454, 0.902, -0.7689, -0.2508, -0.1131, 0.9971, 0.2718, 2.0087, 1.1965, -0.1459, 0.131, 0.1684, 0.0386] state[eef_state]: left_x=0.2902 left_y=-0.0002 left_z=0.1741 left_yaw=0.1031 left_pitch=-0.3057 left_roll=0.1451 left_gripper=0.9971 right_x=0.4725 right_y=0.1114 right_z=0.0141 right_yaw=0.049 right_pitch=-0.3646 right_roll=-0.0069 right_gripper=0.0386 state[joint_eff]: [-0.0752, -2.2769, 6.653, 1.3748, -0.1148, -0.0611, -0.0122, -0.5949, -9.1829, 6.9675, 1.2625, 0.1294, -0.0317, 1.5409] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.05, "right_x": 0.49, "right_y": 0.085}, "note": "Empty close; the lemon slid and now sits right of and ahead of the jaws. Opening, lifting slightly and shifting right/forward."})
tool
executing move_to over 10 steps (1.0s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteLemon sits against the safe's right wall, a few cm ahead of the jaws; the left jaw is riding on the safe wall. Lifting and moving forward above the lemon.
move_to
right_z0.0800right_x0.5200right_y0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.165, 1.0454, 0.902, -0.7715, -0.2508, -0.1131, 0.9971, 0.202, 2.0064, 1.2774, -0.3012, 0.0887, 0.1036, 0.9945] state[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1737 left_yaw=0.1034 left_pitch=-0.3083 left_roll=0.1459 left_gripper=0.9971 right_x=0.4733 right_y=0.0846 right_z=0.0221 right_yaw=0.0502 right_pitch=-0.4424 right_roll=-0.0225 right_gripper=0.9945 state[joint_eff]: [-0.1299, -2.7145, 6.694, 1.409, -0.1441, -0.0708, -0.0122, -0.5812, -12.8752, 8.5675, 1.5116, -0.0269, -0.0073, -0.2027] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08, "right_x": 0.52, "right_y": 0.09}, "note": "Lemon sits against the safe's right wall, a few cm ahead of the jaws; the left jaw is riding on the safe wall. Lifting and moving forward above the lemon."})
tool
executing move_to over 4 steps (0.4s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteLemon is now near the jaw column ahead, against the safe's outer right wall. Descending with a slight right offset so the left jaw clears the wall.
move_to
right_z0.0150right_x0.5250right_y0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.165, 1.0454, 0.902, -0.7727, -0.2508, -0.1131, 0.9971, 0.1986, 2.0804, 1.61, -0.5446, 0.0853, 0.0925, 0.9953] state[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1736 left_yaw=0.1035 left_pitch=-0.3094 left_roll=0.1462 left_gripper=0.9971 right_x=0.5162 right_y=0.0922 right_z=0.076 right_yaw=0.0576 right_pitch=-0.4278 right_roll=-0.0233 right_gripper=0.9953 state[joint_eff]: [-0.1709, -2.6462, 6.6393, 1.3504, -0.1636, -0.0464, -0.0122, -0.5812, -9.894, 7.4325, 1.1111, -0.0122, -0.0415, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.015, "right_x": 0.525, "right_y": 0.08}, "note": "Lemon is now near the jaw column ahead, against the safe's outer right wall. Descending with a slight right offset so the left jaw clears the wall."})
tool
executing move_to over 4 steps (0.4s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteLemon fills the space between the jaws right next to the safe wall; 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]: [-0.165, 1.0454, 0.902, -0.7727, -0.2508, -0.1131, 0.9971, 0.1726, 2.1624, 1.515, -0.4358, 0.0734, 0.0769, 0.9953] state[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1736 left_yaw=0.1035 left_pitch=-0.3094 left_roll=0.1462 left_gripper=0.9971 right_x=0.5082 right_y=0.0791 right_z=0.0138 right_yaw=0.0477 right_pitch=-0.4971 right_roll=-0.0308 right_gripper=0.9953 state[joint_eff]: [-0.1846, -2.5778, 6.653, 1.3407, -0.1636, -0.0171, -0.0122, -0.3077, -11.5624, 6.7897, 1.4969, -0.0269, -0.1734, -0.0073] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Lemon fills the space between the jaws right next to the safe wall; closing."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteClosed empty again; the lemon sits about 3.5 cm right of the jaw centre. Opening, lifting a little and shifting right.
move_to
right_gripper1.0000right_z0.0400right_y0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.165, 1.0462, 0.902, -0.7727, -0.2504, -0.1131, 0.9971, 0.1776, 2.1731, 1.5105, -0.4084, 0.0517, 0.0738, 0.0384] state[eef_state]: left_x=0.2895 left_y=-0.0002 left_z=0.1734 left_yaw=0.1032 left_pitch=-0.3102 left_roll=0.1461 left_gripper=0.9971 right_x=0.5106 right_y=0.086 right_z=0.0099 right_yaw=0.0758 right_pitch=-0.4871 right_roll=-0.0093 right_gripper=0.0384 state[joint_eff]: [-0.1846, -2.7966, 6.653, 1.3748, -0.1392, -0.0269, -0.0122, -0.4718, -12.9299, 6.6803, 0.8376, 0.1636, 0.0122, 1.0867] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.04, "right_y": 0.05}, "note": "Closed empty again; the lemon sits about 3.5 cm right of the jaw centre. Opening, lifting a little and shifting right."})
tool
executing move_to over 10 steps (1.0s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteLemon is now on the jaw column but a few cm ahead of the fingertips, near the reach limit; tipping the tool forward to extend reach.
move_to
right_x0.5300right_pitch0.2000right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.165, 1.0481, 0.902, -0.7872, -0.2508, -0.1131, 0.9971, 0.0986, 2.149, 1.5108, -0.4919, 0.0204, 0.0074, 0.9945] state[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.1708 left_yaw=0.105 left_pitch=-0.3259 left_roll=0.151 left_gripper=0.9971 right_x=0.4996 right_y=0.0494 right_z=0.0123 right_yaw=0.0666 right_pitch=-0.5483 right_roll=-0.0166 right_gripper=0.9945 state[joint_eff]: [-0.212, -2.8923, 6.8034, 1.4481, -0.1587, -0.0708, -0.0122, -0.3214, -14.5709, 8.8547, 1.1893, -0.1148, -0.0171, -0.2125] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.53, "right_pitch": 0.2, "right_z": 0.015}, "note": "Lemon is now on the jaw column but a few cm ahead of the fingertips, near the reach limit; tipping the tool forward to extend reach."})
tool
executing move_to over 25 steps (2.5s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteWith the tool tipped forward the lemon now sits between the jaw tips; lowering to grasp height.
move_to
right_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1646, 1.0481, 0.902, -0.794, -0.2504, -0.1135, 0.9971, 0.0971, 2.167, 0.9363, 0.841, 0.0242, 0.0002, 0.9953] state[eef_state]: left_x=0.2855 left_y=0.0006 left_z=0.1698 left_yaw=0.1058 left_pitch=-0.3326 left_roll=0.1524 left_gripper=0.9971 right_x=0.5325 right_y=0.0512 right_z=0.026 right_yaw=0.0701 right_pitch=0.1919 right_roll=-0.0029 right_gripper=0.9953 state[joint_eff]: [-0.0342, -2.6188, 6.5983, 1.3944, -0.1343, -0.0513, -0.0122, 0.0342, -7.6923, 3.8632, 1.5751, 0.0806, -0.1294, 0.0611] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.005}, "note": "With the tool tipped forward the lemon now sits between the jaw tips; lowering to grasp height."})
tool
executing move_to over 2 steps (0.2s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteGrasp point is at ~3 cm, about half the lemon's height, with the lemon between the jaws; 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]: [-0.1646, 1.0481, 0.902, -0.7952, -0.2508, -0.1131, 0.9971, 0.0967, 2.1933, 0.9314, 0.9237, 0.0177, 0.0067, 0.9953] state[eef_state]: left_x=0.2853 left_y=0.0007 left_z=0.1696 left_yaw=0.1061 left_pitch=-0.3336 left_roll=0.1533 left_gripper=0.9971 right_x=0.536 right_y=0.0524 right_z=0.0297 right_yaw=0.0713 right_pitch=0.2433 right_roll=0.007 right_gripper=0.9953 state[joint_eff]: [-0.0068, -2.7009, 6.612, 1.3065, -0.188, 0.0024, -0.0122, -0.1026, -6.8171, 5.4906, 1.4383, 0.1734, -0.188, -0.0122] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Grasp point is at ~3 cm, about half the lemon's height, with the lemon between the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteGripper settled at 0.67 (~6 cm), so the lemon is held. Lifting it clear of the safe wall.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1646, 1.0481, 0.902, -0.8021, -0.2508, -0.1131, 0.9971, 0.0986, 2.2028, 0.9329, 0.9527, 0.0101, 0.0029, 0.6652] state[eef_state]: left_x=0.284 left_y=0.0009 left_z=0.1686 left_yaw=0.1067 left_pitch=-0.3402 left_roll=0.1552 left_gripper=0.9971 right_x=0.5377 right_y=0.055 right_z=0.0321 right_yaw=0.0819 right_pitch=0.2642 right_roll=0.0063 right_gripper=0.6652 state[joint_eff]: [-0.0615, -2.5094, 7.0085, 1.3797, -0.149, -0.0464, -0.0122, -0.212, -11.535, 4.506, 1.6044, 0.0806, -0.0073, 0.862] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.67 (~6 cm), so the lemon is held. Lifting it clear of the safe wall."})
tool
executing move_to over 11 steps (1.1s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
right_cam
camera right_cam step 231
assistant
agent noteThe lemon slipped out during the lift and now lies on the table to the right of the gripper, far forward. Opening and moving right above it for another try.
move_to
right_y0.0000right_x0.5200right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1631, 1.0481, 0.902, -0.8097, -0.2508, -0.1135, 0.9971, 0.1005, 1.8126, 1.1023, 0.326, 0.0032, -0.001, 0.6645] state[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1676 left_yaw=0.1092 left_pitch=-0.3476 left_roll=0.1571 left_gripper=0.9971 right_x=0.534 right_y=0.0569 right_z=0.1617 right_yaw=0.092 right_pitch=0.1971 right_roll=0.0042 right_gripper=0.6645 state[joint_eff]: [-0.1709, -2.5368, 6.5983, 1.3944, -0.1929, -0.0659, -0.0122, -0.294, -12.2598, 9.5932, 2.2393, 0.0024, 0.0171, -0.0904] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.0, "right_x": 0.52, "right_z": 0.1, "right_gripper": 1}, "note": "The lemon slipped out during the lift and now lies on the table to the right of the gripper, far forward. Opening and moving right above it for another try."})
tool
executing move_to over 5 steps (0.5s)
step 236
top_cam
camera top_cam step 236
assistant
agent noteThe safe lid got knocked shut (teddy inside); lemon lies far forward right of the gripper. Tipping the tool forward and reaching out/down to it.
move_to
right_y-0.0300right_x0.5600right_z0.0300right_pitch0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1631, 1.0481, 0.902, -0.8131, -0.2508, -0.1131, 0.9971, -0.0486, 1.8942, 0.9253, 0.4744, -0.102, -0.046, 0.996] state[eef_state]: left_x=0.2818 left_y=0.0017 left_z=0.1671 left_yaw=0.1093 left_pitch=-0.3509 left_roll=0.1584 left_gripper=0.9971 right_x=0.509 right_y=-0.0032 right_z=0.0778 right_yaw=0.0561 right_pitch=0.0896 right_roll=0.0135 right_gripper=0.996 state[joint_eff]: [-0.0205, -2.4957, 6.5983, 1.3455, -0.1538, -0.0269, -0.0073, -0.0068, -9.2103, 6.6393, 2.4933, -0.1441, -0.022, -0.105] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": -0.03, "right_x": 0.56, "right_z": 0.03, "right_pitch": 0.45}, "note": "The safe lid got knocked shut (teddy inside); lemon lies far forward right of the gripper. Tipping the tool forward and reaching out/down to it."})
tool
executing move_to over 13 steps (1.3s)
step 249
assistant
agent noteLemon is ~6 cm right of the jaw column and a bit ahead; shifting right and forward at grasp height.
move_to
right_y-0.0800right_x0.5800right_z0.0200right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1631, 1.05, 0.902, -0.8173, -0.2508, -0.1131, 0.9971, -0.1112, 2.3653, 0.9848, 1.1606, -0.178, -0.041, 0.9973] state[eef_state]: left_x=0.2811 left_y=0.0018 left_z=0.166 left_yaw=0.1099 left_pitch=-0.3568 left_roll=0.1601 left_gripper=0.9971 right_x=0.5524 right_y=-0.0266 right_z=0.0148 right_yaw=0.0653 right_pitch=0.365 right_roll=0.0059 right_gripper=0.9973 state[joint_eff]: [-0.0342, -2.865, 6.5983, 1.2967, -0.1734, -0.0513, -0.0122, -0.6769, -10.3043, 5.4085, 2.1612, -0.0904, 0.1734, 0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": -0.08, "right_x": 0.58, "right_z": 0.02, "right_pitch": 0.5}, "note": "Lemon is ~6 cm right of the jaw column and a bit ahead; shifting right and forward at grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 254
assistant
agent noteLemon is centred on the jaw column, slightly ahead; nudging forward 1.5 cm before closing.
move_to
right_x0.5950right_y-0.0750right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1631, 1.05, 0.902, -0.8192, -0.2504, -0.1131, 0.9971, -0.2264, 2.4847, 1.1358, 1.2465, -0.2825, -0.0418, 0.9974] state[eef_state]: left_x=0.2808 left_y=0.0018 left_z=0.1658 left_yaw=0.1098 left_pitch=-0.3587 left_roll=0.1604 left_gripper=0.9971 right_x=0.5773 right_y=-0.0788 right_z=0.0232 right_yaw=0.0587 right_pitch=0.4831 right_roll=-0.0064 right_gripper=0.9974 state[joint_eff]: [-0.0615, -2.7145, 6.6256, 1.2967, -0.1392, -0.0024, -0.0122, -0.2803, -10.3726, 5.0667, 1.8877, -0.022, 0.0952, 0.0024] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.595, "right_y": -0.075, "right_z": 0.02}, "note": "Lemon is centred on the jaw column, slightly ahead; nudging forward 1.5 cm before closing."})
tool
executing move_to over 2 steps (0.2s)
step 256
assistant
agent noteAt reach limit with the lemon centred just ahead of the jaws; closing and hoping the fingertips catch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1631, 1.05, 0.902, -0.8242, -0.2504, -0.1131, 0.9971, -0.2371, 2.4939, 1.1465, 1.2545, -0.305, -0.0418, 0.9974] state[eef_state]: left_x=0.2798 left_y=0.002 left_z=0.1651 left_yaw=0.1103 left_pitch=-0.3635 left_roll=0.1618 left_gripper=0.9971 right_x=0.5782 right_y=-0.0815 right_z=0.0238 right_yaw=0.0708 right_pitch=0.4928 right_roll=-0.0072 right_gripper=0.9974 state[joint_eff]: [-0.0205, -2.6872, 6.5709, 1.3016, -0.1343, -0.022, -0.0122, 0.1846, -10.5915, 5.2171, 2.0049, -0.0464, 0.0659, -0.0122] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "At reach limit with the lemon centred just ahead of the jaws; closing and hoping the fingertips catch it."})
tool
executing move_to over 10 steps (1.0s)
step 266
assistant
agent noteI couldn't finish the task. The teddy is inside the safe, but when the lemon slipped out of the right gripper it rolled to the far edge of the table, about x ≥ 0.60 in the right arm's frame. The last two closes, at maximum forward reach (x ≈ 0.578, pitch 0.49), came up empty with the lemon still just ahead of the jaws, and I can't get behind it to pull it closer. The safe lid also got knocked shut during the lemon attempts, so the large brown bear would need the lid reopened first, and I only have about 9 calls left. An operator needs to move the lemon back within reach (x < 0.5) and reopen the safe.
give_up
hindsight- Top camera: an arm grasp point at x≈0.29 shows up around image row 140. Image x≈118 is roughly the table's centre line. Across the table the scale is about 2.75 px/cm. - Safe interior centre: left_y ≈ -0.30, x ≈ 0.45 for the left arm, and right_y ≈ +0.17 for the right arm. That means the documented 0.65 m base offset didn't hold for right_y at the safe; judge the right arm's frame from the image. - The safe is only about 0.15 m wide, and a lid hinged at the back stands open behind it. It is easy to knock shut. Keep both arms clear of the lid and approach objects from the front or sides. - Grasps on the teddy worked at table level, but the first descent from the wrist-view estimate came up ~4 cm short. Advance about 4–5 cm further out than the wrist view suggests. - Lemon: the round fruit is slippery, and a grip reading of 0.66 (~6 cm) still slipped out when I lifted fast. Grasp it low (z ≈ 0.02), close fully, and lift slowly. Better still, carry it at modest height straight to the safe rather than lifting to 0.2 while right next to the safe lid. - Pitching the tool forward (+0.2 to +0.5) extends table-level reach from ~0.51 to ~0.58. The right arm stalls at x≈0.578 near the table. The IK drifts pitch negative (to -0.3 to -0.5) during normal moves, which cuts reach, so command pitch explicitly. - Empty closes on round objects push them further away. Line up carefully before the first close.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1631, 1.05, 0.902, -0.8291, -0.2508, -0.1135, 0.9971, -0.2371, 2.495, 1.1461, 1.2545, -0.3046, -0.0418, 0.0074] state[eef_state]: left_x=0.2788 left_y=0.0022 left_z=0.1644 left_yaw=0.1113 left_pitch=-0.3681 left_roll=0.1633 left_gripper=0.9971 right_x=0.578 right_y=-0.0815 right_z=0.023 right_yaw=0.0702 right_pitch=0.4914 right_roll=-0.0067 right_gripper=0.0074 state[joint_eff]: [-0.0068, -2.5915, 6.5846, 1.3065, -0.1832, -0.0659, -0.0122, 0.212, -12.4239, 4.1368, 1.873, -0.0366, -0.0171, 0.4664] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I couldn't finish the task. The teddy is inside the safe, but when the lemon slipped out of the right gripper it rolled to the far edge of the table, about x \u2265 0.60 in the right arm's frame. The last two closes, at maximum forward reach (x \u2248 0.578, pitch 0.49), came up empty with the lemon still just ahead of the jaws, and I can't get behind it to pull it closer. The safe lid also got knocked shut during the lemon attempts, so the large brown bear would need the lid reopened first, and I only have about 9 calls left. An operator needs to move the lemon back within reach (x < 0.5) and reopen the safe.", "hindsight": "- Top camera: an arm grasp point at x\u22480.29 shows up around image row 140. Image x\u2248118 is roughly the table's centre line. Across the table the scale is about 2.75 px/cm.\n- Safe interior centre: left_y \u2248 -0.30, x \u2248 0.45 for the left arm, and right_y \u2248 +0.17 for the right arm. That means the documented 0.65 m base offset didn't hold for right_y at the safe; judge the right arm's frame from the image.\n- The safe is only about 0.15 m wide, and a lid hinged at the back stands open behind it. It is easy to knock shut. Keep both arms clear of the lid and approach objects from the front or sides.\n- Grasps on the teddy worked at table level, but the first descent from the wrist-view estimate came up ~4 cm short. Advance about 4\u20135 cm further out than the wrist view suggests.\n- Lemon: the round fruit is slippery, and a grip reading of 0.66 (~6 cm) still slipped out when I lifted fast. Grasp it low (z \u2248 0.02), close fully, and lift slowly. Better still, carry it at modest height straight to the safe rather than lifting to 0.2 while right next to the safe lid.\n- Pitching the tool forward (+0.2 to +0.5) extends table-level reach from ~0.51 to ~0.58. The right arm stalls at x\u22480.578 near the table. The IK drifts pitch negative (to -0.3 to -0.5) during normal moves, which cuts reach, so command pitch explicitly.\n- Empty closes on round objects push them further away. Line up carefully before the first close."})
tool
give_up: I couldn't finish the task. The teddy is inside the safe, but when the lemon slipped out of the right gripper it rolled to the far edge of the table, about x ≥ 0.60 in the right arm's frame. The last two closes, at maximum forward reach (x ≈ 0.578, pitch 0.49), came up empty with the lemon still just ahead of the jaws, and I can't get behind it to pull it closer. The safe lid also got knocked shut during the lemon attempts, so the large brown bear would need the lid reopened first, and I only have about 9 calls left. An operator needs to move the lemon back within reach (x < 0.5) and reopen the safe.
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 · 15.27 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3885, -0.0196, -0.0338, 0.9993, -0.0212, 0.794, 0.6083, -0.3958, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1786 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1786 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4427, 10.1402, 1.9658, -0.0855, 0.1636, -0.0904, -0.5812, -1.6479, 9.6205, 1.9365, -0.0806, 0.0317, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94598838372f35042db00230b180ffdf69f696f6c0dc1775579dd61b4dbe1938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cf308039742848a2b4ede963b6b0e9d4788869ccaa498fcf49913350b790950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70fa8de187b96c82164ae158162628d363a0fc2f5c30cffbe52426a93e70480f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 4.821 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3885, -0.0196, -0.0338, 0.9993, -0.0212, 0.794, 0.6083, -0.3958, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1786 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1786 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4427, 10.1402, 1.9658, -0.0855, 0.1636, -0.0904, -0.5812, -1.6479, 9.6205, 1.9365, -0.0806, 0.0317, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94598838372f35042db00230b180ffdf69f696f6c0dc1775579dd61b4dbe1938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cf308039742848a2b4ede963b6b0e9d4788869ccaa498fcf49913350b790950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70fa8de187b96c82164ae158162628d363a0fc2f5c30cffbe52426a93e70480f",
        "media_type": "image/png",
        "type": "base64"
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013yiBEejpQPyKeycJ7Z7Wpj",
      "input": {
        "note": "Scene: open red safe in the centre, small teddy left of it, lemon right, big brown bear in front. Moving the left arm above the small teddy.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.4,
          "left_y": -0.19,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_013yiBEejpQPyKeycJ7Z7Wpj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.651, 1.573, 0.9577, -0.1341, -0.519, -0.4198, 0.9993, -0.0212, 0.7986, 0.614, -0.4324, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3886 left_y=-0.1813 left_z=0.1315 left_yaw=-0.0109 left_pitch=-0.0568 left_roll=0.0269 left_gripper=0.9993 right_x=0.2891 right_y=0.001 right_z=0.1725 right_yaw=0.0002 right_pitch=-0.0355 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -7.1726, 9.2923, 1.7167, -0.3932, 0.0269, -0.0904, -0.3487, -1.5795, 6.5162, 2.0635, -0.0415, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dbe9c63de7b4b0a5f5b1ce99b47350e9fd6ed9846deded4ba6b4c07d6dd539b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a95ab0d90c617affe36b12881b0e1e05c9d0d1246f9557e91fee49afc99cf4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54cabf52da20ccc735cf24edaaa42906b0b98a6d5c34ff1b3ee1992c2f78c394",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.175 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3885, -0.0196, -0.0338, 0.9993, -0.0212, 0.794, 0.6083, -0.3958, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1786 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1786 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4427, 10.1402, 1.9658, -0.0855, 0.1636, -0.0904, -0.5812, -1.6479, 9.6205, 1.9365, -0.0806, 0.0317, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.651, 1.573, 0.9577, -0.1341, -0.519, -0.4198, 0.9993, -0.0212, 0.7986, 0.614, -0.4324, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3886 left_y=-0.1813 left_z=0.1315 left_yaw=-0.0109 left_pitch=-0.0568 left_roll=0.0269 left_gripper=0.9993 right_x=0.2891 right_y=0.001 right_z=0.1725 right_yaw=0.0002 right_pitch=-0.0355 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -7.1726, 9.2923, 1.7167, -0.3932, 0.0269, -0.0904, -0.3487, -1.5795, 6.5162, 2.0635, -0.0415, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dbe9c63de7b4b0a5f5b1ce99b47350e9fd6ed9846deded4ba6b4c07d6dd539b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a95ab0d90c617affe36b12881b0e1e05c9d0d1246f9557e91fee49afc99cf4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54cabf52da20ccc735cf24edaaa42906b0b98a6d5c34ff1b3ee1992c2f78c394",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wcKEAgSGAI4AUIIdGhpbmtpbmcSDDgCISRssUqSWSKopBoMoH3B0nQC0Tr+42CJIjDnDf1AIHNvSqwwE/HoqOHvyCxvvxTZPdZNv9hj00BWrJIqp1gRrSFsglyCzZPuazoqhAf7uspctfVNRpnhK67492Bv/oBViFGl5gW8PTxdRtohP30j+PmbrLIYw+cf74xBKdSsxBWmKO2OTMtqIQisTrX+IFuYPlmImkYBxBomG1O2I9IG1C/OwvPKcf9brHLZiKEYt7Oz2yCWz0jQa450B7J6PU3eXF0+vF1WiTmU9D4dlDCupQdcojiEm+L1LSE++hofgD+x9FqQsel7//nJePl5asHjYGFxRnZcXyC3r9iwPBTgWoAvMmXIe3yhfheGDH8Y2nsWLdkVYmEhkPkJC7CxDgVQuNOPO/mFvyhyFCQnPyIbtGwq9RtS0IXYm2hKnwcFCHq7UjWT423v/VTej1yPiYgrdDIAcbXf19ynh9QMf811L3cMy5s4VqcCWh5E6c7oa0vHcWCMJxp3dvLVE0E92odqsiZJe75mY1oBsojUfwAMOY90Ieu7EaY2MsnBfvhnVjy+PQ6LogPkTaXk58QnoJpXjf3epu8AEI7jIMjGQirGyi32cVeOBcOJ/9liBU7GtzwiZKxPlsL72vsmj1Mlzwpbm/uV0vqjRDxXGg5c5Mqs78YuQsY/sMP17SXaKgR+P03nV5if0ibncIMfyHWj9qi4Zfpn+azsxolNKg4Xq1w06HoYKlrPgwSHGYA1+3S3eFIqkyuekTMZAIQ3K9KIxgCKFRtZijfRWdAgv/S1P0aRsodL+1zT2Itoku4+0RZdu6VOHHV6ssO4QqhO7TYmFTFVIOaCc9Z0/lk5Gucwj0cbDB40Wnz+tjQdQtALscjOYvLUOpnSJ+8Zp8lhbmsbgrC//6hrKcoAPsOgtkj9uzlWfTQSl/8HiL1vgVSntAYRRGKqgSM9aieZd+IKd/WqAR0jvOhOdZhGRmncOZUynvuSc1l0Nchj3ry1A4pO2Br/kq0LwvVjaioq/TuiwwD07rJE8M3YtEho6Abw/m9E8wFBYWbLuSfd7JSjlb+cubPLXOL/bQTVPojEC9Ya4F9k0AEbKPbik3w7W/jdJLLQ3kKPdDCSn2VMvvqq5MryuPZA9qmhX/GyP3mpzwUjhvWl48gC0CMr35pC87SngyGAX8ONN1h8ZZwSCzELUi2JLYfKi0fdKTWSozwDuAyuKu6TYWWiZcWaJrPKZ2GjaoCwzo/FKz0+oNYkOzSTUsMZds8HHspnsBHlkBUBZzS8jGefiBjF6Or6k5ymBkeahtoEODOxawYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BAnU4sXFyb6d4toYX7uvcJ",
      "input": {
        "note": "Teddy sits just ahead of the jaws, slightly left in the wrist view. Descending onto it.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.175,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BAnU4sXFyb6d4toYX7uvcJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6144, 1.8771, 0.7609, 0.3222, -0.5026, -0.4011, 0.9992, -0.0212, 0.8013, 0.6128, -0.4549, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3933 left_y=-0.1689 left_z=0.0097 left_yaw=0.0051 left_pitch=-0.1001 left_roll=0.0588 left_gripper=0.9992 right_x=0.2858 right_y=0.001 right_z=0.1668 right_yaw=-0.0003 right_pitch=-0.0618 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.294, -8.2393, 4.4103, 1.6435, -0.1636, 0.0415, -0.022, -0.0752, -1.4291, 7.3778, 1.8828, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9d0649ac4b8cc9cdb8c30faf1589853299fe55a336c8fc1a988cb33d099f5ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a43ce67a776fa5e79f43c47557d580f6904d3a9e94070657cbf7ff2e36672ca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:384611eb8496a1754b20e48ce3f45fffa2f3e4042878cb87fcf9cc911ab86bc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 5.781 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3885, -0.0196, -0.0338, 0.9993, -0.0212, 0.794, 0.6083, -0.3958, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0014 left_z=0.1786 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1786 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4427, 10.1402, 1.9658, -0.0855, 0.1636, -0.0904, -0.5812, -1.6479, 9.6205, 1.9365, -0.0806, 0.0317, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.651, 1.573, 0.9577, -0.1341, -0.519, -0.4198, 0.9993, -0.0212, 0.7986, 0.614, -0.4324, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3886 left_y=-0.1813 left_z=0.1315 left_yaw=-0.0109 left_pitch=-0.0568 left_roll=0.0269 left_gripper=0.9993 right_x=0.2891 right_y=0.001 right_z=0.1725 right_yaw=0.0002 right_pitch=-0.0355 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -7.1726, 9.2923, 1.7167, -0.3932, 0.0269, -0.0904, -0.3487, -1.5795, 6.5162, 2.0635, -0.0415, -0.0611, -0.0073]",
      "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]: [-0.6144, 1.8771, 0.7609, 0.3222, -0.5026, -0.4011, 0.9992, -0.0212, 0.8013, 0.6128, -0.4549, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3933 left_y=-0.1689 left_z=0.0097 left_yaw=0.0051 left_pitch=-0.1001 left_roll=0.0588 left_gripper=0.9992 right_x=0.2858 right_y=0.001 right_z=0.1668 right_yaw=-0.0003 right_pitch=-0.0618 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.294, -8.2393, 4.4103, 1.6435, -0.1636, 0.0415, -0.022, -0.0752, -1.4291, 7.3778, 1.8828, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9d0649ac4b8cc9cdb8c30faf1589853299fe55a336c8fc1a988cb33d099f5ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a43ce67a776fa5e79f43c47557d580f6904d3a9e94070657cbf7ff2e36672ca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:384611eb8496a1754b20e48ce3f45fffa2f3e4042878cb87fcf9cc911ab86bc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Teddy is right between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pnnxc43bUmczDZj7c5HPU4",
      "input": {
        "note": "Teddy fills the view between the jaws at table level; closing the gripper on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Pnnxc43bUmczDZj7c5HPU4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6144, 1.8996, 0.7525, 0.3294, -0.5026, -0.4057, 0.0202, -0.0208, 0.8024, 0.6128, -0.4786, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3898 left_y=-0.1665 left_z=-0.0007 left_yaw=0.0091 left_pitch=-0.1192 left_roll=0.0691 left_gripper=0.0202 right_x=0.2823 right_y=0.0013 right_z=0.1619 right_yaw=0.0005 right_pitch=-0.0866 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -10.1265, 5.3949, 1.3895, -0.2027, 0.0659, 1.2967, -0.0342, -1.3333, 6.9402, 1.9316, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a77bd3713d365b967726fa553ba887395c9324bdde7cf27bb53507c876a3e25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0d4b178c3d8698564be97f49d58d8c4596aa82ea3708ba4f5b514843591f10e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abfcd3ca435914bc4eab25698f0624970272d1aab9a7a4bbc577e530c8cdf05d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.606 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]: [-0.651, 1.573, 0.9577, -0.1341, -0.519, -0.4198, 0.9993, -0.0212, 0.7986, 0.614, -0.4324, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.3886 left_y=-0.1813 left_z=0.1315 left_yaw=-0.0109 left_pitch=-0.0568 left_roll=0.0269 left_gripper=0.9993 right_x=0.2891 right_y=0.001 right_z=0.1725 right_yaw=0.0002 right_pitch=-0.0355 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -7.1726, 9.2923, 1.7167, -0.3932, 0.0269, -0.0904, -0.3487, -1.5795, 6.5162, 2.0635, -0.0415, -0.0611, -0.0073]",
      "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]: [-0.6144, 1.8771, 0.7609, 0.3222, -0.5026, -0.4011, 0.9992, -0.0212, 0.8013, 0.6128, -0.4549, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3933 left_y=-0.1689 left_z=0.0097 left_yaw=0.0051 left_pitch=-0.1001 left_roll=0.0588 left_gripper=0.9992 right_x=0.2858 right_y=0.001 right_z=0.1668 right_yaw=-0.0003 right_pitch=-0.0618 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.294, -8.2393, 4.4103, 1.6435, -0.1636, 0.0415, -0.022, -0.0752, -1.4291, 7.3778, 1.8828, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6144, 1.8996, 0.7525, 0.3294, -0.5026, -0.4057, 0.0202, -0.0208, 0.8024, 0.6128, -0.4786, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3898 left_y=-0.1665 left_z=-0.0007 left_yaw=0.0091 left_pitch=-0.1192 left_roll=0.0691 left_gripper=0.0202 right_x=0.2823 right_y=0.0013 right_z=0.1619 right_yaw=0.0005 right_pitch=-0.0866 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -10.1265, 5.3949, 1.3895, -0.2027, 0.0659, 1.2967, -0.0342, -1.3333, 6.9402, 1.9316, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a77bd3713d365b967726fa553ba887395c9324bdde7cf27bb53507c876a3e25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0d4b178c3d8698564be97f49d58d8c4596aa82ea3708ba4f5b514843591f10e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abfcd3ca435914bc4eab25698f0624970272d1aab9a7a4bbc577e530c8cdf05d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwgKEAgSGAI4AUIIdGhpbmtpbmcSDHd6eKuHN1y2c65EaRoMIaMPkp6GWqz1PAJ/IjBXcLtYVkdunnI0npZYE4rjYt1TMCPJRiqNjRb84NU+xWnRwUdHWv3OlQZC0re1Vxgq2AdIGkSjV3LEilB3Uigy9xlMNTI+NiWQZ/G7Uo/gWYWrJXSi2CKJ6LPt5b6HOI5pPwXslvhEfAbUc6fbjESxxnTkNRzQCcUdfdpiFHhO5aNgGnOG09sNCI3S4uRtgb6COIg0Nh8dFwqeFhca7HrVLErAVj12C24tVk2qVNdnD6ZFvRc4HJu2hDx9aqaXlDnHc6kBpliT7iNJgb448GvJa4JL8qOa+UWjfFksB2/kfj1/KTA5bhPVUwlVaVVAuBjGL3eo+o4nOrggUKUyYDDxxDi+6JH8Y9HlJ5tK7iPsxGhl09uq7kbpScQs5JKbKQB3EwS/J0Vqx09FH3GCkEpxs+9NeEMH+GG95hQBAjpusm+TcX99T0wBAEHHlRQ4GCBePI2ruSfkWOQEvDnZOSZRdhcGluLrUTUZTQPVMLl9ZMBXR2xi+Ytrs1jXUiyTMjdatPOw3ju9c9o6A4ga/AtOIoktRRVJOlbUxuAD9nYopplwK/lhCZ+/K1/IYME6uVdjnSFb760pYnXx65JttVnKLz1haFtIhspLgM05hHljBQhKJNA62Ab69YoK2VHdYSA4CI7i0aDg3HH3yDLTQtnVpjVOWX0y6B1cvuhsmvoNoIIqNN9d3DVR73E8SVpS1dk7lj1abqAnzMoNJSQKOqkPe2Pc2y6Tc1qwzUNyTEtX2MN4Y60VfFTTtpEv7K9IXvWLSDgLxQgnMWUVPlJfFOHRVSEqA/3Ax1pmWj/aiYKpX7iH8fiWgWx29Ujq/Aow+cAc4hRxuGDaEy5VxJg9Ttfu7P6fMjj+xRz6xB46O9nj881B5VmsbjPvrQ9KXP73NJhSRFycLfjvwKPi6I/OAn/e/gb8TBShs8pi7+yA6KB2Nn9U3X0pvtcgikT6Q6frnXmE+5AfDDA1DLJzckiBRQL3ug2rVjiHBmParkWiQc07JLPo9KGyml0eqJAOaT0NeTgOwBA9VLKCYopdEzn1ziJDuC/Vrq1ntheYGIuKGfAbrGUyN+FRzRqZlqswl9F+snOR28Y2UjzNVRBb4jZS43yYcDugoIRmkiJfP+cvtO8NVrr9cvBydfoKMK2wEiAB4d+7aJZ3OBq9rpfmUnu89QJpNdxe1AraWTJqLz71ptcbR88uXU+ev66lH1pNERmBY5IJOuIy7rcOrd4Oh2wCit0sy/RKFSwv3ITKXLJyA75lMQDrSftabOHa8e2K5lHAEsHucngDKZcbuPfLAvp78Jbt6yQPhbDySgZNJNb/lyftE9DN9t9Y+76fJjZmfZyeNSaRicASbzFB298CcBcrTRmRBhgj+fCnuex5+qoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015NRgRTMyR1AupEf3dAULDW",
      "input": {
        "note": "Empty close: the teddy is still a few cm ahead of the jaws. Opening, lifting and moving 5 cm forward.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.44,
          "left_y": -0.17,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015NRgRTMyR1AupEf3dAULDW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5461, 1.8893, 0.9798, 0.0635, -0.4644, -0.371, 0.9949, -0.0212, 0.8024, 0.6128, -0.4999, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.429 left_y=-0.1639 left_z=0.0357 left_yaw=0.0316 left_pitch=-0.16 left_roll=0.0882 left_gripper=0.9949 right_x=0.279 right_y=0.0012 right_z=0.1578 right_yaw=0.0 right_pitch=-0.1079 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -11.5897, 8.335, 1.4139, -0.0806, 0.1929, 0.0855, -0.0479, -1.1966, 6.9265, 1.8681, -0.0122, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2efd3c6e80950e5be56ebc5d1bde67b023b6d3495f2114a81bbcc8e6f00c2174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b929f3a7105550252cab4264968b6e231e016a64bcc5c68a2fdc1140a83d3751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6fc35d16f6c445963de0812bd2cbe96f2c138501681eda7254b1ebd1eff35073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.008 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]: [-0.6144, 1.8771, 0.7609, 0.3222, -0.5026, -0.4011, 0.9992, -0.0212, 0.8013, 0.6128, -0.4549, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3933 left_y=-0.1689 left_z=0.0097 left_yaw=0.0051 left_pitch=-0.1001 left_roll=0.0588 left_gripper=0.9992 right_x=0.2858 right_y=0.001 right_z=0.1668 right_yaw=-0.0003 right_pitch=-0.0618 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.294, -8.2393, 4.4103, 1.6435, -0.1636, 0.0415, -0.022, -0.0752, -1.4291, 7.3778, 1.8828, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6144, 1.8996, 0.7525, 0.3294, -0.5026, -0.4057, 0.0202, -0.0208, 0.8024, 0.6128, -0.4786, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3898 left_y=-0.1665 left_z=-0.0007 left_yaw=0.0091 left_pitch=-0.1192 left_roll=0.0691 left_gripper=0.0202 right_x=0.2823 right_y=0.0013 right_z=0.1619 right_yaw=0.0005 right_pitch=-0.0866 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -10.1265, 5.3949, 1.3895, -0.2027, 0.0659, 1.2967, -0.0342, -1.3333, 6.9402, 1.9316, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.5461, 1.8893, 0.9798, 0.0635, -0.4644, -0.371, 0.9949, -0.0212, 0.8024, 0.6128, -0.4999, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.429 left_y=-0.1639 left_z=0.0357 left_yaw=0.0316 left_pitch=-0.16 left_roll=0.0882 left_gripper=0.9949 right_x=0.279 right_y=0.0012 right_z=0.1578 right_yaw=0.0 right_pitch=-0.1079 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -11.5897, 8.335, 1.4139, -0.0806, 0.1929, 0.0855, -0.0479, -1.1966, 6.9265, 1.8681, -0.0122, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2efd3c6e80950e5be56ebc5d1bde67b023b6d3495f2114a81bbcc8e6f00c2174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b929f3a7105550252cab4264968b6e231e016a64bcc5c68a2fdc1140a83d3751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fc35d16f6c445963de0812bd2cbe96f2c138501681eda7254b1ebd1eff35073",
        "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/AYKEAgSGAI4AUIIdGhpbmtpbmcSDFv2f4y1r5h6KZEoVBoMWNilbOvBpjQw92pkIjA90Ow/QaO7HBUXPcA4QuXrZDNpPYc/c0ETMPwOHh+IjW8rBA6VZO2iPtWrASXBQ5MqmQajMcQjAQk5/PSKa8xiYrIQHb9n7XiarWPDXdv6U4tC5CJHzaB+x5sAkCH4Yu/+QamrXgDGwArXZkdZp8KxqDRD9LAqtmpgwUiH6LaGXafI2I+sXTzKLDdpUooCSeEiNdhWlmquanW87g17NySjkvMOFBERhGUc6jEwPXOfZQR44il6QAgIIbp9dj6/+usTYD3JTYVI4NXdeBl2u12agNknQPjA3ieYcQJe9CHk/2VBmtTr8gkmd0m9PW9MoU7x6Ju41CzgTe00oelB74x1WKMRTgN322jQvSnxzoJ6jTF/eW2Zplf2SnsO8ryXRr3Ne19hSLCIPqKrCdB9BpYOUypBFpfbivFJoOXTD707LAverOt5RF85KRWf0XXmyzv3wHx2BXf6NimlZKwRlpaVRu1HJu6o7MbAEBk9oEY1VhKAXXvJs7Z36LYagiumOiytvvKeymf8KYZusDql1v8fbjp9SeuVcdF1nEb/Cbi0wJ9bGvcpux0iYvu/l1dXTp54LWRUSXz31xa0JXYAQW0XNiW5pxB0NlpFGKUY5m3JQwe8fBKXBU9i9KQ2LhNKdLhRugsxTg6nUH9BXNNozy3NsLy8IxffqhuwbYe0TAl8fCd0oTg7R+VZNoJmDUWdvl7w+dDN7AQd13mKiLNNAQg0SI36XEwJRxkeIBXwhOs1vjY/tDhjkfLlECS4GD1Qv2CeYyu21if+cGz1K1WH6MTeOZSGfLxJC9zMRNhDVCss1nFTK2HRn4pOBi+7KzUH1uqpR+eGAuta50nmN+aGdtDUWOGvzt4xMYo1eb8ccmLOPuEJYpTSpjUf9S+4UA2eueGuyPtqZVaUixMc0PwEE/kWOYzjsGRccPSbaAW0tEKRT+ojiM0kHTReDhQFc/GD9rv5YE69ZINYZQZJmCtjhSqjUtU5B8g43OuJQLdYPXeoUYwO3yszl8O+Ij0PGMjlXozJhlm4OTEgct1KsLUWzO4ItKMBoH3kySH2l0ITUC95Ig4RQegJTIgIdD4FzryuhYOC1QciHrM/kHbganAcHR8etohQCrnqtrn0kR46GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WzL1Cz1gvND4CXC9itnZDD",
      "input": {
        "note": "Teddy body now sits between the jaw tips in the wrist view; descending to table level.",
        "targets": {
          "left_x": 0.44,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WzL1Cz1gvND4CXC9itnZDD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5346, 1.9858, 0.9859, 0.131, -0.4622, -0.3725, 0.9956, -0.0212, 0.8051, 0.6128, -0.5152, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4349 left_y=-0.1619 left_z=0.0058 left_yaw=0.0443 left_pitch=-0.18 left_roll=0.0983 left_gripper=0.9956 right_x=0.2767 right_y=0.0013 right_z=0.1542 right_yaw=0.0002 right_pitch=-0.1259 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -9.5658, 5.2581, 1.2723, -0.1197, 0.6374, 0.0464, -0.1026, -1.3744, 7.0085, 1.8291, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7fbd6537f9035844755d71108c9e690f09ca988b7ae1c8dc6b9aa782ff3d65b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f36e1549d5fba0bc09d1f58ddb4c6954ad519f4bf137c64bda25e0774961f45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:613af26b50b6f9a7c98803dbd285f20a76127af191d1de3d56c7d951d323b941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 5.03 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]: [-0.6144, 1.8996, 0.7525, 0.3294, -0.5026, -0.4057, 0.0202, -0.0208, 0.8024, 0.6128, -0.4786, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3898 left_y=-0.1665 left_z=-0.0007 left_yaw=0.0091 left_pitch=-0.1192 left_roll=0.0691 left_gripper=0.0202 right_x=0.2823 right_y=0.0013 right_z=0.1619 right_yaw=0.0005 right_pitch=-0.0866 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -10.1265, 5.3949, 1.3895, -0.2027, 0.0659, 1.2967, -0.0342, -1.3333, 6.9402, 1.9316, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.5461, 1.8893, 0.9798, 0.0635, -0.4644, -0.371, 0.9949, -0.0212, 0.8024, 0.6128, -0.4999, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.429 left_y=-0.1639 left_z=0.0357 left_yaw=0.0316 left_pitch=-0.16 left_roll=0.0882 left_gripper=0.9949 right_x=0.279 right_y=0.0012 right_z=0.1578 right_yaw=0.0 right_pitch=-0.1079 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -11.5897, 8.335, 1.4139, -0.0806, 0.1929, 0.0855, -0.0479, -1.1966, 6.9265, 1.8681, -0.0122, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5346, 1.9858, 0.9859, 0.131, -0.4622, -0.3725, 0.9956, -0.0212, 0.8051, 0.6128, -0.5152, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4349 left_y=-0.1619 left_z=0.0058 left_yaw=0.0443 left_pitch=-0.18 left_roll=0.0983 left_gripper=0.9956 right_x=0.2767 right_y=0.0013 right_z=0.1542 right_yaw=0.0002 right_pitch=-0.1259 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -9.5658, 5.2581, 1.2723, -0.1197, 0.6374, 0.0464, -0.1026, -1.3744, 7.0085, 1.8291, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7fbd6537f9035844755d71108c9e690f09ca988b7ae1c8dc6b9aa782ff3d65b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f36e1549d5fba0bc09d1f58ddb4c6954ad519f4bf137c64bda25e0774961f45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:613af26b50b6f9a7c98803dbd285f20a76127af191d1de3d56c7d951d323b941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016xpRtcv83nv7YMS7satM9R",
      "input": {
        "note": "Teddy is between the jaws at table level; closing.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016xpRtcv83nv7YMS7satM9R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.535, 1.9972, 0.9825, 0.1608, -0.4755, -0.3794, 0.1978, -0.0212, 0.8101, 0.6109, -0.5529, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4377 left_y=-0.1612 left_z=0.0049 left_yaw=0.0564 left_pitch=-0.1617 left_roll=0.0934 left_gripper=0.1978 right_x=0.2703 right_y=0.0014 right_z=0.1452 right_yaw=0.0003 right_pitch=-0.1705 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -10.7556, 5.5316, 1.0769, -0.1343, 0.022, 0.7057, -0.0889, -1.2786, 7.0222, 1.9512, -0.022, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:248a135b7b6b8d81d70e1368b0f0cbb56c176fd8039af37de79896d49b61c1d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59d896b44c729d3ef562796aac582e9878f7a06394a5b89cbb7f7012727cf06e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b92fe2bff9330082cb74194d10de9b72f6376b592f5494df30ac078fda82d708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 3.435 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]: [-0.5461, 1.8893, 0.9798, 0.0635, -0.4644, -0.371, 0.9949, -0.0212, 0.8024, 0.6128, -0.4999, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.429 left_y=-0.1639 left_z=0.0357 left_yaw=0.0316 left_pitch=-0.16 left_roll=0.0882 left_gripper=0.9949 right_x=0.279 right_y=0.0012 right_z=0.1578 right_yaw=0.0 right_pitch=-0.1079 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -11.5897, 8.335, 1.4139, -0.0806, 0.1929, 0.0855, -0.0479, -1.1966, 6.9265, 1.8681, -0.0122, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5346, 1.9858, 0.9859, 0.131, -0.4622, -0.3725, 0.9956, -0.0212, 0.8051, 0.6128, -0.5152, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4349 left_y=-0.1619 left_z=0.0058 left_yaw=0.0443 left_pitch=-0.18 left_roll=0.0983 left_gripper=0.9956 right_x=0.2767 right_y=0.0013 right_z=0.1542 right_yaw=0.0002 right_pitch=-0.1259 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -9.5658, 5.2581, 1.2723, -0.1197, 0.6374, 0.0464, -0.1026, -1.3744, 7.0085, 1.8291, -0.0366, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.535, 1.9972, 0.9825, 0.1608, -0.4755, -0.3794, 0.1978, -0.0212, 0.8101, 0.6109, -0.5529, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4377 left_y=-0.1612 left_z=0.0049 left_yaw=0.0564 left_pitch=-0.1617 left_roll=0.0934 left_gripper=0.1978 right_x=0.2703 right_y=0.0014 right_z=0.1452 right_yaw=0.0003 right_pitch=-0.1705 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -10.7556, 5.5316, 1.0769, -0.1343, 0.022, 0.7057, -0.0889, -1.2786, 7.0222, 1.9512, -0.022, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:248a135b7b6b8d81d70e1368b0f0cbb56c176fd8039af37de79896d49b61c1d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59d896b44c729d3ef562796aac582e9878f7a06394a5b89cbb7f7012727cf06e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b92fe2bff9330082cb74194d10de9b72f6376b592f5494df30ac078fda82d708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSmAkKEAgSGAI4AUIIdGhpbmtpbmcSDB/OdQ727h2Qd6z1rRoMo7IGONB7FnvqwMyFIjDxzcegYkERXJ6hYY9xRTQkIgP00fT7VvbPACQkjrPQ1tpHI/3k6AE2iuZH1gMVnRYqtQgS6cvi3b84/ucOBqBY1tYUbRIz9m+WGiFVu7y1JWI40lI1dlovRefxg9LAISA0T7v0AUg2Ghz+RJUtBjl90OO4Tth7buCrjgo7sEbzrPC8rxjyprsSwgPeg1Phaf9PDk5RjB2FoTRddk0+jnacY4NJiTi11VNE30MKFF7jaa+bYAGk+1A0PPtvxvJ9k0ZrL4AQlmHkQBmDebWIMSsefyzehVgP49fIwv7yG+DRjXJrg308hLJADpmYeNaO76Fgh2/stWA2XwFNIyoa/rorFarFLyvNdyRDV2wezKEeyzeLl1JteS/ZfzxqU4mrxQMKBMrE2uFN95LgKwYodsEhqMmcHFGRCEGPrFv+3QcWJgi4+HMslL4wr8TagTlX0IgMDV8rkUA3/sQ7p9QRZmirpwnoR2z4+XtGBEYex2aOPA3euZMHyBdFx88ltyGnGn+fImMj0I+7dlTVWFX3k6sr7NU8GTtRSopnPrQokEOl0LYkcBstngYQBDYfZhwhZU28ibH3uO5KUCsFHXYghyCNKa858wzZDAorAxJTymhzgEFXPyLzTXEF035SVlWh62A4iZ3T4iJXjDFPnRX7wlgb2H5C9HHa0Hk90WH/BUbGAWUbVfny6Ydiiumxcp90X6vxKvjYcL2CuZ85SPVGq4yjTlSSEIOp/aEFuxLmFVb6ABx2d4WF1VJWTasVLU4VG+30P8StLehhQeFmsyR0AORBWFkL8MyhLpwvmyzTYSWEJncX4NAgwZh3iX9tkZjdf91D3JVJCPXyYac9Hk55Gpi8vTqOUfGkwJAZuYBhBa977NmzN5E39rGPkNITup1T5wOOYgwKRzFdqRCSZl1l2LtxL88p5TH3p1pOKH/mpuRV/neDpOkYUOa9yEdjAO6Z9ccZ0ogeIyjobDvIE+4hwacmccGcPAm/O/mvAkXGXdYqYIXXPtQcxYDEWpkuHErfIKcXIBdjma8Zcbrgb97LHKdlogNlyiJg17GbINhAtwD4imYShHVjjnQ92rzwWpWw0i8L6RIH2It96XIP6+sO9EX+sE8eVqSCRXJEFJzN6mtUJPvyGWN3PHBVLHbm62ILy04SFVUf2fUrCydePJd9OAxCUCZ5oPuY8d/5b5hXq2xMg3iWXJcX5kmt+ZQi7K6F4RHhz8Q/fKBImfNBviN7FNXibRS6eDo3USlO+OfQP2QhMQjlFL6tSfN37S9HyBG2MqZeZod5y/pb1yeExQtk0R6wN7ouLLTMvNG6H3YcFnNiU3qML1gj9mu+yVgut+i5o5QFwCvjTtv4dqIMlI8K1Wt9urmuf71HQvBPJjN9wviAtSBs0FOq0YjsVqgD1/LR0lnyZIMgo32Nof8LLJgqZ41FqSh730a8JhXbbI2/Ay1VsX95rOSKAqKkPiOuA3Xu25y6Q0v486uZQbmVRhFmNbWsNm+s641y4EIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0138mwPR8uKQZMd6hCcK9vqA",
      "input": {
        "note": "Gripper settled at 0.20, so the teddy is held. Lifting to carry height.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_0138mwPR8uKQZMd6hCcK9vqA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.535, 1.7535, 1.4097, -0.5629, -0.4755, -0.3908, 0.199, -0.0212, 0.8101, 0.6106, -0.5884, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4378 left_y=-0.1613 left_z=0.1668 left_yaw=0.0682 left_pitch=-0.2045 left_roll=0.1151 left_gripper=0.199 right_x=0.2642 right_y=0.0015 right_z=0.1387 right_yaw=0.0005 right_pitch=-0.2063 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -12.2051, 9.2239, 1.4432, -0.2711, 0.1001, 0.1099, -0.0752, -1.1009, 7.0359, 1.8486, -0.0659, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32348b3beb43f55a41064497c578302ef967eff9c6942d98932904ff842c9979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4646a94e2ff086456d2653fb54afa9f3bcfdf6c4a5c0d5c7d184824dc61675b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a707ecd8c94cabe9a3b19efc78523d1fdd14777aa05d38b714cf96dcad19d1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 3.555 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]: [-0.5346, 1.9858, 0.9859, 0.131, -0.4622, -0.3725, 0.9956, -0.0212, 0.8051, 0.6128, -0.5152, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4349 left_y=-0.1619 left_z=0.0058 left_yaw=0.0443 left_pitch=-0.18 left_roll=0.0983 left_gripper=0.9956 right_x=0.2767 right_y=0.0013 right_z=0.1542 right_yaw=0.0002 right_pitch=-0.1259 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -9.5658, 5.2581, 1.2723, -0.1197, 0.6374, 0.0464, -0.1026, -1.3744, 7.0085, 1.8291, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.535, 1.9972, 0.9825, 0.1608, -0.4755, -0.3794, 0.1978, -0.0212, 0.8101, 0.6109, -0.5529, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4377 left_y=-0.1612 left_z=0.0049 left_yaw=0.0564 left_pitch=-0.1617 left_roll=0.0934 left_gripper=0.1978 right_x=0.2703 right_y=0.0014 right_z=0.1452 right_yaw=0.0003 right_pitch=-0.1705 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -10.7556, 5.5316, 1.0769, -0.1343, 0.022, 0.7057, -0.0889, -1.2786, 7.0222, 1.9512, -0.022, -0.0366, -0.0073]",
      "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]: [-0.535, 1.7535, 1.4097, -0.5629, -0.4755, -0.3908, 0.199, -0.0212, 0.8101, 0.6106, -0.5884, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4378 left_y=-0.1613 left_z=0.1668 left_yaw=0.0682 left_pitch=-0.2045 left_roll=0.1151 left_gripper=0.199 right_x=0.2642 right_y=0.0015 right_z=0.1387 right_yaw=0.0005 right_pitch=-0.2063 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -12.2051, 9.2239, 1.4432, -0.2711, 0.1001, 0.1099, -0.0752, -1.1009, 7.0359, 1.8486, -0.0659, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32348b3beb43f55a41064497c578302ef967eff9c6942d98932904ff842c9979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4646a94e2ff086456d2653fb54afa9f3bcfdf6c4a5c0d5c7d184824dc61675b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a707ecd8c94cabe9a3b19efc78523d1fdd14777aa05d38b714cf96dcad19d1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015aGNf4kJSZo4RrQyC1V4r8",
      "input": {
        "note": "Teddy is held and lifted. Carrying it right over the safe's red interior.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.29,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_015aGNf4kJSZo4RrQyC1V4r8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7589, 2.1422, 2.0644, -0.9558, -0.5804, -0.6086, 0.2011, -0.0208, 0.8135, 0.6102, -0.6132, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4487 left_y=-0.2871 left_z=0.1878 left_yaw=0.0576 left_pitch=-0.2303 left_roll=0.1106 left_gripper=0.2011 right_x=0.2598 right_y=0.0017 right_z=0.1335 right_yaw=0.001 right_pitch=-0.2349 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -11.9726, 8.6906, 0.906, -0.5446, -0.0171, 0.2076, -0.0342, -1.4154, 6.8308, 1.707, -0.0415, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f545298d0ea0e32572897971d4e81a78568b7a22f28f14754a6763030fc7f54d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:622b3939db346ee163e1f278a4862902c7a64f81c8e92bc68b9a3fd4c1c8edc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05b16d437369b4d351620396ecc201261b5a3d0e287e8e7a8f0018e87b4d44de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.148 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]: [-0.535, 1.9972, 0.9825, 0.1608, -0.4755, -0.3794, 0.1978, -0.0212, 0.8101, 0.6109, -0.5529, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4377 left_y=-0.1612 left_z=0.0049 left_yaw=0.0564 left_pitch=-0.1617 left_roll=0.0934 left_gripper=0.1978 right_x=0.2703 right_y=0.0014 right_z=0.1452 right_yaw=0.0003 right_pitch=-0.1705 right_roll=0.0036 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -10.7556, 5.5316, 1.0769, -0.1343, 0.022, 0.7057, -0.0889, -1.2786, 7.0222, 1.9512, -0.022, -0.0366, -0.0073]",
      "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]: [-0.535, 1.7535, 1.4097, -0.5629, -0.4755, -0.3908, 0.199, -0.0212, 0.8101, 0.6106, -0.5884, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4378 left_y=-0.1613 left_z=0.1668 left_yaw=0.0682 left_pitch=-0.2045 left_roll=0.1151 left_gripper=0.199 right_x=0.2642 right_y=0.0015 right_z=0.1387 right_yaw=0.0005 right_pitch=-0.2063 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -12.2051, 9.2239, 1.4432, -0.2711, 0.1001, 0.1099, -0.0752, -1.1009, 7.0359, 1.8486, -0.0659, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7589, 2.1422, 2.0644, -0.9558, -0.5804, -0.6086, 0.2011, -0.0208, 0.8135, 0.6102, -0.6132, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4487 left_y=-0.2871 left_z=0.1878 left_yaw=0.0576 left_pitch=-0.2303 left_roll=0.1106 left_gripper=0.2011 right_x=0.2598 right_y=0.0017 right_z=0.1335 right_yaw=0.001 right_pitch=-0.2349 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -11.9726, 8.6906, 0.906, -0.5446, -0.0171, 0.2076, -0.0342, -1.4154, 6.8308, 1.707, -0.0415, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f545298d0ea0e32572897971d4e81a78568b7a22f28f14754a6763030fc7f54d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:622b3939db346ee163e1f278a4862902c7a64f81c8e92bc68b9a3fd4c1c8edc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05b16d437369b4d351620396ecc201261b5a3d0e287e8e7a8f0018e87b4d44de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QcKEAgSGAI4AUIIdGhpbmtpbmcSDIBhY1Yod55BM5COLBoMsCPHpJs+tC5lDftXIjBCrgla6Gft+SrjrkW6ra77LJNak3ay8yhn8GTVqfoMhZALdFQ11WT7g0DiYJ/JoT0q8gaV3zToP4aVZJFM34wOKOoyw8uhTb0cY0x9SNxCCc9dAdhRvnC7hQGw3pTbj3lEAmIdfpFOm5uHGonq9eXtGVMCJ5ULJvVboKrYxAcjgpE7gVoSHslDP5SWDO8ENEbAOKOiNV4ezgAPSdm+g63JD1wUOqbgotAY122DjPxuIZIPTgk55D6O4dcypAptLAhsP7f+nTYkczVSxIwecD6CVgIQccPVUq+ssQEMLX8ZTd9uFXek1yrBqi12Q8/TfwxAvuwe0T6xax0UKSnhTeR/ww+U3WvPTCy0tNAc+vEAagDzPpJ0wL87LLl5i5ZuzDl4miL7eQ6ew+Yb1q3DRpMhJ2qHaJKINfiVXYWEMovcSdvXQNFJMe6SE+b6cZ6CPM5T4hdmFHrTVd6uA27Xdfi0pX09e+BMSsCQkbp1ZIlBsjhw7iWdVdJR0EUJwwa+KGpkec9+pPwdfAvwvuhNXXQ6bCIQCDclrAgzBEgawmS+B0gTl8bV9bEkAx5x2Lf3ma8GyORMq0ebctcp2fjyp9V5r3vhTs4wQlNXq8gRKtitN1VdoXzVh6qXWIJIqUUfKSYwxERoNKL7+EATSR4dqMpD3t6gtNUu8+C9SkPhwMEKZAkE8OrkDrr0YK+T94Pu/0RQZvQjz65fct1HZ+q6TF8FXpQ93CDhLhslL4Ace3fvA1O5p0cVavi5eMPAtLSWF9bitLHsnRw8ktExY6uCzWSfqtI7k7K3IkeMzirU+KBsM2MZC/2ko1SHczSynFt4HJ8SqvMUJ6ymkSgH8tJtXAS069K6i6reXprM6d4UxsKqhgnMouj6/UoDsk3VJNW+AIr/Sy4DaiK641C81D3GWJXmtKzk/3AdogSKj47RZbAFUHF1bJng5Q5kncbVBBwyR77DNZddRnuSp/wvNIOisFdZznXMn29zbI8nWrI5cx6RbO/AsGc2FfG6MbrRiuXGV9Eq1IIzzQuibRxwMmqD/Gi8nCunzt/bQl3Ld4o8WQoh0MrrDbeFVYnPGLWcBpNi9nO1YfZ7zXvMiIyBAM5dBvCyoPJ4C3JZkM7Dcs+hQbYf7eABjDNcrOr4c4oxLhsACdexg5YRdOR1bOvTSXYTsINZnEAotP/w7CsBK6sq3u3rGGIQdJNtlpWdtjknMjIoK/3Lbl40psOUAR1KLveWTYQNBs6A520YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C6CiadxQT4YrScc163mGMQ",
      "input": {
        "note": "Gripper with teddy is above the safe; lowering into it before release.",
        "targets": {
          "left_y": -0.31,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01C6CiadxQT4YrScc163mGMQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7876, 2.2074, 1.8473, -0.7444, -0.5846, -0.6369, 0.2031, -0.0212, 0.8165, 0.6094, -0.635, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4421 left_y=-0.3008 left_z=0.1001 left_yaw=0.0609 left_pitch=-0.2733 left_roll=0.1476 left_gripper=0.2031 right_x=0.2557 right_y=0.0017 right_z=0.1288 right_yaw=0.0007 right_pitch=-0.2605 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -11.5897, 6.7761, 1.2283, -0.4322, -0.0708, 0.1978, -0.0205, -1.265, 6.8308, 1.6972, -0.0464, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d208c71b80e72686d18805f34bb305556173e04114abf3c55673277741a25f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec38867e576c92aa6b8fde1d986e36e0b588ed71048d906fd400d4658752b29b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a4d2c20f1414ecb20fe10c1154b78dd53555b407cdc50cf1304bb126fe11c46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 6.363 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]: [-0.535, 1.7535, 1.4097, -0.5629, -0.4755, -0.3908, 0.199, -0.0212, 0.8101, 0.6106, -0.5884, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4378 left_y=-0.1613 left_z=0.1668 left_yaw=0.0682 left_pitch=-0.2045 left_roll=0.1151 left_gripper=0.199 right_x=0.2642 right_y=0.0015 right_z=0.1387 right_yaw=0.0005 right_pitch=-0.2063 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -12.2051, 9.2239, 1.4432, -0.2711, 0.1001, 0.1099, -0.0752, -1.1009, 7.0359, 1.8486, -0.0659, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7589, 2.1422, 2.0644, -0.9558, -0.5804, -0.6086, 0.2011, -0.0208, 0.8135, 0.6102, -0.6132, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4487 left_y=-0.2871 left_z=0.1878 left_yaw=0.0576 left_pitch=-0.2303 left_roll=0.1106 left_gripper=0.2011 right_x=0.2598 right_y=0.0017 right_z=0.1335 right_yaw=0.001 right_pitch=-0.2349 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -11.9726, 8.6906, 0.906, -0.5446, -0.0171, 0.2076, -0.0342, -1.4154, 6.8308, 1.707, -0.0415, -0.0415, -0.0073]",
      "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]: [-0.7876, 2.2074, 1.8473, -0.7444, -0.5846, -0.6369, 0.2031, -0.0212, 0.8165, 0.6094, -0.635, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4421 left_y=-0.3008 left_z=0.1001 left_yaw=0.0609 left_pitch=-0.2733 left_roll=0.1476 left_gripper=0.2031 right_x=0.2557 right_y=0.0017 right_z=0.1288 right_yaw=0.0007 right_pitch=-0.2605 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -11.5897, 6.7761, 1.2283, -0.4322, -0.0708, 0.1978, -0.0205, -1.265, 6.8308, 1.6972, -0.0464, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d208c71b80e72686d18805f34bb305556173e04114abf3c55673277741a25f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec38867e576c92aa6b8fde1d986e36e0b588ed71048d906fd400d4658752b29b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a4d2c20f1414ecb20fe10c1154b78dd53555b407cdc50cf1304bb126fe11c46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3QYKEAgSGAI4AUIIdGhpbmtpbmcSDN4IjqhBpyD3t4XHvxoM8JYvz0HARj5T5Op7IjAxrRjeyMZSsF+l7S2qwOxWn7NonA6bo97wF9dC6Nr3PvTJPkhP40+tun2u0p1rYXkq+gVcsU4bDZETObWUdpiHmnF2Bqv8Uc7OhXfotoFzl0m0sXeaqMC4m2yshgTRCPZQNcQlG6b+l9K0/dOXF39weWGQnpQZ/71MPwEJKVC1/1iVcMyXN/xT/HYO3sshnRG/uAVEcRjTlz2x/eF/eDEMGm+t39vhevZrmx3UuXsLdPPjjcCbQ9QC12KsL1/0Yi+HNncOnXQHyK2TR/qVXOsRyfVmEXQELmDu9l4M12UgHkKHLUQhTX48tdrO2CdZKS/okh8Uh89fLOYJF5dsZkLm0mwiVxs/8U2aU7goTQRsICSM+KD2I6OhHj83bZdwuWpC8Lt7F1TfdD89eZUsR7Y5VQgmvCeQ1+2wCBGhBorpEdke/HmCzEN0QnJ4ADQIhd/EXjRRaYl9BKs6u7tQuRkVsgHIzAvJke9VSWDiyaTi4USNk2XYWJjxuVkua6sRfyAxyHcaOW2/dlZdc8//3S/saLaNeYlQT0ULpqXFLm9fmsKjwmTe81rJHlB9W6EnZYitDmL8n++4N9c5LKnUbwBSpWGaBKg0RNzWF16wOLoYjEqV9k00UWWKvmdOd2WAQwyNOvXdrTmnLL5UQmd7ahazk3+t0jqHLJWvoViIQahgr/sbcCNaPtlfIxTUkdWIIOqcL+Tg0ExhcrZLCsYVJfaoOv7aw6t5rL34q9MZQk2aVeFJ93NHUUkCvKYAC6NYoS5grb9P05S0HCluK4wjU2ZXXQm6Iwe+zdV5alpItFOCIGHwZ3tZ3TwQAbSpYLMdAXLc7fwlXyYNWRUtWLb8Z/HwFw8QVU64EtcdMpEdpL7xd+/YAHJWKAC+ov+3F1dFQRJZdBk4mlKQbT3Q7CV/Ev8NjxRhPtr8T72WRc2S+KCuO+fcrpFFJCAakXQMyCFSLL3FFOIdtNu+Cmu9cUNIz8nWUcWG6xVpgz1e2THWsfYTXDGQirb9cFrEg12sZC4Yv8DyEsqgq1qDLA3o21O6tJrz6vJjTZnNKoG+9WzkITphOdNBNd5HMzKEUPmsNk0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UnTdBkmrEMYM5tCEGGs6AS",
      "input": {
        "note": "Teddy hangs over the red safe interior; releasing it.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01UnTdBkmrEMYM5tCEGGs6AS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 2.2108, 1.837, -0.7448, -0.5804, -0.6411, 0.9959, -0.0212, 0.8165, 0.6094, -0.6575, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4389 left_y=-0.3012 left_z=0.0944 left_yaw=0.0599 left_pitch=-0.2851 left_roll=0.1532 left_gripper=0.9959 right_x=0.2516 right_y=0.0017 right_z=0.1252 right_yaw=0.0005 right_pitch=-0.283 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -12.9162, 7.4325, 1.0379, -0.3932, 0.0024, -0.105, -0.0342, -1.1282, 6.8581, 1.6239, -0.0269, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf793f55dcf54455a2af1aaf8568af880d13f8ca5cc9c5b7d84b7c518e0ae6e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd8616d0982545b361a4ab944e26daae2db28ccdc85ae49599f95f7ef4ff4645",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3cce7cac8a764008909ba7ee541df478cad40671b26c93ae624ef63e0cb487b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.252 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]: [-0.7589, 2.1422, 2.0644, -0.9558, -0.5804, -0.6086, 0.2011, -0.0208, 0.8135, 0.6102, -0.6132, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4487 left_y=-0.2871 left_z=0.1878 left_yaw=0.0576 left_pitch=-0.2303 left_roll=0.1106 left_gripper=0.2011 right_x=0.2598 right_y=0.0017 right_z=0.1335 right_yaw=0.001 right_pitch=-0.2349 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -11.9726, 8.6906, 0.906, -0.5446, -0.0171, 0.2076, -0.0342, -1.4154, 6.8308, 1.707, -0.0415, -0.0415, -0.0073]",
      "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]: [-0.7876, 2.2074, 1.8473, -0.7444, -0.5846, -0.6369, 0.2031, -0.0212, 0.8165, 0.6094, -0.635, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4421 left_y=-0.3008 left_z=0.1001 left_yaw=0.0609 left_pitch=-0.2733 left_roll=0.1476 left_gripper=0.2031 right_x=0.2557 right_y=0.0017 right_z=0.1288 right_yaw=0.0007 right_pitch=-0.2605 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -11.5897, 6.7761, 1.2283, -0.4322, -0.0708, 0.1978, -0.0205, -1.265, 6.8308, 1.6972, -0.0464, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 2.2108, 1.837, -0.7448, -0.5804, -0.6411, 0.9959, -0.0212, 0.8165, 0.6094, -0.6575, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4389 left_y=-0.3012 left_z=0.0944 left_yaw=0.0599 left_pitch=-0.2851 left_roll=0.1532 left_gripper=0.9959 right_x=0.2516 right_y=0.0017 right_z=0.1252 right_yaw=0.0005 right_pitch=-0.283 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -12.9162, 7.4325, 1.0379, -0.3932, 0.0024, -0.105, -0.0342, -1.1282, 6.8581, 1.6239, -0.0269, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf793f55dcf54455a2af1aaf8568af880d13f8ca5cc9c5b7d84b7c518e0ae6e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd8616d0982545b361a4ab944e26daae2db28ccdc85ae49599f95f7ef4ff4645",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cce7cac8a764008909ba7ee541df478cad40671b26c93ae624ef63e0cb487b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1woKEAgSGAI4AUIIdGhpbmtpbmcSDMbthTcFBA1dW3c6sxoMX0DrXCDn+FYpQ7RmIjAyUIRgG6MhGANXSIbufvl/LPJxV67Xko2ZhuEGqpjv5/nidQGG608nphnvYZTtevkq9AkwFPMFOc/Wz4hsVzyOaiz+8BzkQ0HspgosTTsVdbpmKe4p0LdXFsH6Adoo4xxt4jPFm8LhrokSZ4PBbffOG+r58UNmTKfG9kHxJO21Ddqy2ZGAbxmgTGItSChJ7q9nbRrsfAdZdZ6JomETXteEv/of+cCDINuyxv9xu0M6B/XkwUX4yOT/k3Uie9izeYd8UGmW7y7Ku1J6lpr3N7wBq7U4iDnntg1DafU5V5NraSsbB3wp7S3JXeD/6V8D0tOdXty6tOWBXhyH4EMj82DypcrNsz8vapDRfnvFRnlOAPZSETmNs9XJvaEa3Fs+czePTzNp8JKDsbXuCsZAtXhhZPEOFj2cyDkAQGM8VgiCBaCU8dmcQpxiIdqU0AAASZW71nL5sKtHLS+1qVsKoct+ZflewZxWTaKGzfBpulTqmNp+Z7zZSdGW9ALcVLurRgDfuDqYTWTUdM3bvZe+LQ8ACLjrUBdX7FnEantq2N8D/hR8IlZ1O3Pg77Q3UYP8qZoWRU6spMB1cyK1lQoRUgaUdV8m+Pjpd9xVmad0Pt5qubG+L3RvVHzQDIZ1Wb0QvYehWZEeniLGcooAvBpOzmPyzgxqM174/zZWry7nxIbbZ73MSlNlSKd2Sxd4iubUVIs+1rm37JOOvGU5yzJVi93RxtZ6ldM8Zt2HBZfc82dZVXbJAMY5ehSfXcqdubOAg5swLg5gHBl63YfpXwFyXxj7YowQX2LrpCLSnGJ7Mz+uZK5svyE+OYDqJalSFM+xJkLrRI4BBjrZsle5g3PKFjbCN4uIAVkzZDkh3T5kkcVvv9wqg2KyVnFdsQNKhdaeTDiEil6HdHubIIFxzCFzl9dE60Mj9Q/Yo6vkjdihJYDYSquNv+OCgP6R+qVJTVQAz6shXQRak4isYvBf7KMaBJIv1EnKUXqAhLnNZwhMmDRWtZbq2mwRjNBeJUjDr3ac/V9WRLFX/mcCsEB0FO96bbzBSdqtx5lBfcjeFH63cnEFynZtpBB9Bo8tcD8+5PeBi/00fQueOxJZZ9pLu9O1IKDd/puTFbgUco/9HO8RYAY9OerNstqc2ibh7h0Nia5/Zu45PW5vUsU1y43iziFGCgnMdIuTpYyleKRHx3+TiiJWMOg0K+t63wygI52w7izbL2XvpkjuBEdYwrdVPqtRyb1NqgQdEdBAQUTpKhylNiZ6fmJ46LfSTOcaZxXs/vjJOC7XceN9kboLJGulTCuAmj2gSq6WPGM2r3/xKDRFc0gI9HyqQKWODwrhDJ/Bsowr6dqAG+rZUg2PdzwrypBO7ebBdZ6dzTOvmtj4snQtl5GTdHm95/Sjp/uewfVGan/eoL8rYlT7Wi9PjH2YSe9jCcgydL5KosiF334FYX4GZwkcYnnoz8dOmhF/sBUcVB59Rbr8LREuby6IyHMAPTfyl5T32egM1r+9VPD2MC0JtXzgalKqs0SQ5umFcbGquVRQ9iS+JtBY+6Yq544UXQiPRv/BxfbwhJfGGRDqFJOme0S0n37BmvJ+eKjr0x9gQjxNA0lttr8p9iytTiJSHRbKq0AYe1btQVSKQUaLl4rxFJ/zVGHXgktPN0deSz25aQlxyzi084+Q1hlBmRbZXurrLO+JdGyOLuFY+bupnvr2tITBtGHfJT533GF+pPpJAdo955n5Z2CIFs4YtqLQDY6sMDCSIjvMrYNoXRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RFwmvMbVzrGL2xTTvaeNui",
      "input": {
        "note": "Teddy is in the safe. Parking the left arm at home and sending the right arm above the lemon (right of the safe).",
        "targets": {
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_gripper": 1,
          "right_x": 0.45,
          "right_y": 0.15,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01RFwmvMbVzrGL2xTTvaeNui",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1661, 1.0428, 0.9066, -0.749, -0.2581, -0.112, 0.997, 0.4049, 1.7718, 1.3041, -0.4839, 0.2371, 0.2901, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=-0.0 left_z=0.1799 left_yaw=0.1053 left_pitch=-0.2782 left_roll=0.1441 left_gripper=0.997 right_x=0.4366 right_y=0.1459 right_z=0.117 right_yaw=0.0203 right_pitch=-0.332 right_roll=-0.0153 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -3.0427, 6.106, 1.5263, -0.0757, 0.1148, 0.1001, 0.3897, -8.7043, 8.8547, 1.4774, 0.2173, 0.2271, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df3ceba25c8badd000b562cfa23ac3f8653746b9ac5184600d2dd8413ffcb8d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d76d5aa3b87f2667f3136046366ac4763de025294bc7cb4e42f6c9ece6ad5620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:883bb99d8848a79e7c3b74189286b3d2ce4fb9493d40c8770f30620deae80e53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.555 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]: [-0.7876, 2.2074, 1.8473, -0.7444, -0.5846, -0.6369, 0.2031, -0.0212, 0.8165, 0.6094, -0.635, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4421 left_y=-0.3008 left_z=0.1001 left_yaw=0.0609 left_pitch=-0.2733 left_roll=0.1476 left_gripper=0.2031 right_x=0.2557 right_y=0.0017 right_z=0.1288 right_yaw=0.0007 right_pitch=-0.2605 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -11.5897, 6.7761, 1.2283, -0.4322, -0.0708, 0.1978, -0.0205, -1.265, 6.8308, 1.6972, -0.0464, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 2.2108, 1.837, -0.7448, -0.5804, -0.6411, 0.9959, -0.0212, 0.8165, 0.6094, -0.6575, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4389 left_y=-0.3012 left_z=0.0944 left_yaw=0.0599 left_pitch=-0.2851 left_roll=0.1532 left_gripper=0.9959 right_x=0.2516 right_y=0.0017 right_z=0.1252 right_yaw=0.0005 right_pitch=-0.283 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -12.9162, 7.4325, 1.0379, -0.3932, 0.0024, -0.105, -0.0342, -1.1282, 6.8581, 1.6239, -0.0269, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1661, 1.0428, 0.9066, -0.749, -0.2581, -0.112, 0.997, 0.4049, 1.7718, 1.3041, -0.4839, 0.2371, 0.2901, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=-0.0 left_z=0.1799 left_yaw=0.1053 left_pitch=-0.2782 left_roll=0.1441 left_gripper=0.997 right_x=0.4366 right_y=0.1459 right_z=0.117 right_yaw=0.0203 right_pitch=-0.332 right_roll=-0.0153 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -3.0427, 6.106, 1.5263, -0.0757, 0.1148, 0.1001, 0.3897, -8.7043, 8.8547, 1.4774, 0.2173, 0.2271, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df3ceba25c8badd000b562cfa23ac3f8653746b9ac5184600d2dd8413ffcb8d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d76d5aa3b87f2667f3136046366ac4763de025294bc7cb4e42f6c9ece6ad5620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:883bb99d8848a79e7c3b74189286b3d2ce4fb9493d40c8770f30620deae80e53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwgKEAgSGAI4AUIIdGhpbmtpbmcSDNAmpeO9JwQy88N6cRoM41p7AsETIu2D0LF8IjBrYsyYUtt7H4gOmRRdLFPmn3IiJQ1Lgp8JwAqEttJdXwdAVxWJi/liHWQ8smVtrXkq3Ad1HoqvKzfefXanycAGrJFNk7yo0w8NBtTWrtbJdHIrIZWlE06eyebQSIK/6nx1LeEtjftwcmRyr87MqpzEDjt7UZ/GwnhZB9aVhnBo1lPyrFHq6SANR9q5YTO2iV6C57+0mYjfoYzs97ppLzfuku3PG3BY689Fj5JDbwfobmrYd15Tkq56bc9uX4+WjfX23gFT8uorZ0gQZ0hkptTbAzO7w+4tLhunk7TzjdyGlXDTjTMZ2cifpOZrF834Ff3moI2xVzOSB1L9pe/4mb1tOVI7jMKLNA4Lwb3cu5F8MxU19HfgNPWsgBFSJc7fk/TdjkiI9ZtoIbJm8kfbYyvaFX78MGxurHuhcpj2TGF93wSvHMcfIgqb7i5UfNbR9ZtpiUQQR6gx/5NNIRhh3nrDeJHCb6xyYcqGIrFK81K4R+oI6W/p2jtXI7fw3HTabEQZxKTAEhQ7JsVef9PihFOHUtcObgdBF5kkW9AiwuQu065nGKnfY+gqtYTDCTt26yiD9MRArPeBDP57Mj02gQ3hYX+hE1MIE93ZNRDDKtK01xQZ5DGCWNzXeOlLYITRHNWAnHX7oVMCjx8UPTsKcBy8wRFL06zOUB6U6DF2V+Tfo9uL9aAIxbvLJCox6VaOy9MDMwo/utHfdrKCUyW9pDNALZu+dPdRxEsIt9l+7WptBeZarimr83so0ulJ13HJwCOiKVYrPx5CySmD6cmZlD/caBw7Wb6GOGazKYv635H/z40QxyQmqZkoFd298BTnt8ySGgGgMOJqBQIl5JB6DONtk9rCPc7BN+fIbqbe4nQok+xDI3m6xta7+NAMs6Jxz+j10xz9ZtWh5FaIRcbYmWS96QW+4vznRg5cqDedzcqtNyWgNBtXTr88vpeEME7+KK6SJCTCB+Gdmh2sYPkES1GwBveGomNXkszKNOBwjNLfqxY+jxgOJA5bQDjU51MtTzSYF3Y/YRpPvZj8+o3z7xMBRhupyHjkLuGtzLftjXdkg7uDnTmfe6uZ4mMF9qoFTCBvuMaMH/y/TJ8kUe0q7z6oCU6UOKo4fXnHZQ5Juv33kyj4of3J2824wbl5IgnS7EF0UMaDlQ+xta8a3WqFMLSXC7clDcOObvKG55jaqIeoxxvJjaAXm90GrReQ9z8ZVWpmk4nYkYFWVKr+6HDIQS9kCjgjfR+5R0zQMnuxxGoKwtIkX6SavLBHu9si6IN94gv5NjykU8wX6chfdhpuI+XLXljigj279o5yBwCdDcYrCQV6+P8FQeVvMLeWmIV//URdkgpCaPVUNHHtZqfI7w0TBmmRqVxCcS9f8zTYws2oGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TVwQSoqBsCpCj3LQBVczA1",
      "input": {
        "note": "Lemon is just ahead and slightly right of the jaw column in the right wrist view; advancing a bit and descending around it.",
        "targets": {
          "right_x": 0.465,
          "right_y": 0.14,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TVwQSoqBsCpCj3LQBVczA1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0454, 0.902, -0.7647, -0.2508, -0.1131, 0.9971, 0.3668, 1.9728, 1.1965, -0.207, 0.2115, 0.2623, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1747 left_yaw=0.1028 left_pitch=-0.3016 left_roll=0.144 left_gripper=0.9971 right_x=0.4552 right_y=0.139 right_z=0.0242 right_yaw=0.016 right_pitch=-0.3693 right_roll=-0.0241 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.9333, 7.0222, 1.5263, -0.2076, -0.0415, -0.0024, -0.6222, -8.9231, 5.5043, 1.1697, 0.0659, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7658fea277e705e4982843bffcdc902faa8f2fef9663d862a82f731a9ef30ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:883905fa0e41d7d085ba35985a3d0242e61fa52c021a78130fa06bbe853c5f33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62fdd197634b4978a34433fbf8010265b63e494c020774c5ce7bc50b89a0979c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.743 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]: [-0.7914, 2.2108, 1.837, -0.7448, -0.5804, -0.6411, 0.9959, -0.0212, 0.8165, 0.6094, -0.6575, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4389 left_y=-0.3012 left_z=0.0944 left_yaw=0.0599 left_pitch=-0.2851 left_roll=0.1532 left_gripper=0.9959 right_x=0.2516 right_y=0.0017 right_z=0.1252 right_yaw=0.0005 right_pitch=-0.283 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -12.9162, 7.4325, 1.0379, -0.3932, 0.0024, -0.105, -0.0342, -1.1282, 6.8581, 1.6239, -0.0269, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.1661, 1.0428, 0.9066, -0.749, -0.2581, -0.112, 0.997, 0.4049, 1.7718, 1.3041, -0.4839, 0.2371, 0.2901, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=-0.0 left_z=0.1799 left_yaw=0.1053 left_pitch=-0.2782 left_roll=0.1441 left_gripper=0.997 right_x=0.4366 right_y=0.1459 right_z=0.117 right_yaw=0.0203 right_pitch=-0.332 right_roll=-0.0153 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -3.0427, 6.106, 1.5263, -0.0757, 0.1148, 0.1001, 0.3897, -8.7043, 8.8547, 1.4774, 0.2173, 0.2271, -0.0562]",
      "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]: [-0.165, 1.0454, 0.902, -0.7647, -0.2508, -0.1131, 0.9971, 0.3668, 1.9728, 1.1965, -0.207, 0.2115, 0.2623, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1747 left_yaw=0.1028 left_pitch=-0.3016 left_roll=0.144 left_gripper=0.9971 right_x=0.4552 right_y=0.139 right_z=0.0242 right_yaw=0.016 right_pitch=-0.3693 right_roll=-0.0241 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.9333, 7.0222, 1.5263, -0.2076, -0.0415, -0.0024, -0.6222, -8.9231, 5.5043, 1.1697, 0.0659, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7658fea277e705e4982843bffcdc902faa8f2fef9663d862a82f731a9ef30ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:883905fa0e41d7d085ba35985a3d0242e61fa52c021a78130fa06bbe853c5f33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62fdd197634b4978a34433fbf8010265b63e494c020774c5ce7bc50b89a0979c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwgKEAgSGAI4AUIIdGhpbmtpbmcSDFUrZ7Pjv69NmUT0lhoMF+5T6eKaos0RwKqdIjBan3aINUagi7lfwVhQ2JEH11dsRi97Gnw9+nkCUM3KHtYXLUCOVRVJSHaZNLeo+pIqsAeJurnGqBj8ifwtVLM66CK20Iak8mTXJNlOzGFKaV4bqCi9hfOfhWX1KNNo1LOZmGoSGuBTXIw9sqjru7B1opqGLsL1MV9n500mqyVp+A6VBiH42UTeRTSO37T9ZnCzioa7M2n7FWOz4VqE1wrHGl0fxV0wBUhkcDmfyhKmEeDomhSHUUxN+T0pj7rqZ3FDqL4Rn5vbjhxeh718C8X/XT6el5wM1wyyXUwQBBYqOEC0k/YReHm6PXJSVDnXvMjQOe3kW37CEHWBzv73GL9p/sIP312mzH6e7ggi0Tz9jr72mXTY7pIwowyZxUiJunVfgh4HTea0vDGx8o13En4bBLxAlENjNYEqhoruo16rWyVBC9ICeMAY1UXjcp13+zgUhOfpm8Iyc7WjEzOg/BwmL5Q6Qqgxh5DvVnMb5D8jw9GzeA232i89TXQvDKzqnJMSKkqmYOOZhAOc8y4uf+ZJhPUvkVneQzloUEPkaKD9KcTXwIP90tmbyxEaJmHPAXSQf50UXsqLJIFkeSWgqI4+7fuxup8Y9DmDYUODF7Rf374V4cNyGX3DLj2tnkFw0A2xjv2a9aQkZDEOvAR5DnJka3n2osKee07hNEmAI/HLEghzhZLt+hLMDhJMR6a6YFRintmb8c01ltvnYENzl8V7ctc3KYK4OjDM4dNSO0Y2wk2+NIUMp/Cpo7bng4vY2sYKfOLYSNDCCwbihK8ObOJxFMQWZu4AB5ZGWxSNy/buru26NjcxynAWL3zO0hIjKTvJU5GwsDc0LmRrDE3S6IiqT/c4uFGwRNffxCsg+uNdWRRuHTi4Y9K7LAIAffnv7f6NlAMXXWnL6s6Ky/7jWw5KBgc3/TGM+hdOu+I4lErwABRnYU+WdOjsotKnGJpY7jp/n6oFdJR4ARuY/9/dwrXeNubWV5B2XmWzSq4rYNF4daCCPCKtQfZhzZ2uosYN0/1PeEHrvbr16rhcErFslSyI7YnvyAJwJypBtZwshJGiJOuBBHsFrZUE4l6nyzwyI3i1LMQVorG1f1KsI2LWpgn7sBS5oJOu2qESoc1JAwQ7UD75nkHrgB9Wx6XQkOUOyVTYR2/nCNaNJs3HmXNCbuCFkU03e2TQ8mgcRFCZVTTwu9dpEydh/zmvAGDawssvwzBAht/TLADqNjYDNv/F/aCO/JtJmD1k+Vj06g0MTHdkO81Zk6h/4eUTMQC6+xgpCZBPrAStgeomLlkk/I+7MNOtoGnRXoHaqdS3pwId7IqEgd/BfRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sf2YB4tDUToywd1CP6SB7X",
      "input": {
        "note": "Lemon is ~3.5 cm right of the jaw centre and slightly ahead; shifting right/forward and lowering.",
        "targets": {
          "right_x": 0.475,
          "right_y": 0.105,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Sf2YB4tDUToywd1CP6SB7X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0454, 0.902, -0.7681, -0.2508, -0.1131, 0.9971, 0.289, 1.9953, 1.1931, -0.1574, 0.1642, 0.2085, 0.9996]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1742 left_yaw=0.1031 left_pitch=-0.305 left_roll=0.1449 left_gripper=0.9971 right_x=0.4696 right_y=0.1132 right_z=0.0182 right_yaw=0.0134 right_pitch=-0.3592 right_roll=-0.0103 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.7009, 6.653, 1.3651, -0.188, -0.0415, -0.0122, -0.1573, -8.1026, 7.4598, 1.2234, 0.1099, -0.232, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:079ad0450cb553567737a3bf707d8c06b68a6740b672b8e93f4a0d11e7bfd4a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7901f79fbadcfe127e0f7a0397032641511ea8bc716077371ec7ad2e5b5d8a15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5088b40e25ba0cb2611ab8c133045717c8eb05945085f68d00772d36aaf7643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.709 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]: [-0.1661, 1.0428, 0.9066, -0.749, -0.2581, -0.112, 0.997, 0.4049, 1.7718, 1.3041, -0.4839, 0.2371, 0.2901, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=-0.0 left_z=0.1799 left_yaw=0.1053 left_pitch=-0.2782 left_roll=0.1441 left_gripper=0.997 right_x=0.4366 right_y=0.1459 right_z=0.117 right_yaw=0.0203 right_pitch=-0.332 right_roll=-0.0153 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -3.0427, 6.106, 1.5263, -0.0757, 0.1148, 0.1001, 0.3897, -8.7043, 8.8547, 1.4774, 0.2173, 0.2271, -0.0562]",
      "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]: [-0.165, 1.0454, 0.902, -0.7647, -0.2508, -0.1131, 0.9971, 0.3668, 1.9728, 1.1965, -0.207, 0.2115, 0.2623, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1747 left_yaw=0.1028 left_pitch=-0.3016 left_roll=0.144 left_gripper=0.9971 right_x=0.4552 right_y=0.139 right_z=0.0242 right_yaw=0.016 right_pitch=-0.3693 right_roll=-0.0241 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.9333, 7.0222, 1.5263, -0.2076, -0.0415, -0.0024, -0.6222, -8.9231, 5.5043, 1.1697, 0.0659, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0454, 0.902, -0.7681, -0.2508, -0.1131, 0.9971, 0.289, 1.9953, 1.1931, -0.1574, 0.1642, 0.2085, 0.9996]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1742 left_yaw=0.1031 left_pitch=-0.305 left_roll=0.1449 left_gripper=0.9971 right_x=0.4696 right_y=0.1132 right_z=0.0182 right_yaw=0.0134 right_pitch=-0.3592 right_roll=-0.0103 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.7009, 6.653, 1.3651, -0.188, -0.0415, -0.0122, -0.1573, -8.1026, 7.4598, 1.2234, 0.1099, -0.232, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:079ad0450cb553567737a3bf707d8c06b68a6740b672b8e93f4a0d11e7bfd4a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7901f79fbadcfe127e0f7a0397032641511ea8bc716077371ec7ad2e5b5d8a15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5088b40e25ba0cb2611ab8c133045717c8eb05945085f68d00772d36aaf7643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwcKEAgSGAI4AUIIdGhpbmtpbmcSDI8vyuStyveoyZeNCRoM40wPYeVBbkpqEjntIjBM4GXYgUaoPhtEfjbQyCEV7nliEtqiXzLYKb+UutRJXy9/OwcYz7FZiNhN8ci/FjkquAYOupbjHla/mJCwgPZHPg5qp03MDTyycBWd4Y7nq5D50tm2NqSHpBmvu76Wg3VkdVdZxnrz1iMknyE1GvEjPEZ7pHOiN2k5tW6Zux7iAUKHOHj71Z977oln+cUY2rhFG7kNLM8Wg5i6OnOZtVDAMsf0R+ub+mkSRuGazmlcI3+MWPkMuF7nbqKH+WgpIQyFwgAtxwVvWZ6y6K4OGYj639m4a57/jg4N5T29sPEOELVVnlNHj8neoEIRP6po6roxyc1oe8NhsxU8en+SezL6ITAVWCtxsORkDd3ch7v7bkEBtvvBt7yK6M1sdQhZZIMjV63HlgUAGi5zGPmsgz/CjB5p+suZSYaV8b2rXom6LlkZqKsk2ML3p6y88W51j7f1r7d6f8pe5IP5erbqodLma/J6CiqTj0JEURhwpIAmZvBzDbKnNz/ZiDsUvA0iOoDjQHih76Qk8H8liNytDbC4+ZDmbbJcW9YvO2a+ZwEV7Gdq16VFMsFfDHciaqBe5yth6Vg9rqvWPZ1DnuKJNxIVdGRh+1taq9toDkwlzuFvx5jJXQgYNhMIP0OEawXvv/hN0shDEnU1dPKlz6I+OFXqu0ynlXa1VmDLEkzQ1dHaZv7j2AbQS1XIoCeIsI/Wp1dxQeHX04IU4aO91PhQDk6egqCFfpEQBS6AIN7Cd+DAgkIZg4G5qApHxcLivq0njmfpAtPVUsbMu/BkPT/+kou5x+dtIjhskLeWTLvQF/VOPU/46w6TiTWAtGqxVy96qeOVXjYeUe7FnjaXP2Nts+x9u7TCFa/dVcH7Tq1cIAHcZWsvPFT8X3QcUphUhTpZTFMzeq7pznodxnTlUiUrwMR366cJSi3AHZxu44sD9ZH0job3aAWCC5tOiJ3nbYdr4xn8arf5MzB73wImaD15ki13t8GJucChgeYSAKuNE+A6BI4peJOxyCtVdgEwEis043DWDhgJXO2eWOVP7pLycMa/HQb6A1Y+4YS3/6/hEwQS+vEUxSAj9OO3t5uI4Al0ME0Ky3dBVT8gt/n8Y2spn3Qk0vYRF70+E4V1wybfPgxUq4wrLBDOrObJbTMq6E/iB50kjvxoisgWzoR5yxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01URdyXpJ9JTQFTaLXMKWiiU",
      "input": {
        "note": "Lemon is centred between the jaws; closing on it.",
        "targets": {
          "right_gripper": 0,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01URdyXpJ9JTQFTaLXMKWiiU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0454, 0.902, -0.7689, -0.2508, -0.1131, 0.9971, 0.2718, 2.0087, 1.1965, -0.1459, 0.131, 0.1684, 0.0386]\nstate[eef_state]: left_x=0.2902 left_y=-0.0002 left_z=0.1741 left_yaw=0.1031 left_pitch=-0.3057 left_roll=0.1451 left_gripper=0.9971 right_x=0.4725 right_y=0.1114 right_z=0.0141 right_yaw=0.049 right_pitch=-0.3646 right_roll=-0.0069 right_gripper=0.0386\nstate[joint_eff]: [-0.0752, -2.2769, 6.653, 1.3748, -0.1148, -0.0611, -0.0122, -0.5949, -9.1829, 6.9675, 1.2625, 0.1294, -0.0317, 1.5409]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8482adf7612ee4a8643a7a0c9be20dfe83139c332ad4e4bd01cc6e035a494d1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:897a3a6053f388494f2f8c8cdf4691b7ce6b8ccd5de5f6696db891b3f3588cc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:deaed49556faaf596e508c9177425b202abfc654ebedf1c9641fd3df050b60f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.913 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]: [-0.165, 1.0454, 0.902, -0.7647, -0.2508, -0.1131, 0.9971, 0.3668, 1.9728, 1.1965, -0.207, 0.2115, 0.2623, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1747 left_yaw=0.1028 left_pitch=-0.3016 left_roll=0.144 left_gripper=0.9971 right_x=0.4552 right_y=0.139 right_z=0.0242 right_yaw=0.016 right_pitch=-0.3693 right_roll=-0.0241 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.9333, 7.0222, 1.5263, -0.2076, -0.0415, -0.0024, -0.6222, -8.9231, 5.5043, 1.1697, 0.0659, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0454, 0.902, -0.7681, -0.2508, -0.1131, 0.9971, 0.289, 1.9953, 1.1931, -0.1574, 0.1642, 0.2085, 0.9996]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1742 left_yaw=0.1031 left_pitch=-0.305 left_roll=0.1449 left_gripper=0.9971 right_x=0.4696 right_y=0.1132 right_z=0.0182 right_yaw=0.0134 right_pitch=-0.3592 right_roll=-0.0103 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.7009, 6.653, 1.3651, -0.188, -0.0415, -0.0122, -0.1573, -8.1026, 7.4598, 1.2234, 0.1099, -0.232, -0.0073]",
      "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]: [-0.165, 1.0454, 0.902, -0.7689, -0.2508, -0.1131, 0.9971, 0.2718, 2.0087, 1.1965, -0.1459, 0.131, 0.1684, 0.0386]\nstate[eef_state]: left_x=0.2902 left_y=-0.0002 left_z=0.1741 left_yaw=0.1031 left_pitch=-0.3057 left_roll=0.1451 left_gripper=0.9971 right_x=0.4725 right_y=0.1114 right_z=0.0141 right_yaw=0.049 right_pitch=-0.3646 right_roll=-0.0069 right_gripper=0.0386\nstate[joint_eff]: [-0.0752, -2.2769, 6.653, 1.3748, -0.1148, -0.0611, -0.0122, -0.5949, -9.1829, 6.9675, 1.2625, 0.1294, -0.0317, 1.5409]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8482adf7612ee4a8643a7a0c9be20dfe83139c332ad4e4bd01cc6e035a494d1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:897a3a6053f388494f2f8c8cdf4691b7ce6b8ccd5de5f6696db891b3f3588cc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:deaed49556faaf596e508c9177425b202abfc654ebedf1c9641fd3df050b60f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAgKEAgSGAI4AUIIdGhpbmtpbmcSDAQvaJ5T/zB8Vz9buxoMKf7VNSGQSD/WnWH+IjCfqkzZI155IbZuw45Klkr3ZASWbcAB6AJsk8aPWrHzWJKVCMsdBYf8MzvVI2ZMmPIqyQcvP7g7JlJJgEEnuOnuRApuh/eHu3re9PEPVlrLq3w0dlYupz4ygkMdptWzrIYQrensBtU/LOXtv6ueeGOOdWVkf6hCp3uEymwUrZn3T2/LRLYEu3rmcmiZRUXzdG4c9U2wN+qwr4clxJ5rfg5qhCo4HAT+EhxISLLcdhNXQLE7m2A04BnMIBueMBtJ29TVOKQjmSCNl1rqoV5rrQPX5/STe3gNa6K6naW/QigwCgZIAb8feytFvFTXUa2c8bwbMHPu+vzNV7ak1mwI7K0w7N1B7TWvYfViLl1Fpy0931s38AbHraPQTN9cZHKmwce6TbyNasIeDp9yiueP2IDkz7YpNpwB/BTMyP8SggOCvV93eUOGjOE0R4cZra6zVq5CSLhv9l3OXJPcNDbzOOrWUDMXyn8hhpllJrvsOTEXNTd0njN1X+0aeMBA9+5HU4R2U6n8JxzLrD+CxAWeTEqGOgLP/SWPxOvfq9mSLRsJmIlm+ZPJcozwyzroAU/fyLiDr/LpAT2dvQHKLkFFstNHfrVpl2Oab2Kbh50sHJ/hQulatlvWBTpRvb6kw/giVBgASRn5N0PfUkU2oYwrwpXXPqwAArCAcLSjv9yQPipMQbqm5TOAguokbo5p1hcjeRX56ogIwQs2zuoPig+0A5BOZteu3D3JzqF4VdY1ce5Vl9kmvVH/QFLlVq4uDoL3iA2UqMgoaG+UXBbefJ4Z6kC8O2kZ5U7eq+XOUn5IqeECuZd1B+zcxNJduQm+5Iho00jd3sJfcpmOHcx0M4slD+B00lDSzzQB2iumYIQI4ClKVNTj+eAWp1WodMopZNpdQ/5btscjeiHYfbCthJOrLq2bX1OfFRTT9LvKR76C8qYf43J+3ImiB2NkcyTN1o0u9J0STZ7BKIQGR5FTNebdmcjUQ9PWBTqG3vPTd1Wvm2qjUPCBZYNbsqcRP/VQVGzSAV+KbgIY4p3WBXtDNbsFEdOG+rjokNxVlHBKSmLW8b+Ay9/YZuTYw+iKGHhpdBGBZIMwcIiej0G/5BzQtDQAIQPYbFO+RsL9V4WQ+y003Ot8cajdFnZZnGm5EbkuAE3STBjbKFUIGo+n0xFtHnYDXZt7Qnql0aApdAHc+qG6Yq4z9/OGDmvceI0dTP5FoekWWVG4fcyaCNB/LaMMgthRpMSdbVs1znzvQcUxaU6oFIjPFiCwHAUvZ0hz9jVC7JqanrrtYnbBHlKoCqDlkTkV1w64+4uAOJSD2jMQ4XSmuWIu6dyL8AKLVzSjXm+1svil198sUGGlvLp28v2sI6oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017EVgEKcNtDYkT3hR4okTpY",
      "input": {
        "note": "Empty close; the lemon slid and now sits right of and ahead of the jaws. Opening, lifting slightly and shifting right/forward.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.49,
          "right_y": 0.085,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017EVgEKcNtDYkT3hR4okTpY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0454, 0.902, -0.7715, -0.2508, -0.1131, 0.9971, 0.202, 2.0064, 1.2774, -0.3012, 0.0887, 0.1036, 0.9945]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1737 left_yaw=0.1034 left_pitch=-0.3083 left_roll=0.1459 left_gripper=0.9971 right_x=0.4733 right_y=0.0846 right_z=0.0221 right_yaw=0.0502 right_pitch=-0.4424 right_roll=-0.0225 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -2.7145, 6.694, 1.409, -0.1441, -0.0708, -0.0122, -0.5812, -12.8752, 8.5675, 1.5116, -0.0269, -0.0073, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a92feb933bfd9c338425faa91d28c34cb5cb0aad5494271ef10de4ec98e3f409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49dbd36754a8a18e795d55c26534b69199522a05c7e3b96cb88596f23e6b7dee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3130da994b723f67c2bfeaf270ee56e92a7234d172805725c5a82f254b14e865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.612 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]: [-0.165, 1.0454, 0.902, -0.7681, -0.2508, -0.1131, 0.9971, 0.289, 1.9953, 1.1931, -0.1574, 0.1642, 0.2085, 0.9996]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1742 left_yaw=0.1031 left_pitch=-0.305 left_roll=0.1449 left_gripper=0.9971 right_x=0.4696 right_y=0.1132 right_z=0.0182 right_yaw=0.0134 right_pitch=-0.3592 right_roll=-0.0103 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.7009, 6.653, 1.3651, -0.188, -0.0415, -0.0122, -0.1573, -8.1026, 7.4598, 1.2234, 0.1099, -0.232, -0.0073]",
      "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]: [-0.165, 1.0454, 0.902, -0.7689, -0.2508, -0.1131, 0.9971, 0.2718, 2.0087, 1.1965, -0.1459, 0.131, 0.1684, 0.0386]\nstate[eef_state]: left_x=0.2902 left_y=-0.0002 left_z=0.1741 left_yaw=0.1031 left_pitch=-0.3057 left_roll=0.1451 left_gripper=0.9971 right_x=0.4725 right_y=0.1114 right_z=0.0141 right_yaw=0.049 right_pitch=-0.3646 right_roll=-0.0069 right_gripper=0.0386\nstate[joint_eff]: [-0.0752, -2.2769, 6.653, 1.3748, -0.1148, -0.0611, -0.0122, -0.5949, -9.1829, 6.9675, 1.2625, 0.1294, -0.0317, 1.5409]",
      "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]: [-0.165, 1.0454, 0.902, -0.7715, -0.2508, -0.1131, 0.9971, 0.202, 2.0064, 1.2774, -0.3012, 0.0887, 0.1036, 0.9945]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1737 left_yaw=0.1034 left_pitch=-0.3083 left_roll=0.1459 left_gripper=0.9971 right_x=0.4733 right_y=0.0846 right_z=0.0221 right_yaw=0.0502 right_pitch=-0.4424 right_roll=-0.0225 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -2.7145, 6.694, 1.409, -0.1441, -0.0708, -0.0122, -0.5812, -12.8752, 8.5675, 1.5116, -0.0269, -0.0073, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a92feb933bfd9c338425faa91d28c34cb5cb0aad5494271ef10de4ec98e3f409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49dbd36754a8a18e795d55c26534b69199522a05c7e3b96cb88596f23e6b7dee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3130da994b723f67c2bfeaf270ee56e92a7234d172805725c5a82f254b14e865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wgKEAgSGAI4AUIIdGhpbmtpbmcSDHM6PudSHSNLc3/9oBoMK1sMum3EfLKoN5snIjAUQYKIJ2GNoMQWtT1WBiVz+rFy0Gs4QosUGRxyffC5RudHVeFj5VbJvKjP7jE6/OAqjAjw41Ou7KnyMdAA92lfMYUu8WVkIGp1c42BYl22Md531fSMlUva9m5BvYBqhjQqYEruoGI8xyMkz3h6HoHue/CkrFCtvDR7QtJHxrW03czjpFhUVQubH0U9qYkDhsSiHxUw9U3OBKKgRQSQk6GNovpSN/iT1ZXbADlHUK6booA5NUTmt+SJEmMbemdcC5gGQ2HIS49jP5uig07EZwW+njUdUbFqQyZQjc6vWXvxxbeh9/TD8T7TR6kXIsMv2242diiIIygyOliFmHtJ76rgGpPzdZDTZcVCED9TKTMQkKWkLfqvk9RaaLmhPI6JLsXWmFmfAmcz0haIg7B90INeWfFspMkXif4aa1xPpcn+IdcLgxEnb/jyNNRyVK0Vcl87gWVbYx72zZoUBirxQrxI/vic/cD71kB7u35G64Z7ATkzpiwdjJQecbmjv9pE4k9LLR4YPp6Iug0P47u9bpwn6TDHEEFA375NPdWaF9sKh3yVJ1v3F261I+DGQG7oIU8YbhEu8h0n7lFpDWneeIw1nmk2FpKh4lxjB/2yOpFHBP1NbaiyRLY/MxbuH/BbtVWJG+4YHts3Xm7eKiWsaR+YeDrx1uopOP10NtB7rEjp3ScdWRVW3j2epMZo3ohc0gETQClmo5sGDG28xiUHavoq5hFu1m3oyU/GSoZKreg4ucGc/RdlNRivzZmu332Pzlbq/qr0ooCO9Va37s6jbSjkiCzb9KSx1WZv4GoeJyEOWHZ1My/wpor41t4wqHKWtTHr4GLSPJi3JoxgLZitlzCogd/0PpMEada75/i75D4Egbf/ixkN+MNjaVhD/75LdFl3P1Bg8x1eaN9f8ir4hihSVXOZupb6i+VagpuueSMQQRwu5CQM4n8T4GKLW5kvCf/iH5Eo33r52g1GlkIHoOeFpy9K6YCETwGhWu/Yw2RmjOYdXfkZ+iCCA075M6vo859hGDI0YlhJPuCbgcFc1Ecxmo8UVIX9uFbRQQd2zzr7EXUx8vqG5+QCdXfRkndAcugtZYN5ymFszQ6COlE05qjl1AdY3M6jQ7ORt+oVkRBZpBZx094SpClTEU3iPTE2Ir0VFzw2NkTLBJQO5oFS7fkdf6yBpYUzJDq2BAMUSefHLfEN0Nbx5gEy4nQgpTfayi890FV4i8sjw4V2QpZjLgI1jH67HTTk6yUqMhsoy99K0I78mNxLq2Bqb5V2qSVPoF9ApHsu99AzDddQaTnvFiN7FcZjzZ1kgQQqvS6Lu5f8ft0/XfoF8lBXrUV4iIRfO3sB7s0DpWuWvUYP4hkcNjZAmamNKolIApcqwqEG68TPh4Ae8QZEixmhJkxvzY21KWOQbMLmttlck/8tzXZKALW+D+/jwKRwxZAqeXDN5XPsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LGYYwZ8f1DE2NUVAXG7rS3",
      "input": {
        "note": "Lemon sits against the safe's right wall, a few cm ahead of the jaws; the left jaw is riding on the safe wall. Lifting and moving forward above the lemon.",
        "targets": {
          "right_x": 0.52,
          "right_y": 0.09,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LGYYwZ8f1DE2NUVAXG7rS3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0454, 0.902, -0.7727, -0.2508, -0.1131, 0.9971, 0.1986, 2.0804, 1.61, -0.5446, 0.0853, 0.0925, 0.9953]\nstate[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1736 left_yaw=0.1035 left_pitch=-0.3094 left_roll=0.1462 left_gripper=0.9971 right_x=0.5162 right_y=0.0922 right_z=0.076 right_yaw=0.0576 right_pitch=-0.4278 right_roll=-0.0233 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -2.6462, 6.6393, 1.3504, -0.1636, -0.0464, -0.0122, -0.5812, -9.894, 7.4325, 1.1111, -0.0122, -0.0415, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e93afdf4de45c5283609184ee1cc496d2845233d324a74c2e5db54a7cc1f6add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0243ed2ba0e4d2541173e5dbba64502706883cad084b89cd1522f3a85554fa39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfab57a54984e21674723aef85ff87c267b71e7793cfe8155f7f389b48748526",
        "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 · 3.778 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]: [-0.165, 1.0454, 0.902, -0.7689, -0.2508, -0.1131, 0.9971, 0.2718, 2.0087, 1.1965, -0.1459, 0.131, 0.1684, 0.0386]\nstate[eef_state]: left_x=0.2902 left_y=-0.0002 left_z=0.1741 left_yaw=0.1031 left_pitch=-0.3057 left_roll=0.1451 left_gripper=0.9971 right_x=0.4725 right_y=0.1114 right_z=0.0141 right_yaw=0.049 right_pitch=-0.3646 right_roll=-0.0069 right_gripper=0.0386\nstate[joint_eff]: [-0.0752, -2.2769, 6.653, 1.3748, -0.1148, -0.0611, -0.0122, -0.5949, -9.1829, 6.9675, 1.2625, 0.1294, -0.0317, 1.5409]",
      "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]: [-0.165, 1.0454, 0.902, -0.7715, -0.2508, -0.1131, 0.9971, 0.202, 2.0064, 1.2774, -0.3012, 0.0887, 0.1036, 0.9945]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1737 left_yaw=0.1034 left_pitch=-0.3083 left_roll=0.1459 left_gripper=0.9971 right_x=0.4733 right_y=0.0846 right_z=0.0221 right_yaw=0.0502 right_pitch=-0.4424 right_roll=-0.0225 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -2.7145, 6.694, 1.409, -0.1441, -0.0708, -0.0122, -0.5812, -12.8752, 8.5675, 1.5116, -0.0269, -0.0073, -0.2027]\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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0454, 0.902, -0.7727, -0.2508, -0.1131, 0.9971, 0.1986, 2.0804, 1.61, -0.5446, 0.0853, 0.0925, 0.9953]\nstate[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1736 left_yaw=0.1035 left_pitch=-0.3094 left_roll=0.1462 left_gripper=0.9971 right_x=0.5162 right_y=0.0922 right_z=0.076 right_yaw=0.0576 right_pitch=-0.4278 right_roll=-0.0233 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -2.6462, 6.6393, 1.3504, -0.1636, -0.0464, -0.0122, -0.5812, -9.894, 7.4325, 1.1111, -0.0122, -0.0415, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e93afdf4de45c5283609184ee1cc496d2845233d324a74c2e5db54a7cc1f6add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0243ed2ba0e4d2541173e5dbba64502706883cad084b89cd1522f3a85554fa39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfab57a54984e21674723aef85ff87c267b71e7793cfe8155f7f389b48748526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAoKEAgSGAI4AUIIdGhpbmtpbmcSDJkCN2JwkHdqivOP6RoMs5IOqM6KR/ztrLo0IjDgGqq8YCsuV2tHaTjSFYxNg+yHBstuhn0qLZbwc6IppfbhfKLd+U0Wk1En2+15+McqqQkZsZJjFoDKpgavOKI8zR/o5lCizTKhtGNAX7Sg2ZV8JYTrlOCUv4V81Np31U1sU5aGr2ntLijYCFgQ6rQGGXVpPLl8R/QDrfJTnLemcDGPAJ0OK2pzY5UXFtXEvexARExMbdnwumZnUeTjmgrtEeLa1GpcZVIK2Jevz7TRooY5KFBn2atKd7FzNgKMouevn9hGlkQspdNUFF6dViT4fCpeUKwfyZDD2LrW38dvHD3hM2UaHE+Uiv9Mn9Clue+CAxvhK9cl09p9+1LEw8kdMYoGCcdM/tmp5wmL+0X2q0Pnusjg5facs0csXvZi6Qh0OL6ywYWUFUY+HUfOZ8tBlYOfF7Iu3qeXJdUIlbnCH7esxDGj850tWuyNXtVyJQKMg4+OKLlPYpneN3vZ59fff7naCOSrOQPga4KhtsKwm0d1bBoNOaSn82yzD6DOMWKRPt2+K+gdf58PeJ8Xd6EyvtYcC/E6FxphkPjshDymqjUBbCrxi5D48FmeMxMR60egKooZLgCOg+y+IIHzUTy97TtCx5Sr0n+3SYLzp+ZdPp0U/1V9MgDjaO/jpnm17n/61WA3MOyVktr4qS9bjDVhRgQlq1iNIDVVsUlZDE1IaaXxysEyaQdqaj6Zj1OA7xj2VmPhP4p4CML1Hzmd7CxbyGUo3mPq/V5ATVQhDmOZJEJtnBYVqXRzcL4BYlSwo8Ui2HhbgCMp9S2VzADYYCaEJN+5JI9VA3gvz1SYnbgz25wkRdNHZzTIvGQsRbLsDdvyx9hdD9LkB+yVnMNh+X6ieyjK+yfgiwNOqLtWyS7P1q2S5q2gC1Np5ry2ljDSR8ylpnbQHz5ciR5+GYfdZr/3Wv5czNtI5M4Rm3ZAVNoGx17pQqXATo+ApvlNiLqyg55Zulq9EgVU/516J/c2rz1B2zEjmP/gXxkeDfH9Xit8M/atJ39eVN5uaMqBHDPBHJxQkrMv1qA7sc5eF4/uLpsmW/brxOyddBG0cWJyj5MWr+lLOS8cBoWXbLxzJWRfinDBWdq1fGyFn23sQ+8J4nQYDB2OPMDhd0IUTfCntT1TL0SOPC52ymEXksyHsgvEPFB9D19e4NVDl9kGEzIGYRgVHZG+0KfmlIu/h6MD1VMuj5G2Y9+lAzZhswyb4IrHfl5xRwtiyngVNYpAF+xRNinRBeQwmqdzmwg4OMFLqwSkcAnKKbRRNLVkP5a2P+y+wfWCraDv/Dale5cwoOCUUiT9GdKj/hkekVYHbO8YZmenm26Vy2dIyq38bibtz3KicPNDeFhKoRuLM0GPpWJJvzOv8xz8V4b+c/NdkGMX5Qn7/GIvT4n0LF0BGKHPBcRORA0mu7ki/O06QGhYcF7rEysaX4Tub41hMumk3gvsKmbZBrbnFzIA1CHtGbWrmlgqYuvmUSYtK7HznYROcfygI9kLX27GEqvHUZeBqjFzaA4mfmKQxB8Ie4VdA5GeGr0VrbeU120sQdv02h0IuD25fV7aIskuGCQo0dRn6+llQxMIbv97NcxmX6i44a90ethFShcmbrwjclpFZcjsls70u+MCckJpHYPfhlelEdLQDJcm2PLTSLGEjz59VmSbUxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ASbQces7hm6HvoEwiDASuv",
      "input": {
        "note": "Lemon is now near the jaw column ahead, against the safe's outer right wall. Descending with a slight right offset so the left jaw clears the wall.",
        "targets": {
          "right_x": 0.525,
          "right_y": 0.08,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01ASbQces7hm6HvoEwiDASuv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0454, 0.902, -0.7727, -0.2508, -0.1131, 0.9971, 0.1726, 2.1624, 1.515, -0.4358, 0.0734, 0.0769, 0.9953]\nstate[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1736 left_yaw=0.1035 left_pitch=-0.3094 left_roll=0.1462 left_gripper=0.9971 right_x=0.5082 right_y=0.0791 right_z=0.0138 right_yaw=0.0477 right_pitch=-0.4971 right_roll=-0.0308 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -2.5778, 6.653, 1.3407, -0.1636, -0.0171, -0.0122, -0.3077, -11.5624, 6.7897, 1.4969, -0.0269, -0.1734, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7be61ec642b353c5e8ef137deae13060a42c19041bc11547a2a877058b54c189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2e88ce95646a5df562e9c1ce34e075747a5b715262c33c1bad62f4eeed7fcb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72b5853df422beff4c4464aff20daa86de8004ec1b467960a598d591aa24e2cc",
        "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 · 7.433 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]: [-0.165, 1.0454, 0.902, -0.7715, -0.2508, -0.1131, 0.9971, 0.202, 2.0064, 1.2774, -0.3012, 0.0887, 0.1036, 0.9945]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1737 left_yaw=0.1034 left_pitch=-0.3083 left_roll=0.1459 left_gripper=0.9971 right_x=0.4733 right_y=0.0846 right_z=0.0221 right_yaw=0.0502 right_pitch=-0.4424 right_roll=-0.0225 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -2.7145, 6.694, 1.409, -0.1441, -0.0708, -0.0122, -0.5812, -12.8752, 8.5675, 1.5116, -0.0269, -0.0073, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.165, 1.0454, 0.902, -0.7727, -0.2508, -0.1131, 0.9971, 0.1986, 2.0804, 1.61, -0.5446, 0.0853, 0.0925, 0.9953]\nstate[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1736 left_yaw=0.1035 left_pitch=-0.3094 left_roll=0.1462 left_gripper=0.9971 right_x=0.5162 right_y=0.0922 right_z=0.076 right_yaw=0.0576 right_pitch=-0.4278 right_roll=-0.0233 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -2.6462, 6.6393, 1.3504, -0.1636, -0.0464, -0.0122, -0.5812, -9.894, 7.4325, 1.1111, -0.0122, -0.0415, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0454, 0.902, -0.7727, -0.2508, -0.1131, 0.9971, 0.1726, 2.1624, 1.515, -0.4358, 0.0734, 0.0769, 0.9953]\nstate[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1736 left_yaw=0.1035 left_pitch=-0.3094 left_roll=0.1462 left_gripper=0.9971 right_x=0.5082 right_y=0.0791 right_z=0.0138 right_yaw=0.0477 right_pitch=-0.4971 right_roll=-0.0308 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -2.5778, 6.653, 1.3407, -0.1636, -0.0171, -0.0122, -0.3077, -11.5624, 6.7897, 1.4969, -0.0269, -0.1734, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7be61ec642b353c5e8ef137deae13060a42c19041bc11547a2a877058b54c189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2e88ce95646a5df562e9c1ce34e075747a5b715262c33c1bad62f4eeed7fcb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72b5853df422beff4c4464aff20daa86de8004ec1b467960a598d591aa24e2cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShgcKEAgSGAI4AUIIdGhpbmtpbmcSDCb+HpjE9oLgIU/dARoMFCJNkJzu/ao1DgpvIjAVl65pD9P/DNmOCyEbaE7xIRQDrnY0c2kVKmkIsP+9ZG+HoAA4t+4cMdrKNy5QZUwqowZkRftyfjFUceFMoA70zk3HlRCh9Gp7+r3Ia4lptue32IOr83rpZVANuSX+jQPBVDXIOhIM/bfkf0mIAGm5iW85ZQQF2CIw42vnvOIhyQfurEnKrCY5yN/cyum0O6jNNnw/TSeX5ORhF733D+wJhCG2er0tEZBTm5WnbGdXjwxYFUP+f+0n7qQe81MmmXcvdCkcSy6vIXvdqUTZs/0+4vcOVvBOML7j9+kMTyuzPoNXQAD57W6lKFNRdIpqKE6SY4hqD3pxYKPzl6w/qCc2gRSNqA9Q90B7UuPfGe/hREAh/MSr+f26tU6ts1qZ40kwWdC2IQfPVmVyCQOYeSwyKUFFjjVB8jVzyjA5QB2bdA5K1ROVkG9F2k7e5SuOGpbFGrzhbTrcx4tT5F/7GwQg4dJNZlAnNISrdenXAGZIU+hOaRJ+iBbmy8TsCH4QEUF4cAy6BG6n7Ni7s06MgODLTan8/t/7cfArPvBVHyJPJ8DZxliBk6tS1GuU6jDpCwnSS8JRJ8/1BkniYEA+yXu7YR/mQt/hQI30lu4dJKahsWOKgPijqSuvVK8Mu3rKAWjLfiw2wJGipt5R/k9njbW7Uy1kAc9Cs398rKDuxEb1bzt/M3xDWoRaRfZjp8waWJ1xxa6ViMc62Fo4VIJHRjJQlyJoauHS52xpUM4zeG4Cncd+ZsmiDFImdb4FzF70+WZo4y03Dz3AnmYL358TflcalW6MaqVDJF9xmLJ2nDb+y8u4PyJGcjWVodvLySCXuZaO9JUF9nl69vk6gOpTlBF8sZojslkKCEURpPxKulf2lCcXcH3YQKbyS99gQUJ5jOmjGZuxG6JhcV1zGiNVxchRpp1E47hBi/ULnqSDHtolWEPCNblCeZJgTrdN4Rx+MwuVSQ1m3U7kOo46FvDQXX1DavKV0tWq7wpGg/GEERiF4DIKZJ0hzGnqWadnl3BTv46woTkQVx6HNYbf0vUNQtXym+B/0oIPRDjBBNxFVrtuY+e9Vo+jMgqUa0oemJrNovO3p41dHOzwER43YnqyPP36vHlgUNKAsS0ut9TiHnOM/FifPGLUDBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M3E3DEJYvcBsutiCsvXrjr",
      "input": {
        "note": "Lemon fills the space between the jaws right next to the safe wall; closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01M3E3DEJYvcBsutiCsvXrjr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0462, 0.902, -0.7727, -0.2504, -0.1131, 0.9971, 0.1776, 2.1731, 1.5105, -0.4084, 0.0517, 0.0738, 0.0384]\nstate[eef_state]: left_x=0.2895 left_y=-0.0002 left_z=0.1734 left_yaw=0.1032 left_pitch=-0.3102 left_roll=0.1461 left_gripper=0.9971 right_x=0.5106 right_y=0.086 right_z=0.0099 right_yaw=0.0758 right_pitch=-0.4871 right_roll=-0.0093 right_gripper=0.0384\nstate[joint_eff]: [-0.1846, -2.7966, 6.653, 1.3748, -0.1392, -0.0269, -0.0122, -0.4718, -12.9299, 6.6803, 0.8376, 0.1636, 0.0122, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cc4843359e5b754be40d1859899ac6c453b2ab502cf1df4ddca69021a99aa58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7427340f4bd9e53553786f3c698b3223cf6e475b4d15f8f1826aa8db98aa59ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f80377e0bae4edae4c975bf9a54a09af911533dfdf5cd8e0162510a77dbc1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 6.01 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]: [-0.165, 1.0454, 0.902, -0.7727, -0.2508, -0.1131, 0.9971, 0.1986, 2.0804, 1.61, -0.5446, 0.0853, 0.0925, 0.9953]\nstate[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1736 left_yaw=0.1035 left_pitch=-0.3094 left_roll=0.1462 left_gripper=0.9971 right_x=0.5162 right_y=0.0922 right_z=0.076 right_yaw=0.0576 right_pitch=-0.4278 right_roll=-0.0233 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -2.6462, 6.6393, 1.3504, -0.1636, -0.0464, -0.0122, -0.5812, -9.894, 7.4325, 1.1111, -0.0122, -0.0415, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0454, 0.902, -0.7727, -0.2508, -0.1131, 0.9971, 0.1726, 2.1624, 1.515, -0.4358, 0.0734, 0.0769, 0.9953]\nstate[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1736 left_yaw=0.1035 left_pitch=-0.3094 left_roll=0.1462 left_gripper=0.9971 right_x=0.5082 right_y=0.0791 right_z=0.0138 right_yaw=0.0477 right_pitch=-0.4971 right_roll=-0.0308 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -2.5778, 6.653, 1.3407, -0.1636, -0.0171, -0.0122, -0.3077, -11.5624, 6.7897, 1.4969, -0.0269, -0.1734, -0.0073]",
      "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]: [-0.165, 1.0462, 0.902, -0.7727, -0.2504, -0.1131, 0.9971, 0.1776, 2.1731, 1.5105, -0.4084, 0.0517, 0.0738, 0.0384]\nstate[eef_state]: left_x=0.2895 left_y=-0.0002 left_z=0.1734 left_yaw=0.1032 left_pitch=-0.3102 left_roll=0.1461 left_gripper=0.9971 right_x=0.5106 right_y=0.086 right_z=0.0099 right_yaw=0.0758 right_pitch=-0.4871 right_roll=-0.0093 right_gripper=0.0384\nstate[joint_eff]: [-0.1846, -2.7966, 6.653, 1.3748, -0.1392, -0.0269, -0.0122, -0.4718, -12.9299, 6.6803, 0.8376, 0.1636, 0.0122, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cc4843359e5b754be40d1859899ac6c453b2ab502cf1df4ddca69021a99aa58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7427340f4bd9e53553786f3c698b3223cf6e475b4d15f8f1826aa8db98aa59ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f80377e0bae4edae4c975bf9a54a09af911533dfdf5cd8e0162510a77dbc1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014hPqmHoJJDr7xeXV56yn2d",
      "input": {
        "note": "Closed empty again; the lemon sits about 3.5 cm right of the jaw centre. Opening, lifting a little and shifting right.",
        "targets": {
          "right_gripper": 1,
          "right_y": 0.05,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014hPqmHoJJDr7xeXV56yn2d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0481, 0.902, -0.7872, -0.2508, -0.1131, 0.9971, 0.0986, 2.149, 1.5108, -0.4919, 0.0204, 0.0074, 0.9945]\nstate[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.1708 left_yaw=0.105 left_pitch=-0.3259 left_roll=0.151 left_gripper=0.9971 right_x=0.4996 right_y=0.0494 right_z=0.0123 right_yaw=0.0666 right_pitch=-0.5483 right_roll=-0.0166 right_gripper=0.9945\nstate[joint_eff]: [-0.212, -2.8923, 6.8034, 1.4481, -0.1587, -0.0708, -0.0122, -0.3214, -14.5709, 8.8547, 1.1893, -0.1148, -0.0171, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:452dc8b8dd2a5dbbfff9f660718413143dc66254f89eb288ffab4614dd5b2b44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:739468f16e36b19a204659f03f8e5ed64b911064d791bb28fec674e9d1601830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e062f39b532e351d5f5ee3ab9c13667b477c8993a2c387a3a8afbc77136466f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.406 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]: [-0.165, 1.0454, 0.902, -0.7727, -0.2508, -0.1131, 0.9971, 0.1726, 2.1624, 1.515, -0.4358, 0.0734, 0.0769, 0.9953]\nstate[eef_state]: left_x=0.2895 left_y=-0.0001 left_z=0.1736 left_yaw=0.1035 left_pitch=-0.3094 left_roll=0.1462 left_gripper=0.9971 right_x=0.5082 right_y=0.0791 right_z=0.0138 right_yaw=0.0477 right_pitch=-0.4971 right_roll=-0.0308 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -2.5778, 6.653, 1.3407, -0.1636, -0.0171, -0.0122, -0.3077, -11.5624, 6.7897, 1.4969, -0.0269, -0.1734, -0.0073]",
      "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]: [-0.165, 1.0462, 0.902, -0.7727, -0.2504, -0.1131, 0.9971, 0.1776, 2.1731, 1.5105, -0.4084, 0.0517, 0.0738, 0.0384]\nstate[eef_state]: left_x=0.2895 left_y=-0.0002 left_z=0.1734 left_yaw=0.1032 left_pitch=-0.3102 left_roll=0.1461 left_gripper=0.9971 right_x=0.5106 right_y=0.086 right_z=0.0099 right_yaw=0.0758 right_pitch=-0.4871 right_roll=-0.0093 right_gripper=0.0384\nstate[joint_eff]: [-0.1846, -2.7966, 6.653, 1.3748, -0.1392, -0.0269, -0.0122, -0.4718, -12.9299, 6.6803, 0.8376, 0.1636, 0.0122, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0481, 0.902, -0.7872, -0.2508, -0.1131, 0.9971, 0.0986, 2.149, 1.5108, -0.4919, 0.0204, 0.0074, 0.9945]\nstate[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.1708 left_yaw=0.105 left_pitch=-0.3259 left_roll=0.151 left_gripper=0.9971 right_x=0.4996 right_y=0.0494 right_z=0.0123 right_yaw=0.0666 right_pitch=-0.5483 right_roll=-0.0166 right_gripper=0.9945\nstate[joint_eff]: [-0.212, -2.8923, 6.8034, 1.4481, -0.1587, -0.0708, -0.0122, -0.3214, -14.5709, 8.8547, 1.1893, -0.1148, -0.0171, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:452dc8b8dd2a5dbbfff9f660718413143dc66254f89eb288ffab4614dd5b2b44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:739468f16e36b19a204659f03f8e5ed64b911064d791bb28fec674e9d1601830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e062f39b532e351d5f5ee3ab9c13667b477c8993a2c387a3a8afbc77136466f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwkKEAgSGAI4AUIIdGhpbmtpbmcSDGMxhFiCT1lMFC6o9xoMs9BZ0W/j/I3+yMI3IjBuFpy8nGZGgOqh6HKd0IrsxmVDbYy870hCVdVI6G8KoNI0NgQ9rIOmAcAu09c7o98qsAhs2twTPeiCIC/7r0jeIBSNTcOloDJcph8COxbFJC2A7EInh7J5FVn8QcP6VEyChoYj989oc8HcX1ZTuhAdEv/KJ/VW1O/h/wrKVkiqrY3/bJ8m82LqPiUj7TQ/IJs7ua9G/Ir3+O6rEEta494I9EYc+jylgQ8XHdqHBP86BQkG1gN/srTMHFUcq/rLvIpLjXUeiCUGbbDkOKaZKYdGzIUq48C+m92Css/QNuEs5tMFoUp5EXj8sXHoK+9uMCEGjtCZUJNoCSeuZQspEGohFT4x9dD00gCvfs7/pDxHdOJx1xswUOBlXsFfDE3l6lmekXZWbTBPJTnhUNbWKUI8ETqJPbpOOsaNpZ6JIkQCcRFeU+m3+7Go0RyUOCo8LfHoOl9nGjhnG2UYY4WYy2xKkJUXSjKhy5XPEY7UBdV0atUBvCOpU4A3TaJV29mxWTmTQYBu6Ox+uROrCCOvmBZTuis+2seEB4DYP5Q+0iIKvR/j5aBrcTSHtWXCaJXHBQPkvNwDeeWON0fww7MjJwgWHBjn5kGMHNobp9pZm/KGn7s16+7TIP6PEHuvSjf21rXhf6XghgHi79e/Dc00YiQ/6lvBqA1Od9LhMuGZY/Rh91k2NN9C+XBsvnAAE9MVxM0dbbrqSskN7hxXiWNk+Kd4DimunfiNNOouLh8wgoDXjSh8mcFSRHEwhIbjgyUOrqdUqB1Gtqp0AWoID+sWa/5yCvXU+N/k8ZqQzQQpVszpSYN0C62uIkN3XwYd1jTfKp18+OhacfOYWhaLLLGiMO5W6TxMtsuBbOn9paUdkK3AlVQCub2qA0jeTGUt7ePdH9TMD86YwQe+4GkqIi144SMx+aRsRzYrXma2+Vh0j7OYKwSpmxZvA7xOMn8nyLL/HhpcRBj82tghode9MK52gmBJdAG4Qr2EPbIrVVdVz9eQQnhnHhJbrj19mIS/vWhjt7s2eWDcPsfWSbR9BXBgTToD6Kqxoo5OxErnJ8W+9CPmmwLM3Q303KO03/dC0fO6ZHFWksIIzvjdz1NpEX3OlBHt25J7IgvzKOZF4/35Iu0CFbGHyQstSWo/tZ0CtQiuQ1Lq3/QDMeBsybvakOOdToj4dJ9y9H2eFolKUxjjobV8aUw6EejU8j0LCD+30at8f+Ihr3WfZKA/2eoqUjDwxMpkSMjTs0egmf78nYdLpCjC35ED5FBzpLDAPP0/GUpWj0IW/iQZHb3RpWr5xuqJZB2KaE2LtRDGiRlwb0f9p5P8LfMGmrG2bhyfiMxxfNQQ+GQQ3gsDRi4EjRuWqP0RwNE1s9qO2nmF2ZzEMAdAY8MBclv860evVaQHUQ/0qBm6gQr/TqPhtLulr0veVcwZ5sn1Yr03gXQR3gfeijXEofn/WUS3/5DDQJjjBTPjUnfqJlnN8aP1xJ93r9dNFZlV2pHOrVlQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QAkkCJMTuy5HM8CjBb3sit",
      "input": {
        "note": "Lemon is now on the jaw column but a few cm ahead of the fingertips, near the reach limit; tipping the tool forward to extend reach.",
        "targets": {
          "right_pitch": 0.2,
          "right_x": 0.53,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01QAkkCJMTuy5HM8CjBb3sit",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1646, 1.0481, 0.902, -0.794, -0.2504, -0.1135, 0.9971, 0.0971, 2.167, 0.9363, 0.841, 0.0242, 0.0002, 0.9953]\nstate[eef_state]: left_x=0.2855 left_y=0.0006 left_z=0.1698 left_yaw=0.1058 left_pitch=-0.3326 left_roll=0.1524 left_gripper=0.9971 right_x=0.5325 right_y=0.0512 right_z=0.026 right_yaw=0.0701 right_pitch=0.1919 right_roll=-0.0029 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -2.6188, 6.5983, 1.3944, -0.1343, -0.0513, -0.0122, 0.0342, -7.6923, 3.8632, 1.5751, 0.0806, -0.1294, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d67d4fd7f0cf9fce8ea1ae423ff0497f0794ce9e17adec3cc95724705126d530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86c2960387d6ebc8b509a55be13f3e14bbcb3e03e63ab210aa7b1e57692fe5ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af15d0a0a1fcc97a4dfef5e70892788a0d0457b002eceee2989acbc9f7250119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 3.795 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]: [-0.165, 1.0462, 0.902, -0.7727, -0.2504, -0.1131, 0.9971, 0.1776, 2.1731, 1.5105, -0.4084, 0.0517, 0.0738, 0.0384]\nstate[eef_state]: left_x=0.2895 left_y=-0.0002 left_z=0.1734 left_yaw=0.1032 left_pitch=-0.3102 left_roll=0.1461 left_gripper=0.9971 right_x=0.5106 right_y=0.086 right_z=0.0099 right_yaw=0.0758 right_pitch=-0.4871 right_roll=-0.0093 right_gripper=0.0384\nstate[joint_eff]: [-0.1846, -2.7966, 6.653, 1.3748, -0.1392, -0.0269, -0.0122, -0.4718, -12.9299, 6.6803, 0.8376, 0.1636, 0.0122, 1.0867]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.165, 1.0481, 0.902, -0.7872, -0.2508, -0.1131, 0.9971, 0.0986, 2.149, 1.5108, -0.4919, 0.0204, 0.0074, 0.9945]\nstate[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.1708 left_yaw=0.105 left_pitch=-0.3259 left_roll=0.151 left_gripper=0.9971 right_x=0.4996 right_y=0.0494 right_z=0.0123 right_yaw=0.0666 right_pitch=-0.5483 right_roll=-0.0166 right_gripper=0.9945\nstate[joint_eff]: [-0.212, -2.8923, 6.8034, 1.4481, -0.1587, -0.0708, -0.0122, -0.3214, -14.5709, 8.8547, 1.1893, -0.1148, -0.0171, -0.2125]\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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1646, 1.0481, 0.902, -0.794, -0.2504, -0.1135, 0.9971, 0.0971, 2.167, 0.9363, 0.841, 0.0242, 0.0002, 0.9953]\nstate[eef_state]: left_x=0.2855 left_y=0.0006 left_z=0.1698 left_yaw=0.1058 left_pitch=-0.3326 left_roll=0.1524 left_gripper=0.9971 right_x=0.5325 right_y=0.0512 right_z=0.026 right_yaw=0.0701 right_pitch=0.1919 right_roll=-0.0029 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -2.6188, 6.5983, 1.3944, -0.1343, -0.0513, -0.0122, 0.0342, -7.6923, 3.8632, 1.5751, 0.0806, -0.1294, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d67d4fd7f0cf9fce8ea1ae423ff0497f0794ce9e17adec3cc95724705126d530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86c2960387d6ebc8b509a55be13f3e14bbcb3e03e63ab210aa7b1e57692fe5ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af15d0a0a1fcc97a4dfef5e70892788a0d0457b002eceee2989acbc9f7250119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAgKEAgSGAI4AUIIdGhpbmtpbmcSDC3O6PsTQjcZ8tn07RoM6Ny1EZY0sNq8NA1HIjA4oi/Hi+H10zDCpEs454JzG03qwdJiUSHmYtsNGi3M5PJ7iNYeUJfXfjPagAeNVdIqxQdire0DbgHkIqEGOaMLCqDfBkz5IumbHLZ7/jS5SfSU2pA2+AhtjJVDBF6xZ6y9KcyCw8hzo2pWvp44j/6qL301WAphqHVhs0sZjm4+N0hUMX9s6llsJOdieziTXPySNoim5oEXSkAR30PLdrs8j+OT0eXaVUT5pCpyoPc4CLYKht29+0tk8G8pwg690FCCyA1eFYq4nswkerV/LbctnH37ZkFhqvt/dVVZD2nQnH9YWoa4eo2xciKC1ZcHHeIaQesfEkqfx00pq7qpidvAFUvlvUCAEyk96I7qwf2AeRnEk3GVxxjS2+kDO11Mwlmysk2x4CSyhlpacATo9MdpuBQUaAPX/wKSjJX7P+6GYzI4Z/d6h1lfcd3RQDlpn3i8WuFfvjTWOX/M4E7LAYduHzqVFdUUjNZeQiQPgyVtIOHMYQ7/3FofgIvR2Y9q8nFXJdEoY/hwfXq9gLbam0FScnWj6j2heb33LnDyiERRXDcvUBA2Xmp4lDPKGYT57zE5QcdBfOHX2NP5V4bUfx7x2uxrdAtnLU2xGeaAl9zfLnRe3uUcBw20VPpU4eRFeWb6xZmSQwMqDsDxfdWuac0PIqKD9zSuS1dQik54UzFPBcachEUP7w3kZO//RCTW3WdmJ6yryANwlgAdhXbDjef5y96DJoXITFanIJ0qTsDIbBH4wXaff66Le8ulqi6ee3a9QEAj1+lkC2B6hWMJ3LHM+WSg8VtPnTppPQbVV0qrkt8qQYd0JINZl3UxdqNU02XAIHN3Y84QeGteQo/HCxMjUJRYH/2MjAL8Z6dtCJH3TI+LYOtKWS/t/qxH6e9wb5/ugKattpnJXzePeMP67v3PJd7rBM7f0MvcKdxpEukF6fXHv9gA/Kypsi08QashpbdlR6rSTWk6xaxozRpfW5h++69bjEL0+6y46PHl5XYJTcVlH1qWpfLOnIn54vqeUHQoIFtd3zGXBJkbekOsCyQ6052vAmyePM20rGa2u9ZgytcRZsK1eA9+ivKWbNb2OMEvMEEuxVdCDSQ3uH7SLo3jolwYohyBb+KQcIuzfbmF0zrNw10rtxY8BQjTh+j3tD/9+nLShu/6rvGLy1cdBYN1lJ8Rh27YH3R1POLMXvRWWlYZSceLCcHUZBm8B5ZwTvWVVXdv6pIp5I9ljy7PR5rovzbPSI4+KKcZQ0yafG5K5W1v2WY4OejFf6bkQo/Uq+QQ9s4FWAQmKe8XIZog4M4DPv/mtFK8C9yL2e79kmS72a7BYQNSVoaZHPATNPNqEYfzV5Hyuwp+PBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EUASNrgme87NpxtQBCcrdZ",
      "input": {
        "note": "With the tool tipped forward the lemon now sits between the jaw tips; lowering to grasp height.",
        "targets": {
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01EUASNrgme87NpxtQBCcrdZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1646, 1.0481, 0.902, -0.7952, -0.2508, -0.1131, 0.9971, 0.0967, 2.1933, 0.9314, 0.9237, 0.0177, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.2853 left_y=0.0007 left_z=0.1696 left_yaw=0.1061 left_pitch=-0.3336 left_roll=0.1533 left_gripper=0.9971 right_x=0.536 right_y=0.0524 right_z=0.0297 right_yaw=0.0713 right_pitch=0.2433 right_roll=0.007 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -2.7009, 6.612, 1.3065, -0.188, 0.0024, -0.0122, -0.1026, -6.8171, 5.4906, 1.4383, 0.1734, -0.188, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2d23ecfc7ecf52440da27485c0325333f9ef5ff43eba1677124e11e79bb8e44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14f8c7a344a91d2e31ac36d32c7879e64376c4bba892a1bd3ccea27c161f2838",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51788d036c4566503958ae6e848c18fd560451676bb2214c1c6b9f1e2c01d81b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 7.245 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]: [-0.165, 1.0481, 0.902, -0.7872, -0.2508, -0.1131, 0.9971, 0.0986, 2.149, 1.5108, -0.4919, 0.0204, 0.0074, 0.9945]\nstate[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.1708 left_yaw=0.105 left_pitch=-0.3259 left_roll=0.151 left_gripper=0.9971 right_x=0.4996 right_y=0.0494 right_z=0.0123 right_yaw=0.0666 right_pitch=-0.5483 right_roll=-0.0166 right_gripper=0.9945\nstate[joint_eff]: [-0.212, -2.8923, 6.8034, 1.4481, -0.1587, -0.0708, -0.0122, -0.3214, -14.5709, 8.8547, 1.1893, -0.1148, -0.0171, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1646, 1.0481, 0.902, -0.794, -0.2504, -0.1135, 0.9971, 0.0971, 2.167, 0.9363, 0.841, 0.0242, 0.0002, 0.9953]\nstate[eef_state]: left_x=0.2855 left_y=0.0006 left_z=0.1698 left_yaw=0.1058 left_pitch=-0.3326 left_roll=0.1524 left_gripper=0.9971 right_x=0.5325 right_y=0.0512 right_z=0.026 right_yaw=0.0701 right_pitch=0.1919 right_roll=-0.0029 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -2.6188, 6.5983, 1.3944, -0.1343, -0.0513, -0.0122, 0.0342, -7.6923, 3.8632, 1.5751, 0.0806, -0.1294, 0.0611]",
      "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]: [-0.1646, 1.0481, 0.902, -0.7952, -0.2508, -0.1131, 0.9971, 0.0967, 2.1933, 0.9314, 0.9237, 0.0177, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.2853 left_y=0.0007 left_z=0.1696 left_yaw=0.1061 left_pitch=-0.3336 left_roll=0.1533 left_gripper=0.9971 right_x=0.536 right_y=0.0524 right_z=0.0297 right_yaw=0.0713 right_pitch=0.2433 right_roll=0.007 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -2.7009, 6.612, 1.3065, -0.188, 0.0024, -0.0122, -0.1026, -6.8171, 5.4906, 1.4383, 0.1734, -0.188, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2d23ecfc7ecf52440da27485c0325333f9ef5ff43eba1677124e11e79bb8e44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14f8c7a344a91d2e31ac36d32c7879e64376c4bba892a1bd3ccea27c161f2838",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51788d036c4566503958ae6e848c18fd560451676bb2214c1c6b9f1e2c01d81b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgcKEAgSGAI4AUIIdGhpbmtpbmcSDOrgJZBuuwiTIvhvFhoM4/KQVzf//IlRBvveIjB8vqrTqxUgYZNn5JFDEeIFp2/EbaA+ajj4tqBfIfp6HnovV9IFEIJch3v9Zpt84T0qqwbxDluF9hz34v962FUxMIExCPCJgVHPS9w4/KeAZ3CHQHnUHBkg2u9REnaHSrpO1AndIUFQHDqAisRm0UK0eTytgoDkkt4MdZTfD1PNL61QLYaBqPqvqzU2PyiXR2/X2HmHpnD+Ap2BOFff/zscOgMniVGFAEfOUJMCynCAT/a4RlPrintz+0mNjqtzy9nUp3h1l/BVzBU/pZX6+p8vwqbtrKWlPEYPuL46v4g5eQEUfRBBVpU+0HbLXjVv3JBSl9ABjcjT8QXfy7+h2G2QId4nnTupB3WVFK1n9pkDwU8eOsVRR7v2q9O3hYro3sDOD0aOUwXlEJVuF/vWIoYg22wmq3aLySMHFbyHbe2CiYScbVsZ1Uk9hC6zUrWzUNBqz5RnuqcsYcgy5ucdJ0dIL6Pcr1tBcu0sSrc7rzl+WaYS0a7r4DLW7cWRV3JPbjRU3BfQc1T6By0k2o81jx9q3NvbT4lUSqV+DbBuf4RYJfMQzJncbO/cuhMOa6VxMkGT6KllyoMdKSELAEv/YL9Tw8Lw+oQ1JOe6czcmgaJPhp5z3nZTX4woDJ2/Ykhw2r9Qp1BVThJN01I+E0ESoZ/bQkU/WDi8ZaQdQGlwUUDdO3h3KCCB8pG2xWOYu/Stq+ngSJw7/vaqreUVtE8fLjXgP7zkhI9Fwn8H2YibCL9XpaMNDCsnuFaFx2jx0ueRbqO7H487kclpNyvErrdmSUGTXs3kO5bHTLfd7YF4+ywxvofVKjTRxGEsucEoK68sgvvizBrHGN6lHfvxBHGBM1jIiG7zVTI7MB5x9TabhiP6yo9LawxRI9oEcNyATFLztlnvnK1geOjoBAGdpdVD/pDNcn3hH1gKDnKxKjhY4V3woEM4zbLFzAXogI4kUQNmF2fU/v7rsFnVe0s7iVTS094cKLkp+DoFkw51Oxuq8SwagjWu9v2j98nJXje70SromjvlpXOuOf5x2uCGSdnweJOe6w6FcXWp/RrKD0oysUH0ne2nBoyG0R4y94cSP7lUUiS4N2xmsLSJKcycI8Gk9z2BwFakYHdIeSsYBlejs3rvvfEHJq1XklgksUFnwbCKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VdoFzJvhzipSu44rf56QEY",
      "input": {
        "note": "Grasp point is at ~3 cm, about half the lemon's height, with the lemon between the jaws; closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VdoFzJvhzipSu44rf56QEY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1646, 1.0481, 0.902, -0.8021, -0.2508, -0.1131, 0.9971, 0.0986, 2.2028, 0.9329, 0.9527, 0.0101, 0.0029, 0.6652]\nstate[eef_state]: left_x=0.284 left_y=0.0009 left_z=0.1686 left_yaw=0.1067 left_pitch=-0.3402 left_roll=0.1552 left_gripper=0.9971 right_x=0.5377 right_y=0.055 right_z=0.0321 right_yaw=0.0819 right_pitch=0.2642 right_roll=0.0063 right_gripper=0.6652\nstate[joint_eff]: [-0.0615, -2.5094, 7.0085, 1.3797, -0.149, -0.0464, -0.0122, -0.212, -11.535, 4.506, 1.6044, 0.0806, -0.0073, 0.862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:737597367117e9eb3ff78a5bfc0715a57baebe36566ee2fe856947cbb76de22e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de4a5b34c4c0681cbefad3a9f982aa623338cc9e72f040daf13a7597c6a2bd93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76435a06754679126dfa81bce2993aea12c73da9495f45b030db4b9fec01ae16",
        "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 · 8.523 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]: [-0.1646, 1.0481, 0.902, -0.794, -0.2504, -0.1135, 0.9971, 0.0971, 2.167, 0.9363, 0.841, 0.0242, 0.0002, 0.9953]\nstate[eef_state]: left_x=0.2855 left_y=0.0006 left_z=0.1698 left_yaw=0.1058 left_pitch=-0.3326 left_roll=0.1524 left_gripper=0.9971 right_x=0.5325 right_y=0.0512 right_z=0.026 right_yaw=0.0701 right_pitch=0.1919 right_roll=-0.0029 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -2.6188, 6.5983, 1.3944, -0.1343, -0.0513, -0.0122, 0.0342, -7.6923, 3.8632, 1.5751, 0.0806, -0.1294, 0.0611]",
      "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]: [-0.1646, 1.0481, 0.902, -0.7952, -0.2508, -0.1131, 0.9971, 0.0967, 2.1933, 0.9314, 0.9237, 0.0177, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.2853 left_y=0.0007 left_z=0.1696 left_yaw=0.1061 left_pitch=-0.3336 left_roll=0.1533 left_gripper=0.9971 right_x=0.536 right_y=0.0524 right_z=0.0297 right_yaw=0.0713 right_pitch=0.2433 right_roll=0.007 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -2.7009, 6.612, 1.3065, -0.188, 0.0024, -0.0122, -0.1026, -6.8171, 5.4906, 1.4383, 0.1734, -0.188, -0.0122]",
      "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]: [-0.1646, 1.0481, 0.902, -0.8021, -0.2508, -0.1131, 0.9971, 0.0986, 2.2028, 0.9329, 0.9527, 0.0101, 0.0029, 0.6652]\nstate[eef_state]: left_x=0.284 left_y=0.0009 left_z=0.1686 left_yaw=0.1067 left_pitch=-0.3402 left_roll=0.1552 left_gripper=0.9971 right_x=0.5377 right_y=0.055 right_z=0.0321 right_yaw=0.0819 right_pitch=0.2642 right_roll=0.0063 right_gripper=0.6652\nstate[joint_eff]: [-0.0615, -2.5094, 7.0085, 1.3797, -0.149, -0.0464, -0.0122, -0.212, -11.535, 4.506, 1.6044, 0.0806, -0.0073, 0.862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:737597367117e9eb3ff78a5bfc0715a57baebe36566ee2fe856947cbb76de22e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de4a5b34c4c0681cbefad3a9f982aa623338cc9e72f040daf13a7597c6a2bd93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76435a06754679126dfa81bce2993aea12c73da9495f45b030db4b9fec01ae16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjw0KEAgSGAI4AUIIdGhpbmtpbmcSDA1kNj4o3xCE3mo0HBoMnNcklMb5knuSULAUIjAxBjimb+Fe9anCrPCp7sMOqT2KNvpaGAKO7eeeTGtZ15TnZGFWfXk353RfTM5lP0UqrAzb1cphRUZBAr9JRWlzcAL2zxN62TBJAL8T89TK2u+8rbGF5d7pMuiPbM0Ohih1Kswc5bw19gr93dHnV5lxzG7MrQGjj+btHuWaS3uG5uxB1wyUn2Xkh2SSeYkzejPM69Pc+lQO4Jg/Wj/SLZqsC2H92gdyEy414AMrPUJYTnWhjaBefhJoEAnYSyZ2pEsj1DOeAwWsLLwhKwPzTbI+1bfqz9IWCL1snL/b1i+JTute8v2wBCqEVZa/KNXWcu7xJ3VdKIf5qvTKTdBZREiNg72OU2RsFfMwJxvllIJj3ZrAmyq5QuvcBobv38kfX7Jnq6oxnlvcmcerXm5XUuMtGGAVEYVRfFXLYJxADAu9OpzqBFYDp8kTd30DMPhrTYXdYiXgsvd4/9M/NxmxCQXgTTgUicHSZl9y5+pTsQD+dd8lF/0jlWBW3/SCarAuzfSPHHneJpr0lkh1LTNi/yapkSKQph6fMu0ltcU+PlsK4lRLAiYfe8FeRH3bMuaykc530w4QsCylWEux4FKkH6iDg9NCaq0tLoAqyr0saFK8h6wx+Ug7ZXwxIAWhFCdlp85qr0ieKcm+DelbzSrjEHWQvwGhEWX53bTsc5is23vB2xj6qqyFGDNbYQl2MBvfdoi8NGYSposA5UTit2hFe3ZIR0G6ZctZoy2tAgcF/HrdLmXrOPYE/LpO4PR76aIlwPnh/GBt7PPgN+DIzllYYm+CaORAmLeon2kl0P71qKMBvI8hIGUTjBazhbFNopjxKF7WgoYMjMcD8vlZxCM2x64ztTEuDQfwQ0/xu9wqS9itlXBpT4JDbnIZIRt9bq52iv836dLWuyl70kot/EjFCsPcamoAcRGL4HHRImnde4dwkdDdZmUbROs2CKLrnViY86ocXvWbb9KHiHGAR/l49y1jkC1Pa7Oo6h6XxAm6Vt+qXQBHaldcPc4NPPebFxLnccNjesYm1ls0/2zK8tXXs8+EWo92pTjflsLMAg8OdXSBKmKae9/VV+ncXOkPyz0xu4n0fMoNrktqv9+jFt2r4lhl/7MZqgWuMp2OfSrKhlmpNE2OxnTlfEJLMzUQO9EeiAmUG6aIMf9L6jusqZX0AIHNz/i5ObcZlXaU8eAWlZ8MkD/01wXuAJnrkvj9uuEZcyFg2iA8Z40y36vmk1cW9jX1JN258BaR8x0WgjcZ7Uh0El3niX2JbloG6caYCa8XOQBdwMwbuxQPXII5VFtZmf3fHDl41Hv5JaHuNojBExwzS98HRy2cMKxZwV3ObAYh2ATOzHGjB9upWhckJRMdpUvxCAMXwe+vP4a/C957+dc1J/kTXFhxXy5NdcggA7WYd6Hd1gPQsEs7HBWdWj6Gx8f+2qL6SiVM2JBd2KC1m5J0a/iZAxQnWwMEmbbn1PfnKdk3fEGbxBZnd96sLM052+5ZgJdpUGrwBYK6aMk6oBVKCEwkX6zk0Ol9vJsseU5izmQM1FAuBo9uiv60GWJdU6P882jeNKPjQufN7tNZgcwQjDWgr3pJOwQob15PRH38x5CTmZreO1776l7XEpuAk1OBFEb0+W4p42op2m6oo1wORkXdTEXxXE7DF+uLaRpznVO0fvOLk6zpczpXVA3/fi5q/4gMiAwp5QmQlgOfM7hcah/hGgIEY0dOOKVcuuWKhfkFThrwtn8mNBM+BgjPCKUDC8s0pgZmpPeFSYRZwC29O18M8erXjAjaQAXeuaa5sI8v7E3Yxnc8zd8PwYj4foeN8lnqyhO5L2MX75RYX9sqb6a4fodOwntWFKRN3JqP787QX4Ln9RR/jhFKw8vPXTXzFP6ftB74JoVPsCJNoL8Pp3Cn02xhR+JYyQv+8Ool0Z9JodjeaRvbweKTptJEiMeZG/o10A7J1jQQVvZNfnSFh11qzPqUJD7N1fpPS+ZN+HnEUloiKeMQDU16rFwnEdwCmfA2edYpA4k9g4V1j90tDhHzkIiOMWvgh3QG68N7mxdIdjS1W1+8M696GH1aclvU1UlilqXAfD3gEPFNzsADC++iAiEmW+ArKEo9X8HoiUmzyzzPD3TWzJWq66wwBHmp6iYp8TkiXqyzIYn34Z+WoP4ldE1y8VVIARsFP/LKRxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FFgtrCnX9sW6gLBLw1kfnX",
      "input": {
        "note": "Gripper settled at 0.67 (~6 cm), so the lemon is held. Lifting it clear of the safe wall.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01FFgtrCnX9sW6gLBLw1kfnX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1631, 1.0481, 0.902, -0.8097, -0.2508, -0.1135, 0.9971, 0.1005, 1.8126, 1.1023, 0.326, 0.0032, -0.001, 0.6645]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1676 left_yaw=0.1092 left_pitch=-0.3476 left_roll=0.1571 left_gripper=0.9971 right_x=0.534 right_y=0.0569 right_z=0.1617 right_yaw=0.092 right_pitch=0.1971 right_roll=0.0042 right_gripper=0.6645\nstate[joint_eff]: [-0.1709, -2.5368, 6.5983, 1.3944, -0.1929, -0.0659, -0.0122, -0.294, -12.2598, 9.5932, 2.2393, 0.0024, 0.0171, -0.0904]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebfc0f268d1e9747b5e42545f693ed77bfae468fd52eab60002f29c6c3c02302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f56ddbe8b51e387903e5db0ee78c6eb9ea4fa89b7595763663929a44b2d7d859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b8f1dc7fa3c321b27d7cc815d95e030f0467b0e43645dfa8e972a3959a59681",
        "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 · 8.14 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]: [-0.1646, 1.0481, 0.902, -0.7952, -0.2508, -0.1131, 0.9971, 0.0967, 2.1933, 0.9314, 0.9237, 0.0177, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.2853 left_y=0.0007 left_z=0.1696 left_yaw=0.1061 left_pitch=-0.3336 left_roll=0.1533 left_gripper=0.9971 right_x=0.536 right_y=0.0524 right_z=0.0297 right_yaw=0.0713 right_pitch=0.2433 right_roll=0.007 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -2.7009, 6.612, 1.3065, -0.188, 0.0024, -0.0122, -0.1026, -6.8171, 5.4906, 1.4383, 0.1734, -0.188, -0.0122]",
      "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]: [-0.1646, 1.0481, 0.902, -0.8021, -0.2508, -0.1131, 0.9971, 0.0986, 2.2028, 0.9329, 0.9527, 0.0101, 0.0029, 0.6652]\nstate[eef_state]: left_x=0.284 left_y=0.0009 left_z=0.1686 left_yaw=0.1067 left_pitch=-0.3402 left_roll=0.1552 left_gripper=0.9971 right_x=0.5377 right_y=0.055 right_z=0.0321 right_yaw=0.0819 right_pitch=0.2642 right_roll=0.0063 right_gripper=0.6652\nstate[joint_eff]: [-0.0615, -2.5094, 7.0085, 1.3797, -0.149, -0.0464, -0.0122, -0.212, -11.535, 4.506, 1.6044, 0.0806, -0.0073, 0.862]",
      "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]: [-0.1631, 1.0481, 0.902, -0.8097, -0.2508, -0.1135, 0.9971, 0.1005, 1.8126, 1.1023, 0.326, 0.0032, -0.001, 0.6645]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1676 left_yaw=0.1092 left_pitch=-0.3476 left_roll=0.1571 left_gripper=0.9971 right_x=0.534 right_y=0.0569 right_z=0.1617 right_yaw=0.092 right_pitch=0.1971 right_roll=0.0042 right_gripper=0.6645\nstate[joint_eff]: [-0.1709, -2.5368, 6.5983, 1.3944, -0.1929, -0.0659, -0.0122, -0.294, -12.2598, 9.5932, 2.2393, 0.0024, 0.0171, -0.0904]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebfc0f268d1e9747b5e42545f693ed77bfae468fd52eab60002f29c6c3c02302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f56ddbe8b51e387903e5db0ee78c6eb9ea4fa89b7595763663929a44b2d7d859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b8f1dc7fa3c321b27d7cc815d95e030f0467b0e43645dfa8e972a3959a59681",
        "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/Q0KEAgSGAI4AUIIdGhpbmtpbmcSDC71q62R1Xj8NgxbqhoMw+djyj1oefaqaVEgIjDEDjxQOn9Tt2QOPA/rdANwVLoDIQk1lSPo4V7xiPwLYljNtV/d+E0vTz331ELfpVoqmg3JggPko7d84/0Z/h1mYRnlBqQqICh5WWRGgjgpijXFuBLt45WltQUHTna3Z1+a8omdAzzbksHLuDkGb75JO7nnRHRED0IVVADFYlQs7O/GEv4Xw5KOMne+VIOfZm7uD+boMB7JB3hS1iJJF/o7qGEl00/JOXMbLwH4wKmeynKLFkhF40NEg910jOakid0xX+5bhNABU13cv1zvUGj2JCTzc7sXPPSZ88YG+Mq657IZOw3+IwkR6KbxGL6mpxhAoUiB3WoO+1meeZTDYb/oGFvziTkNCJPSYuUkaIkUcXtblxP87Y2XhKm2oEH4EeYrPVCy77H31UBFHhwUDC9Ujx/smTJTvIz23uFxJ3xKyUEpSDIPziSzAOH+7BlH8bflopXeBWu/ma4uhaXtRUjAyfQsTaLy/eieYYT2xOSs3CFwFs7G5QBUVE229UFpHd0Gv9HJbQ/HCSB2fVqZFItiDJ1ZnmYYuFiTC3naFF5/9XyQiP2xxErQv3i3fr3QR+vPkapNo4IEkl27Hq/wQ4QR65vePJ3sB1EYj3DtFMBQ+1D8lTKzfROrYFTJ5VpWuKb+dbYliZaydLebdaDaEaHNYsV54Y2A4ogHXlt3jDSQ7qqLuNzSpEzmg+IEDagQn6/Z5Z2RIBxLXnJ7le6rzKZCtvg9XvF+Bydy8zqe8IIaDx3WQ8voRdwXAyWDJXTDfw427KzHj0GbkDB5wWZsNzBRHri7PdYO5B6gKV3qPGH6Kk+D1NeF6KLhlP6xQmvitowTfig/xccQNpU1M+p0qhZVTpdaVEE7a1EUd5o3Hf5SMldQ/BwuoTex/BI/jGUec9b5SeQ/KNxB44W2QQURWQ++HQq/p/qg7EYYn5HOykrfXi3DWOlOqaNSH4r20NSedLtjuvaz3hVe+hOd0RKe6tPy6Q7LFrQXeD5sS/cnsFjfrtjl69jjbBzfi0dS8XuQ4hD/81Sfacp+CBgNgsuNYCyoGQpR1Dlz9oXyfSCLRqO4R72mfCtpaRHhnjL4ermTY6lbcRTb7x3SGN2Bdbqolg2NXWdur9HrP4caE5MMLj64Cif/v1B5CEmieT8nwQhqsaRFRffecSKMP4TIzFFR11oBsoLFRSYB/OgYisgdAyhmwiO8GBU+NhbjWFLwkkvb9HaAk6LKbout6/qCZvgsw6rmhZUujokGFabOco94CYLJF5gpI3X+itzAlrAqfGdOdYVN7cBXRrAROIxW3N7NAlOlPJa5gUeLx9+gUoFBL0uJWo13Mp+IWUzudAo/3dw19PZJvjYRM9M7gyocA5YrV9AKTg+ihBj5f4jZRHln1Bw0J8Mc5g2vDeuJHFSLeT/jqCxV8J+6AdNIUeeDcXLi5B9I4jvkgJdb54cCZuPqWMR5NXzz3Eo4EihLMD03VMarFL7pheAeP4w9SoN24pRGY8kcgfOv0Xgh6mU5OZ3DqSI8msC5QbSa4aHFvaWTlm7BIiZ/c7YR7ZqPhhuYUc/iE84DkaWF94e/oJkHt4kb/qCRNB1BgnzU+HkyC/dsk1GKgAbtXM7R6G1LNo6EfTszznc1UyJrl/vXKgUkwhY8Yrw5wsuIkHbSwu/rqwEPKboeQI4tNK20ypQsAIgN0fNkGbco5AvSRecRJZu/2rdB6Rng5GD75qpKsslh/ZEam9Pa5y1vb54pyyIlewG4ZysLWVbaK7uYuL51Waq7s1b9eMcj50TAtE5phks3br03PnOeD8kcmBXLlqq+slzfAZbiza/+W19uNc4usx40e1rjIOfFjVJ+EzcEov4EIintk3fmqeR6oyLs8fCuZxYXK2yAh11W2UvDOq51CbQySYj0MQ0Bflz7rdmFdmJg9z4AOu66TthBBXIDWiFViEgO3nNBNqLxRgKrpuS2m6486lU2roOCyDUu6VzaQbXTMeK4EYcX+cMDgSQa/jYfzGbZiTQE/8VegEFLB/u0Y6Yq+90he1LQBOh6YLztjM48s/OjDINlKjpXASZBGi39ggaUOlf/sLeKs1f3fznlkPuRiPxjGD8uuISl/pyurHPebvu9K6KxJKMruLBddh/4wbn6cbjBs217GpbrBn59kXWPBPwT6Tjfeu6LlZmGMmx2odq3yoAiVjVTliQ8fTbdEsBxyOpDtWnFp+gYAYWxc3Y15HNboLHz2UvlqABM3PYDdMRVQhYWy2SEIiOEFPKKfA3/wpLf/fWck40F9LmqoOeRlXoGXX3MuT/YpyphM9ZkdRExiCo665O28nVUYT88hz25Fz+TGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019yazsxnRUdsRDuwvMyH2qX",
      "input": {
        "note": "The lemon slipped out during the lift and now lies on the table to the right of the gripper, far forward. Opening and moving right above it for another try.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.52,
          "right_y": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019yazsxnRUdsRDuwvMyH2qX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1631, 1.0481, 0.902, -0.8131, -0.2508, -0.1131, 0.9971, -0.0486, 1.8942, 0.9253, 0.4744, -0.102, -0.046, 0.996]\nstate[eef_state]: left_x=0.2818 left_y=0.0017 left_z=0.1671 left_yaw=0.1093 left_pitch=-0.3509 left_roll=0.1584 left_gripper=0.9971 right_x=0.509 right_y=-0.0032 right_z=0.0778 right_yaw=0.0561 right_pitch=0.0896 right_roll=0.0135 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -2.4957, 6.5983, 1.3455, -0.1538, -0.0269, -0.0073, -0.0068, -9.2103, 6.6393, 2.4933, -0.1441, -0.022, -0.105]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7e6b9676daccf3c3ebb884573f668d456b4306df1fffd6f40674c18ef96fe34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dbf37a647587c62a803082c936e6c0331bcbf74e6bfb2d82409e288369f592c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b38770e0f3293909da2db2f35e5de513e65fc6efed37a56e00c411f4ffd64604",
        "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 · 4.333 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]: [-0.1646, 1.0481, 0.902, -0.8021, -0.2508, -0.1131, 0.9971, 0.0986, 2.2028, 0.9329, 0.9527, 0.0101, 0.0029, 0.6652]\nstate[eef_state]: left_x=0.284 left_y=0.0009 left_z=0.1686 left_yaw=0.1067 left_pitch=-0.3402 left_roll=0.1552 left_gripper=0.9971 right_x=0.5377 right_y=0.055 right_z=0.0321 right_yaw=0.0819 right_pitch=0.2642 right_roll=0.0063 right_gripper=0.6652\nstate[joint_eff]: [-0.0615, -2.5094, 7.0085, 1.3797, -0.149, -0.0464, -0.0122, -0.212, -11.535, 4.506, 1.6044, 0.0806, -0.0073, 0.862]",
      "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]: [-0.1631, 1.0481, 0.902, -0.8097, -0.2508, -0.1135, 0.9971, 0.1005, 1.8126, 1.1023, 0.326, 0.0032, -0.001, 0.6645]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1676 left_yaw=0.1092 left_pitch=-0.3476 left_roll=0.1571 left_gripper=0.9971 right_x=0.534 right_y=0.0569 right_z=0.1617 right_yaw=0.092 right_pitch=0.1971 right_roll=0.0042 right_gripper=0.6645\nstate[joint_eff]: [-0.1709, -2.5368, 6.5983, 1.3944, -0.1929, -0.0659, -0.0122, -0.294, -12.2598, 9.5932, 2.2393, 0.0024, 0.0171, -0.0904]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.1631, 1.0481, 0.902, -0.8131, -0.2508, -0.1131, 0.9971, -0.0486, 1.8942, 0.9253, 0.4744, -0.102, -0.046, 0.996]\nstate[eef_state]: left_x=0.2818 left_y=0.0017 left_z=0.1671 left_yaw=0.1093 left_pitch=-0.3509 left_roll=0.1584 left_gripper=0.9971 right_x=0.509 right_y=-0.0032 right_z=0.0778 right_yaw=0.0561 right_pitch=0.0896 right_roll=0.0135 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -2.4957, 6.5983, 1.3455, -0.1538, -0.0269, -0.0073, -0.0068, -9.2103, 6.6393, 2.4933, -0.1441, -0.022, -0.105]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7e6b9676daccf3c3ebb884573f668d456b4306df1fffd6f40674c18ef96fe34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dbf37a647587c62a803082c936e6c0331bcbf74e6bfb2d82409e288369f592c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b38770e0f3293909da2db2f35e5de513e65fc6efed37a56e00c411f4ffd64604",
        "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_01WAEvChzcijbjMVZXpUwxJn",
      "input": {
        "note": "The safe lid got knocked shut (teddy inside); lemon lies far forward right of the gripper. Tipping the tool forward and reaching out/down to it.",
        "targets": {
          "right_pitch": 0.45,
          "right_x": 0.56,
          "right_y": -0.03,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01WAEvChzcijbjMVZXpUwxJn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1631, 1.05, 0.902, -0.8173, -0.2508, -0.1131, 0.9971, -0.1112, 2.3653, 0.9848, 1.1606, -0.178, -0.041, 0.9973]\nstate[eef_state]: left_x=0.2811 left_y=0.0018 left_z=0.166 left_yaw=0.1099 left_pitch=-0.3568 left_roll=0.1601 left_gripper=0.9971 right_x=0.5524 right_y=-0.0266 right_z=0.0148 right_yaw=0.0653 right_pitch=0.365 right_roll=0.0059 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -2.865, 6.5983, 1.2967, -0.1734, -0.0513, -0.0122, -0.6769, -10.3043, 5.4085, 2.1612, -0.0904, 0.1734, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bb33402892ff9a397bb4f02e8b89cecd784d5c4e49ed79f4768810926daced1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cda3438c8a8594524f61184b00af9b6e71542ac3eff28f3496dc176161d30c42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:217b3553b218a70dbae65a2bcc5abeb76c2821fe2c43fb3dde6f88c171224a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 4.427 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]: [-0.1631, 1.0481, 0.902, -0.8097, -0.2508, -0.1135, 0.9971, 0.1005, 1.8126, 1.1023, 0.326, 0.0032, -0.001, 0.6645]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1676 left_yaw=0.1092 left_pitch=-0.3476 left_roll=0.1571 left_gripper=0.9971 right_x=0.534 right_y=0.0569 right_z=0.1617 right_yaw=0.092 right_pitch=0.1971 right_roll=0.0042 right_gripper=0.6645\nstate[joint_eff]: [-0.1709, -2.5368, 6.5983, 1.3944, -0.1929, -0.0659, -0.0122, -0.294, -12.2598, 9.5932, 2.2393, 0.0024, 0.0171, -0.0904]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.1631, 1.0481, 0.902, -0.8131, -0.2508, -0.1131, 0.9971, -0.0486, 1.8942, 0.9253, 0.4744, -0.102, -0.046, 0.996]\nstate[eef_state]: left_x=0.2818 left_y=0.0017 left_z=0.1671 left_yaw=0.1093 left_pitch=-0.3509 left_roll=0.1584 left_gripper=0.9971 right_x=0.509 right_y=-0.0032 right_z=0.0778 right_yaw=0.0561 right_pitch=0.0896 right_roll=0.0135 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -2.4957, 6.5983, 1.3455, -0.1538, -0.0269, -0.0073, -0.0068, -9.2103, 6.6393, 2.4933, -0.1441, -0.022, -0.105]\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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1631, 1.05, 0.902, -0.8173, -0.2508, -0.1131, 0.9971, -0.1112, 2.3653, 0.9848, 1.1606, -0.178, -0.041, 0.9973]\nstate[eef_state]: left_x=0.2811 left_y=0.0018 left_z=0.166 left_yaw=0.1099 left_pitch=-0.3568 left_roll=0.1601 left_gripper=0.9971 right_x=0.5524 right_y=-0.0266 right_z=0.0148 right_yaw=0.0653 right_pitch=0.365 right_roll=0.0059 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -2.865, 6.5983, 1.2967, -0.1734, -0.0513, -0.0122, -0.6769, -10.3043, 5.4085, 2.1612, -0.0904, 0.1734, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bb33402892ff9a397bb4f02e8b89cecd784d5c4e49ed79f4768810926daced1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cda3438c8a8594524f61184b00af9b6e71542ac3eff28f3496dc176161d30c42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:217b3553b218a70dbae65a2bcc5abeb76c2821fe2c43fb3dde6f88c171224a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwcKEAgSGAI4AUIIdGhpbmtpbmcSDLAbQStyNqyJ54+65BoMwukuGfywMVeSK320IjBEQwnnCCH1q8F5Y2mxiqG2X2jThTwFTZnme8oC2h9duWtS4tTKYZNxfdWq+QJYFckq1AYYkgcJwQ2CmEh2q0/rRJOozdYuKLqvplvKvZxmhgFK0JIHLVUUywpsHPWqmFbWSLjedB54TIEFq7pmo14q+IxamR26myGMxuaW6sAXo4+0IVN0mrvfUCsNeAFgc0Qm8TMnTiJnOrmOO/DPGh8XQei7ndLzpz4Y7MRuvzufQHlOT36a2cug3o9Ng07k9LAtWJhSl2VRDoIz+T4rOdSOEwzdERfXh6WxmKVKmXclU+RQHzDxRmMlY3eITjss6Wu6CzXk6xNeBHMi6+I2W8z3HRVN+egBwUcpVDM+hdwnkffM68yJbGfU0gseOKCig4mfWk3PX9acGTDp2bopxqO0NuIT9fza/C4jn7wy2ncBUY3PzKQ3b2vbV9EN6jcw+CJKhZ65GU5cVPa1WWobvHKKjLTMpA164N6jVDmcqQc2+NzS99rwLvxKmfRPns5J5KwjfhJZDvdSEzqCHjH4PKYQ8xl2PAuVnYB7mZY8giDSm+q81e2uU/aAssxkoCi1pVc/mWGAKDFZtRIR8sRUQd0OmHXqfJdunu83EqTTFsUUXcbkuhXTHX/EuPo4mgNnViLORGx+6alZvjEzc6Pi+g7fLlLv8pOzsDOu45DpSU3eW3magfcPhP5lJDaLCsyn2nvHfPxqluXlroDGzwGCpu776Zv2+S/61pArq8OSFojk/rF2H52KcnM2BET4HfMQzY84XEbCw9MBkbtAic5gREIhRpdcx8qm+OsOydAYgueJsql3EeWcN+9fuvFV5SJFsr8AZOJpDBH0vb1X3idZV5I0a5zcEuxpHIeXHi+YEZX4oxeZjFheeWTXuPA4z/EeJM0QNVYbyb5axELZZKTLn8a45oJC1otOgptn4k/JnTDWkU6ykL2RYtdrgN+Ufr7hIrTTFQNyxP7ajLOEsOyJBXD+7sAhriPm9zcptJDJx/5/pmJJPNAH73Um6utu+5gepDJOpB3nbS2XAVutYQx30kLXJOZC9ofHQJylMijehm0nwDTlhe+n5n/28zDHzHhD0pJhao0a089VLyosKy1iPWT4oxG4CnZRXg1lM+53EJ3batlvkf8zdZ1vxWyjlEjDO4S1gPZAtaANpUbh6nldl9VgYlr76iLxWDotgLSEOAh/jj4mGCS/IMYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RZYXDYkSff4uWi3rZvVpLd",
      "input": {
        "note": "Lemon is ~6 cm right of the jaw column and a bit ahead; shifting right and forward at grasp height.",
        "targets": {
          "right_pitch": 0.5,
          "right_x": 0.58,
          "right_y": -0.08,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01RZYXDYkSff4uWi3rZvVpLd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1631, 1.05, 0.902, -0.8192, -0.2504, -0.1131, 0.9971, -0.2264, 2.4847, 1.1358, 1.2465, -0.2825, -0.0418, 0.9974]\nstate[eef_state]: left_x=0.2808 left_y=0.0018 left_z=0.1658 left_yaw=0.1098 left_pitch=-0.3587 left_roll=0.1604 left_gripper=0.9971 right_x=0.5773 right_y=-0.0788 right_z=0.0232 right_yaw=0.0587 right_pitch=0.4831 right_roll=-0.0064 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -2.7145, 6.6256, 1.2967, -0.1392, -0.0024, -0.0122, -0.2803, -10.3726, 5.0667, 1.8877, -0.022, 0.0952, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a5d5ea5117c296e3aa4ffba1ed9e3c8686140c4054a7261ae1f058a2ad487cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bb09e056f08ee1e498d3cd6db5e0212116a6cc6133fa7abca3425bf7b87da8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c8d89da8c655a7ffdce3af5548a9fa4be04d398af4a7ddb1a4d82957d046788",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 3.437 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]: [-0.1631, 1.0481, 0.902, -0.8131, -0.2508, -0.1131, 0.9971, -0.0486, 1.8942, 0.9253, 0.4744, -0.102, -0.046, 0.996]\nstate[eef_state]: left_x=0.2818 left_y=0.0017 left_z=0.1671 left_yaw=0.1093 left_pitch=-0.3509 left_roll=0.1584 left_gripper=0.9971 right_x=0.509 right_y=-0.0032 right_z=0.0778 right_yaw=0.0561 right_pitch=0.0896 right_roll=0.0135 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -2.4957, 6.5983, 1.3455, -0.1538, -0.0269, -0.0073, -0.0068, -9.2103, 6.6393, 2.4933, -0.1441, -0.022, -0.105]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1631, 1.05, 0.902, -0.8173, -0.2508, -0.1131, 0.9971, -0.1112, 2.3653, 0.9848, 1.1606, -0.178, -0.041, 0.9973]\nstate[eef_state]: left_x=0.2811 left_y=0.0018 left_z=0.166 left_yaw=0.1099 left_pitch=-0.3568 left_roll=0.1601 left_gripper=0.9971 right_x=0.5524 right_y=-0.0266 right_z=0.0148 right_yaw=0.0653 right_pitch=0.365 right_roll=0.0059 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -2.865, 6.5983, 1.2967, -0.1734, -0.0513, -0.0122, -0.6769, -10.3043, 5.4085, 2.1612, -0.0904, 0.1734, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1631, 1.05, 0.902, -0.8192, -0.2504, -0.1131, 0.9971, -0.2264, 2.4847, 1.1358, 1.2465, -0.2825, -0.0418, 0.9974]\nstate[eef_state]: left_x=0.2808 left_y=0.0018 left_z=0.1658 left_yaw=0.1098 left_pitch=-0.3587 left_roll=0.1604 left_gripper=0.9971 right_x=0.5773 right_y=-0.0788 right_z=0.0232 right_yaw=0.0587 right_pitch=0.4831 right_roll=-0.0064 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -2.7145, 6.6256, 1.2967, -0.1392, -0.0024, -0.0122, -0.2803, -10.3726, 5.0667, 1.8877, -0.022, 0.0952, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a5d5ea5117c296e3aa4ffba1ed9e3c8686140c4054a7261ae1f058a2ad487cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bb09e056f08ee1e498d3cd6db5e0212116a6cc6133fa7abca3425bf7b87da8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c8d89da8c655a7ffdce3af5548a9fa4be04d398af4a7ddb1a4d82957d046788",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAgKEAgSGAI4AUIIdGhpbmtpbmcSDHxpPv9uu0UzV0mSShoMaOizKpRxzCaC9H9CIjAKpk5Fy/ygk1lFGPZfK6be9TfP/98V4T12nAaQ4kXZxNWhO/5oxymjVPHgRr7lgvUq3QcdYXqKymKTBpVdjcrr27zd/gn4FIN0oG3C1AsH2O3kxH2ZFLK6QoBKFzNrCjvvqFsMAfCvo+q5QdrQ/l8nu/loE7YCYuD9nlQoBztSp6aU9CjR+RgOk6WjXhSg/9k2GBNFZ6H/+QtYBJBRDfePqAVDhVjQZTBkwgZKA15UnVbkqWDP0DGSTOIfiQAwHshJ95M0gsk3oXR2y/ucj0ddgPDSJthyJ68zD0F33ZEBFt4rRbzrmjlbtAy6oN7NW27XTsP8duWoURYZlEgcs1EY9pPCzp9hM8rW+/l+wyldtDSGYul6aRvqfdtaoQ0fOP9Te3x6N/C8uRJZhxkW/e2ko0LkL40kkzLTnMWFowgw3Ppyh4nwzk2D+MhUDlWi34t1dxy1HKmCmx9kxiye5TMFG/BspdJkIJPxIiIoOciMMcq9IENJ2OTSSx11xSoAnBl/74FKPeBNguenwz5Ozvy/S1oYjrImnbgwVtz87a5i7nPCjwY/2O9HNyvpzGUIMvoEfbWBlT7wKS30vgXj3vfrP0qqTlhpED6S6ZyyaPFM++G8YFTATPi0zwWVz4MZQtHElgNOpkcXorAQjT1TNwWKl35FgKYflAskXsSAlW2D8hZPOUjNAXJUnDdEWkzZa4nusUaglwznFRA6zDtkqsKv8m3c+0CefMB5VXc6/LkLgJFdi4MvT6dFUmhsIbDSnvSEYVzqfHM3kK0ExSexr5Ugk+2M1unxphQSuEXekv4q4PL17RBraoA9RN40LVGTcUgIPCekFxvVTvTeRe3LglIsLv5fMgPtTY9e+K6VapevAsvsKrcX1pMEUX235PWbk+QO1nXDDRGlmaxJrmcMccoNCElW3EwbLppaKJY4e2ucG+hICMrXy5wy3dncxnzImmpqpTHAXIJHXvbt582h/qvc2MLiHiVfOjPPnpnqy1CMED5Y0qjJQBmr1FL0ekxyyInRfCgP1T0MtGBb91Rv6/OMLccB11+NgNT8uvnnxhxWXXIB1OVuJrL+/Q7zaxJ+7EzzqHcXqmmscmEcV6L5CRl7/jazcTTDgDvMlg0kV4MbRos1157THCY4gzCvaNzwbWF6pAdhTLcHu++BN84anEIyn1hdjjAgHqb51rg1dp+py1krUhud/Wyy9J4rQUCdWlmxPg6NFS1l4kWtxpEHOArFHkm8p5zZDoHnIcQfkkpVmsAxKyWTN9CMFUD+j/5K/ch4LXDb4C2Y/+EfpCCXrHkD4fs62siLrKC8PPL0xTHF19ePtwigotVfDEVj2CAvbXTcNfX/HbP8GVwR3mVRqt7JihLdV/RS2NLbgfE4Qly1bBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019dyqLMVHmWrAqfZwhmnUUk",
      "input": {
        "note": "Lemon is centred on the jaw column, slightly ahead; nudging forward 1.5 cm before closing.",
        "targets": {
          "right_x": 0.595,
          "right_y": -0.075,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_019dyqLMVHmWrAqfZwhmnUUk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1631, 1.05, 0.902, -0.8242, -0.2504, -0.1131, 0.9971, -0.2371, 2.4939, 1.1465, 1.2545, -0.305, -0.0418, 0.9974]\nstate[eef_state]: left_x=0.2798 left_y=0.002 left_z=0.1651 left_yaw=0.1103 left_pitch=-0.3635 left_roll=0.1618 left_gripper=0.9971 right_x=0.5782 right_y=-0.0815 right_z=0.0238 right_yaw=0.0708 right_pitch=0.4928 right_roll=-0.0072 right_gripper=0.9974\nstate[joint_eff]: [-0.0205, -2.6872, 6.5709, 1.3016, -0.1343, -0.022, -0.0122, 0.1846, -10.5915, 5.2171, 2.0049, -0.0464, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0a4b3de45bb3dd823c68d66311ca94d7187a57227355f74c0484a63a88a4201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b228699ee1b810d73c41e922cbeeda0e0bb68819d94388486fbda4d18c59ff09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b48b660d547980f79c1762b8214a68008fc5a0662d2b2857ea05a96e4c9b50fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 12.94 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]: [-0.1631, 1.05, 0.902, -0.8173, -0.2508, -0.1131, 0.9971, -0.1112, 2.3653, 0.9848, 1.1606, -0.178, -0.041, 0.9973]\nstate[eef_state]: left_x=0.2811 left_y=0.0018 left_z=0.166 left_yaw=0.1099 left_pitch=-0.3568 left_roll=0.1601 left_gripper=0.9971 right_x=0.5524 right_y=-0.0266 right_z=0.0148 right_yaw=0.0653 right_pitch=0.365 right_roll=0.0059 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -2.865, 6.5983, 1.2967, -0.1734, -0.0513, -0.0122, -0.6769, -10.3043, 5.4085, 2.1612, -0.0904, 0.1734, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1631, 1.05, 0.902, -0.8192, -0.2504, -0.1131, 0.9971, -0.2264, 2.4847, 1.1358, 1.2465, -0.2825, -0.0418, 0.9974]\nstate[eef_state]: left_x=0.2808 left_y=0.0018 left_z=0.1658 left_yaw=0.1098 left_pitch=-0.3587 left_roll=0.1604 left_gripper=0.9971 right_x=0.5773 right_y=-0.0788 right_z=0.0232 right_yaw=0.0587 right_pitch=0.4831 right_roll=-0.0064 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -2.7145, 6.6256, 1.2967, -0.1392, -0.0024, -0.0122, -0.2803, -10.3726, 5.0667, 1.8877, -0.022, 0.0952, 0.0024]",
      "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]: [-0.1631, 1.05, 0.902, -0.8242, -0.2504, -0.1131, 0.9971, -0.2371, 2.4939, 1.1465, 1.2545, -0.305, -0.0418, 0.9974]\nstate[eef_state]: left_x=0.2798 left_y=0.002 left_z=0.1651 left_yaw=0.1103 left_pitch=-0.3635 left_roll=0.1618 left_gripper=0.9971 right_x=0.5782 right_y=-0.0815 right_z=0.0238 right_yaw=0.0708 right_pitch=0.4928 right_roll=-0.0072 right_gripper=0.9974\nstate[joint_eff]: [-0.0205, -2.6872, 6.5709, 1.3016, -0.1343, -0.022, -0.0122, 0.1846, -10.5915, 5.2171, 2.0049, -0.0464, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0a4b3de45bb3dd823c68d66311ca94d7187a57227355f74c0484a63a88a4201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b228699ee1b810d73c41e922cbeeda0e0bb68819d94388486fbda4d18c59ff09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b48b660d547980f79c1762b8214a68008fc5a0662d2b2857ea05a96e4c9b50fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4wYKEAgSGAI4AUIIdGhpbmtpbmcSDAAFARlKFDnrVZRPDRoMT+HeVPmLfU36e80SIjC8QzlA3AoZf2J2moxbCjK7eaQarw0gQVLgfS9Wzq6JPUd7a2HaCS1Jboq3LpGc/g8qgAaJ6BsJgDh1x5p4aaVX1o3YxOp08xToGJqOO4orWC77GtxrBEv+yxlPAbCpshKFWjj+iGRZ865NFd31afRjeSvSYQIabXL8EjmOYeGUnzVZKZLF/W74+/nW+aXB/UIkHKrhRNd+HGKZlreatBtr1CGVX8Rl9YvdZq1GX9g/noCO4bo/8ikl5+w2pbb/cLWGKdk2EYuODLVrRtuTqGwDAR3qpi8G0PIuXzgYpOaWtZcX/JWh/WYsZl5SyFthqlr2Sq3RmwKMvaIqP8JRudixQGpY0e97pyLoqkn19tVFQAe11RhwBXeQsm12MQE0py82LfCAaXFtT8IbjI0AczlDUrCLEokY3QwUVE8y066I4xgCMBCsBVEVFA0Ur1icDbAf9VoswT3MT/6i8HdRITwWuwGCgiBut0FwHIFCyUc6V09aQT9hZ8UiN0lm5701U2iczk50yreUHuIwf9FPgzQ/xHM4IWpNqny0CoU/TLD2QJKoE4ut6dVle8O9/FoVPYd1AWLhjmoifrgMAKaav5LDLororw61jGdXvZb7L2kEM87ktS4ZbEGkZ/BEVv5A39v3BoTwhH1qgDXbO1mdOZdz1cqaUEIemJzaAEGIIUSTj5TFDKClFMlIQR1rLF4Buurlu3bl+FoIH3CMSS336oyBC4KtR5VtMUJ13bpLyFphGECu8Rx4IxNjdBOPDBHb1kPCkvLAGbbyeoyUup9W2JVsRStBGfFHiTJE0o8Bck1MUfjxE8oSUV/btjlRJrX3A+69zHY1e8tbsKBJy8DVoakZW+ewhwkI9i7q9oW7mLSRzmxvmj8vY1MdO0xyk2tYU0OJH8/Jo10aMLnK2GN4hY+C89+bX0iLTZ2mhuvZoo+z382diHlwGp3LnD+w5MeaRi+QnoOPMDHcn5HcmLuaTEKJL3zRKw7F5+tbvw7rdlF5iR/u3k7W+zT9orYHwvYiLFZeAU4Rl8yCleo9bjTA/0tE5p4rck30fEiclH2NFcjFG5mempvA5e1bukTHp9S0vXMNMLAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V694D5Hr3rgv7xFrn5gNR4",
      "input": {
        "note": "At reach limit with the lemon centred just ahead of the jaws; closing and hoping the fingertips catch it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01V694D5Hr3rgv7xFrn5gNR4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1631, 1.05, 0.902, -0.8291, -0.2508, -0.1135, 0.9971, -0.2371, 2.495, 1.1461, 1.2545, -0.3046, -0.0418, 0.0074]\nstate[eef_state]: left_x=0.2788 left_y=0.0022 left_z=0.1644 left_yaw=0.1113 left_pitch=-0.3681 left_roll=0.1633 left_gripper=0.9971 right_x=0.578 right_y=-0.0815 right_z=0.023 right_yaw=0.0702 right_pitch=0.4914 right_roll=-0.0067 right_gripper=0.0074\nstate[joint_eff]: [-0.0068, -2.5915, 6.5846, 1.3065, -0.1832, -0.0659, -0.0122, 0.212, -12.4239, 4.1368, 1.873, -0.0366, -0.0171, 0.4664]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ff606318f6bbad2e95bc2c87babaaba6348fd589b1782f9c2471e908a89156a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2f8ea2747eee1ddbef166f384521cc1427a01ac2983e79611096a36379750b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:06246aeb4931dba9b774c99b7387c4c0235921bb36481469d29d3655b3e4377a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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