adhoc

completed
2026-09-22T20:41:55.592785+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
268.2 s
total steps
334
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, a teddy bear to its left, a lemon to its right, and a bag of pastries in front of it. I'm moving the left arm over the teddy bear first.
move_to
left_x0.3400left_y-0.2000left_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, 0.7933, 0.6044, -0.3912, -0.0193, -0.0338, 0.9993, -0.0212, 0.7952, 0.6079, -0.3965, -0.02, -0.0265, 0.9994] state[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.178 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0009 right_z=0.178 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.4718, -1.3197, 10.2222, 1.956, -0.0904, 0.2027, -0.0904, -0.3077, -1.5521, 9.7162, 1.917, -0.0513, 0.1197, -0.0708] 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": 0.34, "left_y": -0.2, "left_z": 0.15, "left_gripper": 1}, "note": "Scene: open red safe in the centre, a teddy bear to its left, a lemon to its right, and a bag of pastries in front of it. I'm moving the left arm over the teddy bear first."})
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 appears left of the jaw column in the wrist view; shifting left ~3 cm and slightly forward before descending.
move_to
left_x0.3500left_y-0.1600left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8093, 1.4311, 0.8455, -0.2386, -0.6262, -0.5407, 0.9993, -0.0212, 0.7986, 0.6121, -0.4324, -0.0204, -0.0265, 0.9994] state[eef_state]: left_x=0.3297 left_y=-0.1906 left_z=0.1317 left_yaw=-0.0213 left_pitch=-0.058 left_roll=0.036 left_gripper=0.9993 right_x=0.2888 right_y=0.0011 right_z=0.1717 right_yaw=0.0005 right_pitch=-0.0351 right_roll=0.0007 right_gripper=0.9994 state[joint_eff]: [-0.3761, -5.9282, 9.3197, 1.6923, -0.5934, 0.0122, -0.0904, -0.1709, -1.5111, 6.6393, 2.0684, -0.0513, -0.0366, -0.0122] 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": 0.35, "left_y": -0.16, "left_z": 0.15}, "note": "Teddy appears left of the jaw column in the wrist view; shifting left ~3 cm and slightly forward before descending."})
tool
executing move_to over 3 steps (0.3s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
Teddy is now on the jaw column. Descending.
agent noteTeddy centred on the jaw column, slightly ahead; descending to grasp around its body.
move_to
left_x0.3600left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6884, 1.4078, 0.8555, -0.2535, -0.5747, -0.4854, 0.9992, -0.0212, 0.7986, 0.6094, -0.448, -0.0196, -0.0265, 0.9994] state[eef_state]: left_x=0.3479 left_y=-0.1572 left_z=0.1376 left_yaw=0.0314 left_pitch=-0.0717 left_roll=0.0404 left_gripper=0.9992 right_x=0.2862 right_y=0.001 right_z=0.1674 right_yaw=-0.0001 right_pitch=-0.0534 right_roll=0.0006 right_gripper=0.9994 state[joint_eff]: [-1.1966, -7.1179, 7.3094, 1.4872, -0.022, 0.1832, -0.0171, -0.1026, -1.1966, 7.1863, 1.8779, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
Teddy is now on the jaw column. Descending.
move_to({"targets": {"left_x": 0.36, "left_z": 0.02}, "note": "Teddy centred on the jaw column, slightly ahead; descending to grasp around its body."})
tool
executing move_to over 8 steps (0.8s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe previous descent didn't happen (z still 0.137); trying a smaller descent step.
move_to
left_x0.3600left_y-0.1570left_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.3956, 0.8555, -0.2691, -0.535, -0.4458, 0.9992, -0.0208, 0.8024, 0.6094, -0.4778, -0.0196, -0.0265, 0.9994] state[eef_state]: left_x=0.3462 left_y=-0.1565 left_z=0.1368 left_yaw=-0.0046 left_pitch=-0.0938 left_roll=0.0519 left_gripper=0.9992 right_x=0.2819 right_y=0.0012 right_z=0.1605 right_yaw=0.0004 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9994 state[joint_eff]: [0.0479, -7.1179, 7.3504, 1.6874, -0.2515, 0.1441, -0.0122, -0.0615, -1.5248, 7.0222, 1.9658, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.157, "left_z": 0.07}, "note": "The previous descent didn't happen (z still 0.137); trying a smaller descent step."})
tool
executing move_to over 5 steps (0.5s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteTeddy centred between the jaws; continuing descent to grasp height.
move_to
left_x0.3600left_y-0.1570left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6491, 1.56, 0.7319, -0.0647, -0.5213, -0.4358, 0.9992, -0.0212, 0.8047, 0.6094, -0.5003, -0.0196, -0.0269, 0.9994] state[eef_state]: left_x=0.3478 left_y=-0.149 left_z=0.0623 left_yaw=0.011 left_pitch=-0.1664 left_roll=0.1032 left_gripper=0.9992 right_x=0.2785 right_y=0.0012 right_z=0.1556 right_yaw=0.0002 right_pitch=-0.1117 right_roll=0.0015 right_gripper=0.9994 state[joint_eff]: [0.1162, -9.2376, 7.1453, 2.0488, -0.3883, 0.0464, -0.0122, -0.0342, -1.388, 6.9675, 1.8193, -0.0171, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.157, "left_z": 0.02}, "note": "Teddy centred between the jaws; continuing descent to grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteTeddy is between the jaws at ~3.6 cm height; closing the gripper.
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]: [-0.6472, 1.6859, 0.709, 0.1154, -0.5327, -0.45, 0.9985, -0.0208, 0.8062, 0.6094, -0.5117, -0.02, -0.0265, 0.9994] state[eef_state]: left_x=0.361 left_y=-0.1558 left_z=0.0363 left_yaw=0.0261 left_pitch=-0.1356 left_roll=0.08 left_gripper=0.9985 right_x=0.2768 right_y=0.0014 right_z=0.1531 right_yaw=0.0008 right_pitch=-0.1247 right_roll=0.0024 right_gripper=0.9994 state[joint_eff]: [0.0068, -4.1915, 5.6684, 0.569, -0.0708, 0.2662, -0.0806, -0.0342, -1.2786, 6.9265, 1.7705, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Teddy is between the jaws at ~3.6 cm height; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteEmpty close (0.009): teddy is still ahead of the fingertips. Opening and lifting slightly before advancing.
move_to
left_gripper1.0000left_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6464, 1.7317, 0.712, 0.149, -0.5354, -0.4385, 0.0093, -0.0212, 0.807, 0.6094, -0.5449, -0.02, -0.0265, 0.9994] state[eef_state]: left_x=0.3636 left_y=-0.157 left_z=0.0256 left_yaw=0.0233 left_pitch=-0.1421 left_roll=0.0961 left_gripper=0.0093 right_x=0.2713 right_y=0.0014 right_z=0.1467 right_yaw=0.0005 right_pitch=-0.1587 right_roll=0.0031 right_gripper=0.9994 state[joint_eff]: [-0.0068, -7.0359, 4.9573, 1.2967, -0.0904, 0.0464, 0.7253, -0.0342, -1.265, 6.8991, 1.9072, -0.0708, -0.0415, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.06}, "note": "Empty close (0.009): teddy is still ahead of the fingertips. Opening and lifting slightly before advancing."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteTeddy is centred in the wrist view but beyond the fingertips; advancing 5 cm forward.
move_to
left_x0.4100left_y-0.1550left_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6472, 1.6573, 0.7422, -0.0059, -0.535, -0.4496, 0.9952, -0.0212, 0.8101, 0.6094, -0.5682, -0.02, -0.0265, 0.9994] state[eef_state]: left_x=0.3549 left_y=-0.1508 left_z=0.0407 left_yaw=0.0335 left_pitch=-0.1809 left_roll=0.1194 left_gripper=0.9952 right_x=0.2675 right_y=0.0015 right_z=0.1418 right_yaw=0.0006 right_pitch=-0.185 right_roll=0.0037 right_gripper=0.9994 state[joint_eff]: [-0.1299, -8.841, 8.6085, 1.2821, -0.2515, 0.0855, -0.1441, -0.1026, -1.3333, 6.8855, 1.7851, -0.0269, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.155, "left_z": 0.05}, "note": "Teddy is centred in the wrist view but beyond the fingertips; advancing 5 cm forward."})
tool
executing move_to over 5 steps (0.5s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteTeddy's head is now at the bottom of the wrist view, near the fingertips; advancing a bit more and descending to grasp.
move_to
left_x0.4200left_y-0.1500left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5636, 1.7832, 0.902, -0.0532, -0.4965, -0.403, 0.9963, -0.0212, 0.8116, 0.6094, -0.5926, -0.02, -0.0265, 0.9994] state[eef_state]: left_x=0.395 left_y=-0.1458 left_z=0.0381 left_yaw=0.0649 left_pitch=-0.2137 left_roll=0.1367 left_gripper=0.9963 right_x=0.2633 right_y=0.0016 right_z=0.1372 right_yaw=0.0007 right_pitch=-0.2109 right_roll=0.0043 right_gripper=0.9994 state[joint_eff]: [0.2393, -7.7197, 7.8564, 1.5165, -0.0855, 0.2466, 0.1001, -0.1846, -1.2923, 6.8444, 1.746, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.15, "left_z": 0.02}, "note": "Teddy's head is now at the bottom of the wrist view, near the fingertips; advancing a bit more and descending to grasp."})
tool
executing move_to over 2 steps (0.2s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteTeddy fills the bottom of the wrist view at grasp height; 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]: [-0.5465, 1.8488, 0.9478, -0.0357, -0.4927, -0.3946, 0.9965, -0.0212, 0.8108, 0.6094, -0.6102, -0.02, -0.0269, 0.9994] state[eef_state]: left_x=0.4087 left_y=-0.1466 left_z=0.0293 left_yaw=0.0749 left_pitch=-0.218 left_roll=0.1415 left_gripper=0.9965 right_x=0.2601 right_y=0.0016 right_z=0.1343 right_yaw=0.001 right_pitch=-0.2277 right_roll=0.0044 right_gripper=0.9994 state[joint_eff]: [0.5675, -7.4735, 6.735, 1.3211, -0.1734, 0.1343, 0.0024, -0.1162, -0.9915, 7.0769, 1.9414, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Teddy fills the bottom of the wrist view at grasp height; closing."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteGripper settled at 0.073, so the teddy seems grasped (holding its keychain end). 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, 1.9068, 0.9565, 0.0093, -0.5014, -0.3798, 0.0731, -0.0212, 0.8154, 0.6094, -0.6319, -0.0196, -0.0265, 0.9994] state[eef_state]: left_x=0.4158 left_y=-0.1435 left_z=0.0151 left_yaw=0.0851 left_pitch=-0.2186 left_roll=0.1606 left_gripper=0.0731 right_x=0.2563 right_y=0.0016 right_z=0.1296 right_yaw=0.0006 right_pitch=-0.254 right_roll=0.0049 right_gripper=0.9994 state[joint_eff]: [-0.0615, -9.0188, 6.694, 1.2479, -0.0415, 0.2027, 2.5714, -0.2256, -1.5521, 6.7897, 1.6777, -0.0269, -0.022, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Gripper settled at 0.073, so the teddy seems grasped (holding its keychain end). Lifting to carry height."})
tool
executing move_to over 12 steps (1.2s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteHolding the teddy; the open safe is to the right of the gripper. Moving right over the safe interior.
move_to
left_x0.4000left_y-0.2700left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.535, 1.7069, 1.4014, -0.6796, -0.4999, -0.3904, 0.0999, -0.0212, 0.8165, 0.6094, -0.6571, -0.0196, -0.0269, 0.9994] state[eef_state]: left_x=0.4166 left_y=-0.1443 left_z=0.1696 left_yaw=0.0962 left_pitch=-0.2541 left_roll=0.1787 left_gripper=0.0999 right_x=0.2516 right_y=0.0017 right_z=0.1252 right_yaw=0.001 right_pitch=-0.2803 right_roll=0.0053 right_gripper=0.9994 state[joint_eff]: [-0.1026, -11.4393, 9.3197, 1.4139, -0.2222, 0.0855, 1.033, -0.0342, -1.1145, 6.7624, 1.6972, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.27, "left_z": 0.2}, "note": "Holding the teddy; the open safe is to the right of the gripper. Moving right over the safe interior."})
tool
executing move_to over 12 steps (1.2s)
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 noteThe teddy is just above the safe's front wall; moving a bit forward and right into the interior and lowering.
move_to
left_x0.4400left_y-0.2900left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8116, 2.0068, 1.898, -1.0515, -0.606, -0.6746, 0.1062, -0.0208, 0.8173, 0.6094, -0.6762, -0.02, -0.0265, 0.9994] state[eef_state]: left_x=0.3973 left_y=-0.2673 left_z=0.1871 left_yaw=0.0824 left_pitch=-0.2879 left_roll=0.1791 left_gripper=0.1062 right_x=0.248 right_y=0.002 right_z=0.122 right_yaw=0.0016 right_pitch=-0.3001 right_roll=0.0063 right_gripper=0.9994 state[joint_eff]: [-0.335, -10.4957, 8.7726, 0.9353, -0.6325, 0.0317, 1.0281, -0.0479, -1.1829, 6.9265, 1.5946, -0.0269, -0.0366, -0.0122] 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": 0.44, "left_y": -0.29, "left_z": 0.13}, "note": "The teddy is just above the safe's front wall; moving a bit forward and right into the interior and lowering."})
tool
executing move_to over 4 steps (0.4s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
Teddy is inside the safe's footprint now; releasing.
agent noteTeddy is hanging over the safe interior (red floor all around); opening to drop it in.
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]: [-0.7811, 2.1792, 1.9186, -0.9607, -0.5919, -0.6636, 0.1113, -0.0208, 0.8192, 0.6075, -0.68, -0.02, -0.0265, 0.9994] state[eef_state]: left_x=0.425 left_y=-0.2775 left_z=0.1201 left_yaw=0.1142 left_pitch=-0.3375 left_roll=0.2279 left_gripper=0.1113 right_x=0.247 right_y=0.002 right_z=0.1202 right_yaw=0.0016 right_pitch=-0.3078 right_roll=0.0065 right_gripper=0.9994 state[joint_eff]: [0.0342, -13.3812, 9.2513, 1.0525, -0.3687, 0.1294, 1.0281, -0.0479, -1.265, 7.1316, 1.4139, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
Teddy is inside the safe's footprint now; releasing.
move_to({"targets": {"left_gripper": 1}, "note": "Teddy is hanging over the safe interior (red floor all around); opening to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteTeddy dropped inside the safe. Parking the left arm at home and bringing the right arm over the lemon, which sits right of the safe.
move_to
left_z0.2000left_x0.2900left_y0.0000right_x0.4200right_y0.1800right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.778, 2.2215, 1.9236, -0.9192, -0.5808, -0.6479, 0.9954, -0.0212, 0.8192, 0.6075, -0.6842, -0.02, -0.0265, 0.9994] state[eef_state]: left_x=0.4317 left_y=-0.2843 left_z=0.1033 left_yaw=0.1011 left_pitch=-0.3449 left_roll=0.2276 left_gripper=0.9954 right_x=0.2461 right_y=0.0019 right_z=0.1196 right_yaw=0.0013 right_pitch=-0.312 right_roll=0.0066 right_gripper=0.9994 state[joint_eff]: [-0.212, -14.7761, 8.8274, 1.0574, -0.4567, 0.0562, -0.1441, 0.0068, -1.1009, 6.7487, 1.3993, -0.0513, -0.0415, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.29, "left_y": 0.0, "right_x": 0.42, "right_y": 0.18, "right_z": 0.15, "right_gripper": 1}, "note": "Teddy dropped inside the safe. Parking the left arm at home and bringing the right arm over the lemon, which sits right of the safe."})
tool
executing move_to over 26 steps (2.6s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteLemon visible right of the jaw column and ahead of the fingertips; shifting right and forward while lowering.
move_to
right_x0.4400right_y0.1500right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2176, 1.1278, 1.0607, -0.9054, -0.3321, -0.1352, 0.9963, 0.5106, 1.7313, 1.3586, -0.6376, 0.2848, 0.3759, 0.9995] state[eef_state]: left_x=0.2952 left_y=-0.0026 left_z=0.1982 left_yaw=0.1372 left_pitch=-0.3377 left_roll=0.2159 left_gripper=0.9963 right_x=0.406 right_y=0.1747 right_z=0.1365 right_yaw=0.0231 right_pitch=-0.3655 right_roll=-0.0211 right_gripper=0.9995 state[joint_eff]: [0.1983, -3.7949, 6.4068, 1.2527, -0.2027, 0.1343, 0.0806, 0.335, -8.294, 8.6906, 1.453, 0.2613, 0.2906, -0.0708] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.15, "right_z": 0.1}, "note": "Lemon visible right of the jaw column and ahead of the fingertips; shifting right and forward while lowering."})
tool
executing move_to over 3 steps (0.3s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteLemon slightly right and ahead; nudging right/forward and descending to grasp height.
move_to
right_x0.4600right_y0.1350right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2176, 1.1309, 1.0588, -0.9211, -0.3183, -0.1226, 0.9965, 0.4271, 1.7985, 1.3323, -0.5659, 0.2462, 0.3183, 0.9994] state[eef_state]: left_x=0.2921 left_y=-0.0043 left_z=0.1939 left_yaw=0.1211 left_pitch=-0.3624 left_roll=0.22 left_gripper=0.9965 right_x=0.4252 right_y=0.1501 right_z=0.1056 right_yaw=0.0019 right_pitch=-0.4003 right_roll=-0.0349 right_gripper=0.9994 state[joint_eff]: [-0.2667, -3.2342, 6.612, 1.4188, -0.2808, -0.0562, 0.0024, -0.0752, -8.9094, 6.3521, 1.7021, 0.0659, -0.0122, -0.022] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.135, "right_z": 0.03}, "note": "Lemon slightly right and ahead; nudging right/forward and descending to grasp height."})
tool
executing move_to over 5 steps (0.5s)
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 notePrevious move barely tracked; retrying with a smaller descent toward the lemon.
move_to
right_x0.4500right_y0.1350right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.132, 1.0588, -0.9237, -0.318, -0.1349, 0.9965, 0.4103, 1.8366, 1.3121, -0.5209, 0.2245, 0.289, 0.9994] state[eef_state]: left_x=0.2917 left_y=-0.0042 left_z=0.1933 left_yaw=0.1286 left_pitch=-0.3647 left_roll=0.2133 left_gripper=0.9965 right_x=0.4296 right_y=0.1479 right_z=0.0865 right_yaw=0.019 right_pitch=-0.4205 right_roll=-0.0394 right_gripper=0.9994 state[joint_eff]: [-0.1983, -3.3162, 6.5162, 1.2283, -0.2222, 0.0757, -0.0073, -0.0068, -9.812, 6.4479, 1.2772, 0.2076, 0.1099, -0.0122] 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_x": 0.45, "right_y": 0.135, "right_z": 0.05}, "note": "Previous move barely tracked; retrying with a smaller descent toward the lemon."})
tool
executing move_to over 3 steps (0.3s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteRight arm stalled with its pitch drifted to -0.42; resetting orientation to the start pose while descending toward the lemon.
move_to
right_x0.4400right_y0.1400right_z0.0600right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1324, 1.0588, -0.9245, -0.318, -0.1356, 0.9965, 0.4103, 1.8366, 1.3121, -0.5213, 0.2249, 0.292, 0.9994] state[eef_state]: left_x=0.2915 left_y=-0.0041 left_z=0.1931 left_yaw=0.1292 left_pitch=-0.3657 left_roll=0.2133 left_gripper=0.9965 right_x=0.4296 right_y=0.1478 right_z=0.0864 right_yaw=0.0168 right_pitch=-0.4207 right_roll=-0.0381 right_gripper=0.9994 state[joint_eff]: [-0.0752, -3.2889, 6.4752, 1.2137, -0.2222, -0.0171, -0.0073, -0.1436, -10.0034, 6.2564, 1.3065, 0.2076, 0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.14, "right_z": 0.06, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Right arm stalled with its pitch drifted to -0.42; resetting orientation to the start pose while descending toward the lemon."})
tool
executing move_to over 15 steps (1.5s)
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 is just ahead and a bit right of the jaws; advancing 3 cm, nudging right, and lowering to grasp height.
move_to
right_x0.4600right_y0.1250right_z0.0200right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1332, 1.0588, -0.9253, -0.318, -0.136, 0.9969, 0.4286, 1.7981, 0.8314, 0.2474, 0.3351, 0.2428, 0.9994] state[eef_state]: left_x=0.2915 left_y=-0.0041 left_z=0.1928 left_yaw=0.1296 left_pitch=-0.367 left_roll=0.2136 left_gripper=0.9969 right_x=0.4286 right_y=0.1359 right_z=0.0457 right_yaw=0.0059 right_pitch=-0.0879 right_roll=-0.0197 right_gripper=0.9994 state[joint_eff]: [-0.212, -3.3299, 6.4752, 1.2479, -0.2271, -0.0611, 0.0366, 0.4308, -7.5966, 6.0239, 1.9267, 0.2906, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_x": 0.46, "right_y": 0.125, "right_z": 0.02, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Lemon is just ahead and a bit right of the jaws; advancing 3 cm, nudging right, and lowering to grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteLemon is centred between the jaws; closing on it.
move_to
right_gripper0.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1347, 1.0588, -0.9279, -0.318, -0.136, 0.997, 0.382, 1.9209, 0.8314, 0.4747, 0.3077, 0.2199, 0.9994] state[eef_state]: left_x=0.2911 left_y=-0.004 left_z=0.192 left_yaw=0.1301 left_pitch=-0.371 left_roll=0.2151 left_gripper=0.997 right_x=0.4566 right_y=0.1297 right_z=0.0332 right_yaw=-0.004 right_pitch=0.0016 right_roll=0.0185 right_gripper=0.9994 state[joint_eff]: [-0.0752, -3.0154, 6.5709, 1.199, -0.2222, -0.0659, -0.0024, -0.335, -7.0769, 5.1214, 0.9597, 0.3394, -0.2955, -0.0171] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Lemon is centred between the jaws; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteLemon grasped (gripper settled at 0.41). Lifting above the safe wall height.
move_to
right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1351, 1.0588, -0.9283, -0.3176, -0.136, 0.997, 0.3706, 1.9514, 0.8314, 0.5571, 0.2989, 0.1837, 0.4148] state[eef_state]: left_x=0.291 left_y=-0.0041 left_z=0.1918 left_yaw=0.1299 left_pitch=-0.3718 left_roll=0.2151 left_gripper=0.997 right_x=0.4659 right_y=0.1291 right_z=0.0354 right_yaw=0.0113 right_pitch=0.0485 right_roll=0.0112 right_gripper=0.4148 state[joint_eff]: [-0.1846, -3.0701, 6.4752, 1.2283, -0.1832, -0.0562, -0.0073, -0.3624, -7.8564, 4.9026, 1.3748, 0.0562, 0.0659, 0.9255] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Lemon grasped (gripper settled at 0.41). Lifting above the safe wall height."})
tool
executing move_to over 11 steps (1.1s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteLemon held above table; the safe is just to the left. Moving left over the safe interior.
move_to
right_y0.2600right_x0.4500right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.318, -0.136, 0.9971, 0.3717, 1.6695, 1.1961, -0.1833, 0.2951, 0.1833, 0.4164] state[eef_state]: left_x=0.2909 left_y=-0.004 left_z=0.1918 left_yaw=0.1303 left_pitch=-0.3721 left_roll=0.2155 left_gripper=0.9971 right_x=0.4654 right_y=0.1302 right_z=0.1706 right_yaw=0.0159 right_pitch=-0.0402 right_roll=-0.0199 right_gripper=0.4164 state[joint_eff]: [-0.1436, -3.1248, 6.4752, 1.199, -0.2222, -0.0513, -0.0122, -0.1436, -11.0564, 9.1282, 1.9414, 0.1538, 0.105, 0.7399] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.26, "right_x": 0.45, "right_z": 0.18, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Lemon held above table; the safe is just to the left. Moving left over the safe interior."})
tool
executing move_to over 11 steps (1.1s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteLemon is over the safe near its right front corner; nudging deeper into the interior and lowering before release.
move_to
right_y0.2800right_x0.4700right_z0.1100right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1351, 1.0588, -0.9283, -0.318, -0.136, 0.9971, 0.6926, 1.8507, 1.4162, -0.3286, 0.5232, 0.3794, 0.4186] state[eef_state]: left_x=0.291 left_y=-0.004 left_z=0.1919 left_yaw=0.1302 left_pitch=-0.3717 left_roll=0.2154 left_gripper=0.9971 right_x=0.4402 right_y=0.2552 right_z=0.163 right_yaw=0.0457 right_pitch=-0.0587 right_roll=-0.0431 right_gripper=0.4186 state[joint_eff]: [-0.0615, -3.2889, 6.4752, 1.2674, -0.2173, -0.0464, -0.0171, 0.1983, -9.1692, 9.5932, 1.6923, 0.3541, 0.2173, 0.442] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.28, "right_x": 0.47, "right_z": 0.11, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Lemon is over the safe near its right front corner; nudging deeper into the interior and lowering before release."})
tool
executing move_to over 4 steps (0.4s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
assistant
agent noteLemon is inside the safe walls; releasing it.
move_to
right_gripper1.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.3176, -0.136, 0.9971, 0.7013, 2.0212, 1.4155, -0.1932, 0.5457, 0.4026, 0.4207] state[eef_state]: left_x=0.2909 left_y=-0.0041 left_z=0.1918 left_yaw=0.13 left_pitch=-0.3722 left_roll=0.2152 left_gripper=0.9971 right_x=0.4577 right_y=0.2713 right_z=0.1012 right_yaw=0.0233 right_pitch=-0.0766 right_roll=-0.0592 right_gripper=0.4207 state[joint_eff]: [-0.1436, -3.2342, 6.653, 1.199, -0.1441, -0.022, -0.0171, 0.5675, -11.7402, 6.8171, 1.8388, 0.3541, 0.1929, 0.2125] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Lemon is inside the safe walls; releasing it."})
tool
executing move_to over 6 steps (0.6s)
step 208
assistant
agent noteLemon is in the safe. The brown teddy bear lies in front of the safe; moving the right arm back above it.
move_to
right_z0.1800right_x0.3200right_y0.3000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.318, -0.136, 0.9971, 0.7017, 2.0552, 1.4128, -0.1318, 0.5468, 0.4118, 0.9949] state[eef_state]: left_x=0.2909 left_y=-0.004 left_z=0.1918 left_yaw=0.1303 left_pitch=-0.3721 left_roll=0.2155 left_gripper=0.9971 right_x=0.4641 right_y=0.2767 right_z=0.0925 right_yaw=0.0188 right_pitch=-0.0566 right_roll=-0.0369 right_gripper=0.9949 state[joint_eff]: [-0.1573, -2.9744, 6.4889, 1.2332, -0.2173, -0.0317, -0.0171, -0.0342, -12.588, 7.0222, 1.9072, 0.4322, 0.1197, -0.2466] approver: 1 step(s) modified (delta_clamped). 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": 0.18, "right_x": 0.32, "right_y": 0.3, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Lemon is in the safe. The brown teddy bear lies in front of the safe; moving the right arm back above it."})
tool
executing move_to over 12 steps (1.2s)
step 220
assistant
agent noteBrown bear is directly below/just ahead of the jaws in the wrist view; descending to grasp it.
move_to
right_z0.0400right_x0.3300right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9318, -0.318, -0.136, 0.9971, 1.0222, 1.7401, 1.2778, -0.4717, 0.7567, 0.6842, 0.9965] state[eef_state]: left_x=0.2906 left_y=-0.0039 left_z=0.1904 left_yaw=0.1312 left_pitch=-0.3785 left_roll=0.2181 left_gripper=0.9971 right_x=0.3239 right_y=0.3043 right_z=0.1572 right_yaw=0.0388 right_pitch=-0.0412 right_roll=-0.0416 right_gripper=0.9965 state[joint_eff]: [-0.0205, -3.0974, 6.4752, 1.2869, -0.1929, -0.0317, -0.0122, 0.1709, -11.0974, 7.9521, 1.3993, 0.5836, 0.1148, 0.1538] 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": 0.04, "right_x": 0.33, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Brown bear is directly below/just ahead of the jaws in the wrist view; descending to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 228
assistant
agent noteBear fur fills the bottom of the wrist view between the jaws; closing on it.
move_to
right_gripper0.0000right_z0.0200right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9344, -0.318, -0.136, 0.9971, 1.0203, 1.9312, 1.0199, -0.0376, 0.7734, 0.7074, 0.9967] state[eef_state]: left_x=0.2901 left_y=-0.0038 left_z=0.1901 left_yaw=0.1316 left_pitch=-0.381 left_roll=0.219 left_gripper=0.9971 right_x=0.3245 right_y=0.2996 right_z=0.0426 right_yaw=0.0134 right_pitch=-0.0374 right_roll=-0.0426 right_gripper=0.9967 state[joint_eff]: [-0.1162, -3.3162, 6.4615, 1.2674, -0.2222, -0.0611, -0.0171, -0.1299, -8.4855, 5.1487, 1.3993, 0.4225, 0.0513, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0, "right_z": 0.02, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Bear fur fills the bottom of the wrist view between the jaws; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 238
assistant
agent noteEmpty close: the bear's body is still ahead of the fingertips. Opening and advancing 4–5 cm.
move_to
right_gripper1.0000right_x0.3700right_z0.0400right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.944, -0.318, -0.1364, 0.9971, 1.0218, 1.964, 0.9623, 0.1047, 0.7746, 0.7124, 0.0092] state[eef_state]: left_x=0.2882 left_y=-0.0034 left_z=0.1889 left_yaw=0.1331 left_pitch=-0.3899 left_roll=0.2223 left_gripper=0.9971 right_x=0.3248 right_y=0.301 right_z=0.0285 right_yaw=0.0125 right_pitch=-0.0089 right_roll=0.0049 right_gripper=0.0092 state[joint_eff]: [-0.212, -3.3026, 6.4479, 1.2625, -0.2222, -0.0757, -0.0171, 0.2393, -7.1726, 4.9162, 1.4725, 0.5104, 0.0904, 0.6764] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.37, "right_z": 0.04, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Empty close: the bear's body is still ahead of the fingertips. Opening and advancing 4\u20135 cm."})
tool
executing move_to over 10 steps (1.0s)
step 248
assistant
agent noteThe bear's raised paw is centred between the jaws at the bottom of the wrist view; lowering slightly and closing on it.
move_to
right_gripper0.0000right_z0.0150right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9478, -0.318, -0.136, 0.9971, 0.9291, 2.0014, 1.0466, 0.0845, 0.7208, 0.6201, 0.9946] state[eef_state]: left_x=0.2874 left_y=-0.0032 left_z=0.1884 left_yaw=0.1334 left_pitch=-0.3936 left_roll=0.224 left_gripper=0.9971 right_x=0.3608 right_y=0.294 right_z=0.0317 right_yaw=0.0057 right_pitch=-0.0283 right_roll=-0.0256 right_gripper=0.9946 state[joint_eff]: [-0.0752, -3.2889, 6.5026, 1.2625, -0.2076, -0.0122, -0.0171, -0.4581, -8.7043, 7.665, 1.5946, 0.3541, -0.0757, -0.1783] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0, "right_z": 0.015, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "The bear's raised paw is centred between the jaws at the bottom of the wrist view; lowering slightly and closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 258
assistant
agent noteSecond empty close; the paw still shows ahead of the jaws. Opening and advancing another 3 cm.
move_to
right_gripper1.0000right_x0.3950right_z0.0300right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9504, -0.318, -0.136, 0.9971, 0.9279, 2.0277, 1.0084, 0.1822, 0.7219, 0.6174, 0.0124] state[eef_state]: left_x=0.2869 left_y=-0.0031 left_z=0.1881 left_yaw=0.1338 left_pitch=-0.3961 left_roll=0.225 left_gripper=0.9971 right_x=0.3614 right_y=0.2937 right_z=0.0213 right_yaw=0.0057 right_pitch=-0.0076 right_roll=-0.0019 right_gripper=0.0124 state[joint_eff]: [-0.0342, -3.2752, 6.6667, 1.2137, -0.2271, -0.022, -0.0122, 0.212, -8.335, 4.7658, 1.6532, 0.3541, 0.022, 0.7399] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.395, "right_z": 0.03, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Second empty close; the paw still shows ahead of the jaws. Opening and advancing another 3 cm."})
tool
executing move_to over 10 steps (1.0s)
step 268
assistant
agent noteThe bear's raised paw is now right at the bottom of the jaw column; closing.
move_to
right_gripper0.0000right_z0.0150right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.136, 0.9971, 0.8661, 2.0464, 1.0737, 0.1513, 0.6785, 0.5564, 0.9946] state[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1339 left_pitch=-0.3964 left_roll=0.2251 left_gripper=0.9971 right_x=0.3861 right_y=0.2885 right_z=0.0261 right_yaw=0.0074 right_pitch=-0.0229 right_roll=-0.02 right_gripper=0.9946 state[joint_eff]: [-0.1709, -3.2889, 6.4342, 1.1941, -0.2076, -0.0562, -0.0122, -0.7043, -8.759, 7.9248, 1.6532, 0.2759, -0.0366, -0.2173] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0, "right_z": 0.015, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "The bear's raised paw is now right at the bottom of the jaw column; closing."})
tool
executing move_to over 10 steps (1.0s)
step 278
assistant
agent noteThird empty close—what I saw was the safe's handle area. The overhead view shows the bear body behind and left of the gripper, so moving back ~6 cm and left ~4 cm.
move_to
right_gripper1.0000right_x0.3200right_y0.3300right_z0.0300right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.136, 0.9971, 0.8692, 2.0605, 1.0527, 0.2157, 0.6815, 0.5514, 0.0171] state[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1339 left_pitch=-0.3964 left_roll=0.2251 left_gripper=0.9971 right_x=0.3865 right_y=0.2905 right_z=0.0224 right_yaw=0.0113 right_pitch=-0.002 right_roll=-0.0033 right_gripper=0.0171 state[joint_eff]: [-0.1983, -3.1658, 6.4342, 1.1746, -0.2027, -0.0024, -0.0122, -0.3214, -8.3761, 4.6564, 1.5409, 0.3394, 0.0904, 0.6276] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.32, "right_y": 0.33, "right_z": 0.03, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Third empty close\u2014what I saw was the safe's handle area. The overhead view shows the bear body behind and left of the gripper, so moving back ~6 cm and left ~4 cm."})
tool
executing move_to over 10 steps (1.0s)
step 288
assistant
agent noteBrown bear body now sits between the jaws at the bottom of the wrist view; closing.
move_to
right_gripper0.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9512, -0.318, -0.1364, 0.9971, 1.0683, 2.0609, 1.0702, 0.0162, 0.794, 0.7429, 0.9946] state[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.188 left_yaw=0.1342 left_pitch=-0.3968 left_roll=0.225 left_gripper=0.9971 right_x=0.318 right_y=0.3246 right_z=0.0126 right_yaw=0.029 right_pitch=-0.0355 right_roll=-0.0444 right_gripper=0.9946 state[joint_eff]: [-0.0205, -3.2889, 6.4615, 1.1844, -0.232, -0.0415, -0.0171, 0.253, -12.0137, 7.3094, 1.16, 0.5104, 0.1001, -0.2125] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Brown bear body now sits between the jaws at the bottom of the wrist view; closing."})
tool
executing move_to over 10 steps (1.0s)
step 298
assistant
agent noteGripper closed on the bear's pink loop (visible in the jaws). Lifting and carrying it over the safe interior.
move_to
right_x0.4400right_y0.3300right_z0.2200right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.1364, 0.9971, 1.0725, 2.0609, 1.055, 0.0391, 0.7975, 0.77, 0.0223] state[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1341 left_pitch=-0.3964 left_roll=0.2249 left_gripper=0.9971 right_x=0.3162 right_y=0.3243 right_z=0.011 right_yaw=0.0165 right_pitch=-0.0289 right_roll=-0.017 right_gripper=0.0223 state[joint_eff]: [-0.0615, -3.0701, 6.5436, 1.1697, -0.2125, -0.0611, -0.0171, 0.4171, -9.5658, 4.6291, 1.5311, 0.5641, 0.0855, 0.7839] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.33, "right_z": 0.22, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Gripper closed on the bear's pink loop (visible in the jaws). Lifting and carrying it over the safe interior."})
tool
executing move_to over 14 steps (1.4s)
step 312
assistant
agent noteBear is hanging above the safe interior next to the lemon; moving slightly deeper, lowering and releasing it.
move_to
right_x0.4600right_z0.1600right_gripper1.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9512, -0.318, -0.1364, 0.9971, 0.8455, 2.0212, 1.8191, -0.5838, 0.664, 0.5446, 0.0293] state[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.188 left_yaw=0.1342 left_pitch=-0.3968 left_roll=0.225 left_gripper=0.9971 right_x=0.4336 right_y=0.3305 right_z=0.2114 right_yaw=0.0039 right_pitch=-0.0074 right_roll=0.0038 right_gripper=0.0293 state[joint_eff]: [-0.0615, -3.2752, 6.5846, 1.1941, -0.232, -0.0464, -0.0122, -0.4718, -10.4821, 8.0479, 1.5018, 0.2662, -0.0464, 1.033] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_z": 0.16, "right_gripper": 1, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Bear is hanging above the safe interior next to the lemon; moving slightly deeper, lowering and releasing it."})
tool
executing move_to over 10 steps (1.0s)
step 322
assistant
agent noteBear released (it may be resting on the front wall). With few calls left, raising the right arm up and beyond the open lid's top edge so I can pull the lid shut toward the base.
move_to
right_x0.5900right_z0.3000right_y0.3300right_gripper0.3000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2173, 1.1435, 1.0588, -0.9524, -0.318, -0.136, 0.9971, 0.8101, 2.0914, 1.7287, -0.4416, 0.6342, 0.5011, 0.9946] state[eef_state]: left_x=0.2869 left_y=-0.0031 left_z=0.1867 left_yaw=0.1348 left_pitch=-0.4022 left_roll=0.2274 left_gripper=0.9971 right_x=0.4518 right_y=0.328 right_z=0.1573 right_yaw=0.0133 right_pitch=-0.0356 right_roll=-0.0308 right_gripper=0.9946 state[joint_eff]: [-0.0889, -3.6991, 6.4615, 1.2283, -0.2076, -0.0073, -0.0171, -0.5402, -11.3983, 6.612, 1.7265, 0.2857, 0.0757, -0.149] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.59, "right_z": 0.3, "right_y": 0.33, "right_gripper": 0.3, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Bear released (it may be resting on the front wall). With few calls left, raising the right arm up and beyond the open lid's top edge so I can pull the lid shut toward the base."})
tool
executing move_to over 11 steps (1.1s)
step 333
assistant
agent noteI ran out of call budget before finishing. The white plush and the lemon are inside the safe. The brown teddy bear was lifted by its loop, but when I let go it landed outside, in front of the safe's front wall. The lid is still open: the right arm stopped at x≈0.55, z≈0.21, in front of the lid, and never got behind it.
give_up
hindsight- Watch for orientation drift. Unless I command pitch/roll/yaw every move, they drift (pitch reached -0.42). The arm then stalls on descents and the readback stops changing. Always send pitch=0, roll=0, yaw=0 with every move. - The top-cam objects: the brown thing in front of the safe (image ~125,150) is a teddy bear. The small white plush was left of the safe, and the lemon was right of it at ~(162,105), which is right_x≈0.46, right_y≈0.13. The safe interior is at about left_y≈-0.28 / right_y≈0.28–0.33, x≈0.43–0.47. The safe's back edge and lid hinge are near x≈0.52, and the open lid stands up at the back. - An object seen in the wrist cam is ahead of the fingertips. Grasps worked once the object's lower edge reached the bottom rows of the wrist image. I wasted three empty closes on the bear because I mistook the safe's front/handle area for a paw. When the wrist view is ambiguous, check the top cam. - Plush toys: a gripper reading of ~0.02–0.07 can still be a real grasp (a loop or fabric). Release lower and deeper inside the safe, e.g. at x≈0.47 and z≈0.10. A dangling plush released at z 0.16 fell over the front wall. - Budget: plan about 5 calls per object and save about 4 for the lid. To close the lid you probably need to get behind its top edge, which is at the limit of reach (x≈0.55–0.59 at z≈0.2 was as far as I got). Or try pushing from the side with the other arm. Try the lid early, while you still have budget.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2165, 1.1461, 1.058, -0.9661, -0.318, -0.1394, 0.9971, 0.6415, 2.5999, 2.8674, -1.0706, 0.5144, 0.3695, 0.3035] state[eef_state]: left_x=0.2842 left_y=-0.0023 left_z=0.1841 left_yaw=0.1401 left_pitch=-0.4178 left_roll=0.2318 left_gripper=0.9971 right_x=0.5484 right_y=0.3055 right_z=0.2098 right_yaw=0.0048 right_pitch=-0.0948 right_roll=-0.07 right_gripper=0.3035 state[joint_eff]: [-0.1573, -3.2342, 6.5436, 1.3162, -0.1929, 0.0122, -0.0122, 0.0479, -17.5795, 7.7607, 1.8584, 0.2613, 0.0122, 0.149] camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of call budget before finishing. The white plush and the lemon are inside the safe. The brown teddy bear was lifted by its loop, but when I let go it landed outside, in front of the safe's front wall. The lid is still open: the right arm stopped at x\u22480.55, z\u22480.21, in front of the lid, and never got behind it.", "hindsight": "- Watch for orientation drift. Unless I command pitch/roll/yaw every move, they drift (pitch reached -0.42). The arm then stalls on descents and the readback stops changing. Always send pitch=0, roll=0, yaw=0 with every move.\n- The top-cam objects: the brown thing in front of the safe (image ~125,150) is a teddy bear. The small white plush was left of the safe, and the lemon was right of it at ~(162,105), which is right_x\u22480.46, right_y\u22480.13. The safe interior is at about left_y\u2248-0.28 / right_y\u22480.28\u20130.33, x\u22480.43\u20130.47. The safe's back edge and lid hinge are near x\u22480.52, and the open lid stands up at the back.\n- An object seen in the wrist cam is ahead of the fingertips. Grasps worked once the object's lower edge reached the bottom rows of the wrist image. I wasted three empty closes on the bear because I mistook the safe's front/handle area for a paw. When the wrist view is ambiguous, check the top cam.\n- Plush toys: a gripper reading of ~0.02\u20130.07 can still be a real grasp (a loop or fabric). Release lower and deeper inside the safe, e.g. at x\u22480.47 and z\u22480.10. A dangling plush released at z 0.16 fell over the front wall.\n- Budget: plan about 5 calls per object and save about 4 for the lid. To close the lid you probably need to get behind its top edge, which is at the limit of reach (x\u22480.55\u20130.59 at z\u22480.2 was as far as I got). Or try pushing from the side with the other arm. Try the lid early, while you still have budget."})
tool
give_up: I ran out of call budget before finishing. The white plush and the lemon are inside the safe. The brown teddy bear was lifted by its loop, but when I let go it landed outside, in front of the safe's front wall. The lid is still open: the right arm stopped at x≈0.55, z≈0.21, in front of the lid, and never got behind it.
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 · 15.05 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, 0.7933, 0.6044, -0.3912, -0.0193, -0.0338, 0.9993, -0.0212, 0.7952, 0.6079, -0.3965, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.178 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0009 right_z=0.178 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.3197, 10.2222, 1.956, -0.0904, 0.2027, -0.0904, -0.3077, -1.5521, 9.7162, 1.917, -0.0513, 0.1197, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7041476c3745e89d5a7d839a291667edde261e79d97a75bf880fe84ec81059a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ab07584d7e66fbbf74cb28ee1444f4639c7f8f28d311b72c6332621967f4c67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea61c39bc8963039bf46245dda47c5edbdc50298d857fae2ced749cadd2b11ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 6.429 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, 0.7933, 0.6044, -0.3912, -0.0193, -0.0338, 0.9993, -0.0212, 0.7952, 0.6079, -0.3965, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.178 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0009 right_z=0.178 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.3197, 10.2222, 1.956, -0.0904, 0.2027, -0.0904, -0.3077, -1.5521, 9.7162, 1.917, -0.0513, 0.1197, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7041476c3745e89d5a7d839a291667edde261e79d97a75bf880fe84ec81059a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ab07584d7e66fbbf74cb28ee1444f4639c7f8f28d311b72c6332621967f4c67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea61c39bc8963039bf46245dda47c5edbdc50298d857fae2ced749cadd2b11ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U4Pz2JZMX8vFKr2t8nzZ6H",
      "input": {
        "note": "Scene: open red safe in the centre, a teddy bear to its left, a lemon to its right, and a bag of pastries in front of it. I'm moving the left arm over the teddy bear first.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.34,
          "left_y": -0.2,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01U4Pz2JZMX8vFKr2t8nzZ6H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8093, 1.4311, 0.8455, -0.2386, -0.6262, -0.5407, 0.9993, -0.0212, 0.7986, 0.6121, -0.4324, -0.0204, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3297 left_y=-0.1906 left_z=0.1317 left_yaw=-0.0213 left_pitch=-0.058 left_roll=0.036 left_gripper=0.9993 right_x=0.2888 right_y=0.0011 right_z=0.1717 right_yaw=0.0005 right_pitch=-0.0351 right_roll=0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -5.9282, 9.3197, 1.6923, -0.5934, 0.0122, -0.0904, -0.1709, -1.5111, 6.6393, 2.0684, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e20876e2ca682331258975645badd3f77cc6cefb42653776d0ee5394a87eb8b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78e8517eb2b48483a8a046debf87d6653ceed78056b5ef34e0962da305c7b934",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ffec1e3e307179824b033b091a092cfcb9df58a99af77840feb3bf4f464862cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.76 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, 0.7933, 0.6044, -0.3912, -0.0193, -0.0338, 0.9993, -0.0212, 0.7952, 0.6079, -0.3965, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.178 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0009 right_z=0.178 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.3197, 10.2222, 1.956, -0.0904, 0.2027, -0.0904, -0.3077, -1.5521, 9.7162, 1.917, -0.0513, 0.1197, -0.0708]",
      "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]: [-0.8093, 1.4311, 0.8455, -0.2386, -0.6262, -0.5407, 0.9993, -0.0212, 0.7986, 0.6121, -0.4324, -0.0204, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3297 left_y=-0.1906 left_z=0.1317 left_yaw=-0.0213 left_pitch=-0.058 left_roll=0.036 left_gripper=0.9993 right_x=0.2888 right_y=0.0011 right_z=0.1717 right_yaw=0.0005 right_pitch=-0.0351 right_roll=0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -5.9282, 9.3197, 1.6923, -0.5934, 0.0122, -0.0904, -0.1709, -1.5111, 6.6393, 2.0684, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e20876e2ca682331258975645badd3f77cc6cefb42653776d0ee5394a87eb8b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78e8517eb2b48483a8a046debf87d6653ceed78056b5ef34e0962da305c7b934",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffec1e3e307179824b033b091a092cfcb9df58a99af77840feb3bf4f464862cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQkKEAgSGAI4AUIIdGhpbmtpbmcSDMa4cs8zAfdRRkbWchoM8vWah7H3/o/O56KoIjDm8B1eub96C+W1fLRdXmqSEn+FEXF5YHmv+7/hJTLQCwAyWEBCZxSNqeqnQOSAftQq1ghhuyfJxmjGlXNmidNtgHOm0J+j48gEna4hZm/+s6Hp5v89PGaeqZvYugir0k93pbwIM9UfnPpwTiZ4OjMoNnuP4YsZuHlD2hamNCz78hd05lhLBZZUvj119zFvu/XHGKKkOdVF6+FnGhuXMh3mEbDi7ASFvvm35Do2hC6fIKqu+aqwIrsycCd9YshO4tc2Bl2tG0ZYh6lyIOf1v3c63NKTwORpQ4eLbTkuqzrYXOA9dI14/Q2xYtBXZqyPHYDqFk2N9r5bN3Xxf6kSJIF9XKqvIOvZPUloGrS060UA7tiHD6Jj0pwA7gCek9FyAYDxveSpP9F9e9V/5h4WMRDMlY43nyZg8nhzDvdI6GavXw6DP7IZkQXd3jpmppdNaaVjuI5EBWjUUIEztgoIRKDWsc276cY651RDbp5HWqHbAQvMWYCgVp1FBaXvadPUXHcatIKT/p3NiFaHyEdJsuQwgfmSBs/T1BzqNTiwlWELaq8ejjOI9ZVEp+481gKWBuyqrhwU3J78jXBxj63B0dxVoWEYn36uDkeNh9MGx/55kQ0WraBKMhjger42bZHrE/M7Z3ynavcWSUGLqP4eSzRwZulnXAmboR/JykbFWrV+NbVMPxisnEHwIFtbAxqsD59eJG3SKaZPABsZCigeIMbRGztP+M+zK5/dPJmIdqrM5XH9CtMJAaou906eDgHUEFQYGNtOxxWx7+ouzbV1y792c064wc9L+BKikklj6sJu4eHUGsnXUvdMDPe1o7OG867hqeRx22Ki+Lxex4UvJRysnU5gUMkIAKXXvMoRu1hvmc4txmeucMiNks8MNEEJnsVn8YvZ7YwjFT7Xz/mc97gA5Hq/HKJagaT76hX2iMpwMrcQ3GbpFmd2m7ECrDAJ+dk2/9jzGFxdYclYbEg500Y3s+ydKzZXo8OI0ocNF4L34mQ88AuRTrbq2iAl8Otd6hpFlQJDSNBIVnwPXq7M+HeaY1QWAk9Up96YQUWYqhXub5M7gE6KUfGT52uhdUsEjXqtphklsze4if00e9kShZ2gyyl8VaCsHq51coUx37RAf/iHRdypqj7NIGFLkbq5IR0rbdbaTGQB9RPKhGf1JcfGCSzax2CU/f8qxfkKP0AhV/1ZYVJ81zjQn1PLv0zuaeywp2BqRw8Fp4DDN5poBGvXeBT3536VfoBM0RzuxxlJxr/qqcOrTYdJ+fx4KPJKdWCL1hdRRjlMG79sy76TcNlIGkRDrXNiV5uqkQJgKqCNLVRw0IO8ZRCIbsrHNc9UU1jZmOxurRwNFFpMot2uHDJNy6pMiKpLGN39q/UUxIJRQiCg7CTkQS/B5G0dzP62HitWb6LKjk567/G1zaP3Xxd6GjpIed1BXwd5D5SiE81sJURMJLO3ozQFZPPpwqODjRvxzVg+A4nYeMYRnM8JiNSYIfkJWZWBdTWjraNgFIgdYFaaIZTeg4KaunjRaU9hhAfBh1V/x+UCK8MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G3TSpidYuLETgzZZ2uv9m9",
      "input": {
        "note": "Teddy appears left of the jaw column in the wrist view; shifting left ~3 cm and slightly forward before descending.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.16,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01G3TSpidYuLETgzZZ2uv9m9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6884, 1.4078, 0.8555, -0.2535, -0.5747, -0.4854, 0.9992, -0.0212, 0.7986, 0.6094, -0.448, -0.0196, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3479 left_y=-0.1572 left_z=0.1376 left_yaw=0.0314 left_pitch=-0.0717 left_roll=0.0404 left_gripper=0.9992 right_x=0.2862 right_y=0.001 right_z=0.1674 right_yaw=-0.0001 right_pitch=-0.0534 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-1.1966, -7.1179, 7.3094, 1.4872, -0.022, 0.1832, -0.0171, -0.1026, -1.1966, 7.1863, 1.8779, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4e8526d6e284b40956391c1358c4616912ff0dc3320997ec633d8179d5bfee3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58470ba3816b5968e6293f99216b71d6482806a0eeec7457fd121ff32246ff7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe83f86d7c8280e95742f5489e4ef26c47e3c03c7813b5bd6d878163e4b1983e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.205 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, 0.7933, 0.6044, -0.3912, -0.0193, -0.0338, 0.9993, -0.0212, 0.7952, 0.6079, -0.3965, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.178 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0009 right_z=0.178 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.3197, 10.2222, 1.956, -0.0904, 0.2027, -0.0904, -0.3077, -1.5521, 9.7162, 1.917, -0.0513, 0.1197, -0.0708]",
      "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]: [-0.8093, 1.4311, 0.8455, -0.2386, -0.6262, -0.5407, 0.9993, -0.0212, 0.7986, 0.6121, -0.4324, -0.0204, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3297 left_y=-0.1906 left_z=0.1317 left_yaw=-0.0213 left_pitch=-0.058 left_roll=0.036 left_gripper=0.9993 right_x=0.2888 right_y=0.0011 right_z=0.1717 right_yaw=0.0005 right_pitch=-0.0351 right_roll=0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -5.9282, 9.3197, 1.6923, -0.5934, 0.0122, -0.0904, -0.1709, -1.5111, 6.6393, 2.0684, -0.0513, -0.0366, -0.0122]",
      "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]: [-0.6884, 1.4078, 0.8555, -0.2535, -0.5747, -0.4854, 0.9992, -0.0212, 0.7986, 0.6094, -0.448, -0.0196, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3479 left_y=-0.1572 left_z=0.1376 left_yaw=0.0314 left_pitch=-0.0717 left_roll=0.0404 left_gripper=0.9992 right_x=0.2862 right_y=0.001 right_z=0.1674 right_yaw=-0.0001 right_pitch=-0.0534 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-1.1966, -7.1179, 7.3094, 1.4872, -0.022, 0.1832, -0.0171, -0.1026, -1.1966, 7.1863, 1.8779, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4e8526d6e284b40956391c1358c4616912ff0dc3320997ec633d8179d5bfee3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58470ba3816b5968e6293f99216b71d6482806a0eeec7457fd121ff32246ff7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe83f86d7c8280e95742f5489e4ef26c47e3c03c7813b5bd6d878163e4b1983e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Teddy is now on the jaw column. Descending.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018EJFnhqFNr7RHVLWKnmVph",
      "input": {
        "note": "Teddy centred on the jaw column, slightly ahead; descending to grasp around its body.",
        "targets": {
          "left_x": 0.36,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_018EJFnhqFNr7RHVLWKnmVph",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.3956, 0.8555, -0.2691, -0.535, -0.4458, 0.9992, -0.0208, 0.8024, 0.6094, -0.4778, -0.0196, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3462 left_y=-0.1565 left_z=0.1368 left_yaw=-0.0046 left_pitch=-0.0938 left_roll=0.0519 left_gripper=0.9992 right_x=0.2819 right_y=0.0012 right_z=0.1605 right_yaw=0.0004 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -7.1179, 7.3504, 1.6874, -0.2515, 0.1441, -0.0122, -0.0615, -1.5248, 7.0222, 1.9658, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59bf1b6593ac27935fb0f25920b6c861fb418a0d17a28ed337d56e6ad1231d99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7518a9b747c0e3c0843b5f88876b98ae8d0a5a30fae4de5cb0fce79e1f9f1ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5a158bea96ae3cd90d9ede1acc2a4a91f7db0ff479d3c2f8d32b30cf8b5dce8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 3.319 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]: [-0.8093, 1.4311, 0.8455, -0.2386, -0.6262, -0.5407, 0.9993, -0.0212, 0.7986, 0.6121, -0.4324, -0.0204, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3297 left_y=-0.1906 left_z=0.1317 left_yaw=-0.0213 left_pitch=-0.058 left_roll=0.036 left_gripper=0.9993 right_x=0.2888 right_y=0.0011 right_z=0.1717 right_yaw=0.0005 right_pitch=-0.0351 right_roll=0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -5.9282, 9.3197, 1.6923, -0.5934, 0.0122, -0.0904, -0.1709, -1.5111, 6.6393, 2.0684, -0.0513, -0.0366, -0.0122]",
      "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]: [-0.6884, 1.4078, 0.8555, -0.2535, -0.5747, -0.4854, 0.9992, -0.0212, 0.7986, 0.6094, -0.448, -0.0196, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3479 left_y=-0.1572 left_z=0.1376 left_yaw=0.0314 left_pitch=-0.0717 left_roll=0.0404 left_gripper=0.9992 right_x=0.2862 right_y=0.001 right_z=0.1674 right_yaw=-0.0001 right_pitch=-0.0534 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-1.1966, -7.1179, 7.3094, 1.4872, -0.022, 0.1832, -0.0171, -0.1026, -1.1966, 7.1863, 1.8779, -0.0513, -0.0317, -0.0122]",
      "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]: [-0.6735, 1.3956, 0.8555, -0.2691, -0.535, -0.4458, 0.9992, -0.0208, 0.8024, 0.6094, -0.4778, -0.0196, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3462 left_y=-0.1565 left_z=0.1368 left_yaw=-0.0046 left_pitch=-0.0938 left_roll=0.0519 left_gripper=0.9992 right_x=0.2819 right_y=0.0012 right_z=0.1605 right_yaw=0.0004 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -7.1179, 7.3504, 1.6874, -0.2515, 0.1441, -0.0122, -0.0615, -1.5248, 7.0222, 1.9658, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59bf1b6593ac27935fb0f25920b6c861fb418a0d17a28ed337d56e6ad1231d99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7518a9b747c0e3c0843b5f88876b98ae8d0a5a30fae4de5cb0fce79e1f9f1ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a158bea96ae3cd90d9ede1acc2a4a91f7db0ff479d3c2f8d32b30cf8b5dce8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS/gYKEAgSGAI4AUIIdGhpbmtpbmcSDExw3Ih++ygjhGLRWRoMuyZCXsmfQ33V9qUIIjAaKjMQbmBcYS2dCirpm+CR8DVMydUEPZEduZJILvvmq5m+PANi9XufDXrJOtBBsjwqmwYAncuLyhexpapAbjfqw2fViZG32U3bvXnLMxyTruexeTl/CghH5Iy+2E6MgJjqyUWs0kcU727tg6XAgyMwnvNKjkcsn0FNBK/4Z1ypTGXDtfA5RreQj8do6F5zS1qrX9MIV2UpGhmvOU63avY4Rm2i+7gLh9JzWVElkH/R1mRmr4iW6Y8ZAGUMr5rd3i/f3kRP9eGd+Ag+OUfBc6Sf/Pr+obJn9n0JNsO2FpNaHHYjd3DCOh/pUtK9NCwV2U2t2k+WNC7a+00dzXCEmCMKeEmEI0/FdDWtKb3fl3+cpHiGdqiDn6K9hhvtOEbfuy8qBikDv8FPXFyceqi/oZrrHdCA9cYYqtANIFYrtvY4sMAI8bslnK2jIKtZYMAZTjiIU8fwDTiBARqPFsiJUTaULBvZ7Zu8Hc+8pG37+aZfmU3my2aoTUOObY/VxC5c71jBkiNxyoojUBD5tydM6Q9nnUktPlsl5Qm4DqU3dL7rLj9Kd6eRgMTzNB8J7zdI7nNHeQV2kHC31xzt7/jUrpQfkDURprF10qZnKvNgLiobc36YUFTf0c/5qC1Sz+nT9kMjUB/2ZosLn7EjyYpOB6x855LXJVXL4JUVlCpaa2taVrhSpEdgCf+GKJfIyn7h58SvUHjGAowfNGQnF8lrpr2Gm1YgG59oyclZxSw03tfL9blefEJRa5/hMDRCb6irKh3UBpSozN0eNyIYDYtdjTYHW+MVaLzaAjy93vtwIuz6IaH2ujVKMi2q4Xd0U39oz4s5IT3lylGW3mbYpZIiW+1+1dBI+iQx+S5YuF20i19QAOoKOvDVPTbxPZsNvaTWYsJxOcV2S5PvAsQxNlIiccit8sk/0hUAcaXkg2QmTZl4ZXEYuvDI4dMytZWSBmkgnAYEItBQKtSuEthw4Kq0aZQuNmgynCATXCWS6u5CJiyRoKqwYRrIkjB525uUy5iqAooH+t55zYCAHt+dqckIqtcLnYpNTzhb27Mid2bCOi2h7NmWFSDbHH/bfzD5JLNvNwAqvO0BZjZAC9G9S/Ll/JtyLDoqe0YXq22Me44GIDAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PjYqTrDMwnzJ8Gx6aLanpM",
      "input": {
        "note": "The previous descent didn't happen (z still 0.137); trying a smaller descent step.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.157,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PjYqTrDMwnzJ8Gx6aLanpM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6491, 1.56, 0.7319, -0.0647, -0.5213, -0.4358, 0.9992, -0.0212, 0.8047, 0.6094, -0.5003, -0.0196, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3478 left_y=-0.149 left_z=0.0623 left_yaw=0.011 left_pitch=-0.1664 left_roll=0.1032 left_gripper=0.9992 right_x=0.2785 right_y=0.0012 right_z=0.1556 right_yaw=0.0002 right_pitch=-0.1117 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -9.2376, 7.1453, 2.0488, -0.3883, 0.0464, -0.0122, -0.0342, -1.388, 6.9675, 1.8193, -0.0171, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a389b4490ce5981b181ae495e181321d562faecdc98d31cd5eb3578871d4f38d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40647ccc92c4cacdb6e3d8834fda8beb33e1d04d516a65d6c8f4cd561ca29eb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2053fcb881192156d9b7489cbd3aa0ad464b243bed82bb7752f3798092dbf49",
        "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 · 3.359 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]: [-0.6884, 1.4078, 0.8555, -0.2535, -0.5747, -0.4854, 0.9992, -0.0212, 0.7986, 0.6094, -0.448, -0.0196, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3479 left_y=-0.1572 left_z=0.1376 left_yaw=0.0314 left_pitch=-0.0717 left_roll=0.0404 left_gripper=0.9992 right_x=0.2862 right_y=0.001 right_z=0.1674 right_yaw=-0.0001 right_pitch=-0.0534 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-1.1966, -7.1179, 7.3094, 1.4872, -0.022, 0.1832, -0.0171, -0.1026, -1.1966, 7.1863, 1.8779, -0.0513, -0.0317, -0.0122]",
      "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]: [-0.6735, 1.3956, 0.8555, -0.2691, -0.535, -0.4458, 0.9992, -0.0208, 0.8024, 0.6094, -0.4778, -0.0196, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3462 left_y=-0.1565 left_z=0.1368 left_yaw=-0.0046 left_pitch=-0.0938 left_roll=0.0519 left_gripper=0.9992 right_x=0.2819 right_y=0.0012 right_z=0.1605 right_yaw=0.0004 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -7.1179, 7.3504, 1.6874, -0.2515, 0.1441, -0.0122, -0.0615, -1.5248, 7.0222, 1.9658, -0.0269, -0.0269, -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]: [-0.6491, 1.56, 0.7319, -0.0647, -0.5213, -0.4358, 0.9992, -0.0212, 0.8047, 0.6094, -0.5003, -0.0196, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3478 left_y=-0.149 left_z=0.0623 left_yaw=0.011 left_pitch=-0.1664 left_roll=0.1032 left_gripper=0.9992 right_x=0.2785 right_y=0.0012 right_z=0.1556 right_yaw=0.0002 right_pitch=-0.1117 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -9.2376, 7.1453, 2.0488, -0.3883, 0.0464, -0.0122, -0.0342, -1.388, 6.9675, 1.8193, -0.0171, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a389b4490ce5981b181ae495e181321d562faecdc98d31cd5eb3578871d4f38d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40647ccc92c4cacdb6e3d8834fda8beb33e1d04d516a65d6c8f4cd561ca29eb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2053fcb881192156d9b7489cbd3aa0ad464b243bed82bb7752f3798092dbf49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012nk1sr8U2nuEoZR4HKVBvG",
      "input": {
        "note": "Teddy centred between the jaws; continuing descent to grasp height.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.157,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012nk1sr8U2nuEoZR4HKVBvG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6472, 1.6859, 0.709, 0.1154, -0.5327, -0.45, 0.9985, -0.0208, 0.8062, 0.6094, -0.5117, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.361 left_y=-0.1558 left_z=0.0363 left_yaw=0.0261 left_pitch=-0.1356 left_roll=0.08 left_gripper=0.9985 right_x=0.2768 right_y=0.0014 right_z=0.1531 right_yaw=0.0008 right_pitch=-0.1247 right_roll=0.0024 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -4.1915, 5.6684, 0.569, -0.0708, 0.2662, -0.0806, -0.0342, -1.2786, 6.9265, 1.7705, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c132c099110fd4fd5f37c6befcb5ee3faba1687acb0003e208ac2d8dad38654a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79d8704ba854e900dad871e269cf9eb9425d0a8a185379e3d03301b288cd67fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe306af6688d5e6e2dd9a495db35d42b57b3053654a976c1410d532309b760cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.906 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]: [-0.6735, 1.3956, 0.8555, -0.2691, -0.535, -0.4458, 0.9992, -0.0208, 0.8024, 0.6094, -0.4778, -0.0196, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3462 left_y=-0.1565 left_z=0.1368 left_yaw=-0.0046 left_pitch=-0.0938 left_roll=0.0519 left_gripper=0.9992 right_x=0.2819 right_y=0.0012 right_z=0.1605 right_yaw=0.0004 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -7.1179, 7.3504, 1.6874, -0.2515, 0.1441, -0.0122, -0.0615, -1.5248, 7.0222, 1.9658, -0.0269, -0.0269, -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]: [-0.6491, 1.56, 0.7319, -0.0647, -0.5213, -0.4358, 0.9992, -0.0212, 0.8047, 0.6094, -0.5003, -0.0196, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3478 left_y=-0.149 left_z=0.0623 left_yaw=0.011 left_pitch=-0.1664 left_roll=0.1032 left_gripper=0.9992 right_x=0.2785 right_y=0.0012 right_z=0.1556 right_yaw=0.0002 right_pitch=-0.1117 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -9.2376, 7.1453, 2.0488, -0.3883, 0.0464, -0.0122, -0.0342, -1.388, 6.9675, 1.8193, -0.0171, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6472, 1.6859, 0.709, 0.1154, -0.5327, -0.45, 0.9985, -0.0208, 0.8062, 0.6094, -0.5117, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.361 left_y=-0.1558 left_z=0.0363 left_yaw=0.0261 left_pitch=-0.1356 left_roll=0.08 left_gripper=0.9985 right_x=0.2768 right_y=0.0014 right_z=0.1531 right_yaw=0.0008 right_pitch=-0.1247 right_roll=0.0024 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -4.1915, 5.6684, 0.569, -0.0708, 0.2662, -0.0806, -0.0342, -1.2786, 6.9265, 1.7705, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c132c099110fd4fd5f37c6befcb5ee3faba1687acb0003e208ac2d8dad38654a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79d8704ba854e900dad871e269cf9eb9425d0a8a185379e3d03301b288cd67fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe306af6688d5e6e2dd9a495db35d42b57b3053654a976c1410d532309b760cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8gYKEAgSGAI4AUIIdGhpbmtpbmcSDMUiZgfpl4x+3ndrRRoMuNoYUl3jHuLD0XYoIjC0op7ZfUVpTRWjvJv+X3z287w3PgUgU09RM9HK0gh9MSMRhpHMEvbiDOCbJAv5508qjwYF142K7GhrkDLQARgJAOQUFyo48O0/SiYlEgUIgNgPl8Ls4s7+U7YbeYfMoNKdbwUJVJ360lheJWnAOehwFT805mY13ecENhYZ3Nihc0CEZQMQ2r0FAP2myZJK0eZBIYFer5OMf3aNVh5YC9HXE1fKLWYFomXgWn6V0G4fIHCecH72Xp4a1M95JWxJWdQ0ZppR+FZzfAtl7t3QGbO7bfc5s8a8l9Si5RcSkZvjaG20m2//UQg6a4WmMx3YTGZMGRbJZlD7B6SUxbmHMBLyTFsQm7ba+6VBX7UI7eH1vlmPFMumZ8u1nvVyXFOisAAJ93W0pfrKmWqoCFVjk3XubzGoeEW1Rpl13D/jjZdnbIccKLV16m7jI1oc5QHwia2HdAINBblHj28+aa/JPZKgAqtoRhWMbU2+4HS3eVYSow8R4TMsrrxyTajyrmTtzDM2OLwaFdR/LMdtw//IgGmXKCrZVCj8mEXY8jn9kqinEp8VAoji5MGUED/40ihiCIsfw3udt4ro6GL+nEyJ6EPpCGQPjidpsMk26lU2hAcElw8nc7WMqoGB93PHVboeHW7dH1n4aAWkDZ+fbQkRzkUBwttxNxST6onpJS5mqruG0UGIpcQDimXUmAdri7fBvqpygxGTloriuGbBKViaAsghRlBFW6BWKW8By5txQEjU4gTI3fDgrpTdX0F/yeoVhMygJw7WVRz6TkUZa1UsPjXhABx5SUnDkM24GEFBMggyOAT3ZPcgVRqQSpG0ADl+ACrP4qnPsRogfxowK69zfI6C8xyKHWTrRcjqfwPFPOHfRvNFiHqH1mU7yqIvaAgiWd/RkM5z5urh5Pyjza9a2W5y3SwPB8pLRWNC+YC5z0hCZTOzqd7MPMsyhQhLNqgd2sShhUEiszxVE0/HakwH8+P4jcevAlJ70HWGquC0yAsXpq4Uc40Fg+y9L1iJhjtsojgW6O8GoQMLmhjraruWJ43c6zZmOkn/aR72CDKe4Z5DXhDXFwSYq6nLGVFWoDAvv74G1QxdjIoz+Gy505FHDocLNtIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017RBfaFB4HUDVttmY2Gzh4p",
      "input": {
        "note": "Teddy is between the jaws at ~3.6 cm height; closing the gripper.",
        "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_017RBfaFB4HUDVttmY2Gzh4p",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6464, 1.7317, 0.712, 0.149, -0.5354, -0.4385, 0.0093, -0.0212, 0.807, 0.6094, -0.5449, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3636 left_y=-0.157 left_z=0.0256 left_yaw=0.0233 left_pitch=-0.1421 left_roll=0.0961 left_gripper=0.0093 right_x=0.2713 right_y=0.0014 right_z=0.1467 right_yaw=0.0005 right_pitch=-0.1587 right_roll=0.0031 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -7.0359, 4.9573, 1.2967, -0.0904, 0.0464, 0.7253, -0.0342, -1.265, 6.8991, 1.9072, -0.0708, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33ab7b520967bfaadb934af0e786e3d34214484227f9092c35420c7aea9861d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18f8101dcff76c66d2d465c3189ff90be6676f98c0e5fe9ddaa45d0cc0ac0f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94d0237cfa71e45db97aaf42cf23d836a070edacae0a994894a39a65c3f17622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 6.549 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]: [-0.6491, 1.56, 0.7319, -0.0647, -0.5213, -0.4358, 0.9992, -0.0212, 0.8047, 0.6094, -0.5003, -0.0196, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3478 left_y=-0.149 left_z=0.0623 left_yaw=0.011 left_pitch=-0.1664 left_roll=0.1032 left_gripper=0.9992 right_x=0.2785 right_y=0.0012 right_z=0.1556 right_yaw=0.0002 right_pitch=-0.1117 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -9.2376, 7.1453, 2.0488, -0.3883, 0.0464, -0.0122, -0.0342, -1.388, 6.9675, 1.8193, -0.0171, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.6472, 1.6859, 0.709, 0.1154, -0.5327, -0.45, 0.9985, -0.0208, 0.8062, 0.6094, -0.5117, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.361 left_y=-0.1558 left_z=0.0363 left_yaw=0.0261 left_pitch=-0.1356 left_roll=0.08 left_gripper=0.9985 right_x=0.2768 right_y=0.0014 right_z=0.1531 right_yaw=0.0008 right_pitch=-0.1247 right_roll=0.0024 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -4.1915, 5.6684, 0.569, -0.0708, 0.2662, -0.0806, -0.0342, -1.2786, 6.9265, 1.7705, -0.0317, -0.0464, -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]: [-0.6464, 1.7317, 0.712, 0.149, -0.5354, -0.4385, 0.0093, -0.0212, 0.807, 0.6094, -0.5449, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3636 left_y=-0.157 left_z=0.0256 left_yaw=0.0233 left_pitch=-0.1421 left_roll=0.0961 left_gripper=0.0093 right_x=0.2713 right_y=0.0014 right_z=0.1467 right_yaw=0.0005 right_pitch=-0.1587 right_roll=0.0031 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -7.0359, 4.9573, 1.2967, -0.0904, 0.0464, 0.7253, -0.0342, -1.265, 6.8991, 1.9072, -0.0708, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33ab7b520967bfaadb934af0e786e3d34214484227f9092c35420c7aea9861d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18f8101dcff76c66d2d465c3189ff90be6676f98c0e5fe9ddaa45d0cc0ac0f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94d0237cfa71e45db97aaf42cf23d836a070edacae0a994894a39a65c3f17622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4QgKEAgSGAI4AUIIdGhpbmtpbmcSDOITzGrwkbK5JCNB2RoMNePOjyQjLuhEi9dDIjAhEFHgQDKsSnZ5Or09jzWD+PeqF8MHk0NxoUp/ydczjrAPzwpXeOD7DdH5fPX5avIq/gdbCeBKQmuAJB3fiN4mW/WM1lE65l5Hq/U1MB2g5t/XrvufHqGd4YPISdHJYEH6hq2Rpn4byBHU6e7jh446AjsYABZisZbnCLcQGjtOHjqQSgk1Ej5D7m3XiWyIRFFP2azcDfv3pJhRItrklRY83oi2MrmF9R81Kn27Zjo9QXQFn581PNYed1P5jMNzNA3sjOv9mdI2zxd9mf32RJbpLnq4tRmIqi7DcqSGQEArpSqmNXfjIgOrCuGeQ7fBPUgVJDheMB5C0kGt5Y5JZe60kN7bZk4UOP576HItZM0q+hfMgL5Gr8CCn7E3tbvxpqcMk+W356U+l2OG1Ik74zSCrnLz70/2xpBpaI273wdij3bBRyi+riXHR6O7DRuKxmULYxOAVe9IkVoGk4aoZYI+R1kJUyKwHFzSIdC+oshfHgK+Sz2RhAuFYxiziTlHJNhC2HS+W3Rn8ZOp+XRHiVla2MFQCaMM0deqCn0PDgdp6w46/gIVsqxGho9dF2qlkGoD3Ey2tRk+SNkBwYKopC64gWtUjy6GPLAdVwcBdb3HR6xl12DVm1Jl0vyW1VOuum+aCPswLDiGm60qpEBEjbH/bseRgG9FTaN26e4uTqJqlXWfqWYurTEguXmKoBj7b/UJyR/LjTIZ90z5zzynE7s8yL9zlDiI2Uqh8Ek0ngSNANe560T5ezieGv5V5Q2XEnGcEUI+ac/5GIYZKB325rgIQvfjpDv7d7Biu/GxmeAXDAbESe/Xai5Z0JPP8zswN9a9LgK+90LUl/fRL0W9qTwCJEjD6FX0i3GCx6WdjIwnk43KpcacbasFQAgFXrkzX2HvRJRK7xq9RcoaIiqUpN/+ubd8xtYLiEEs3R0RyG2QY8Nbo1I9FCxO1Kcv+4BTVjzYy7iv3u+B0amuJFOQoERo5mW5NJbvFVzH5I7snildQ9gSgdscgIcaOhz694S24w669tNgFM3hBRZBZ+y6NTjD+m9SNXHEFBVbrD1uUTwfGGs6Ae8nfDeBnodXmb0IGWSk4ALPCDdewanV9JsCZXlImhJzdgyiLvb+HJz4dklRHJEbzVh4ScrKF36bW5kZ3fRh0eXFEH4pH5Yy0Q7QfdA/QGI+9chtL3hEqw2w/tEKBpXqb8JudKOJulWf48dc/ycxyTbdXT8snIi7OAa8S3CB5H08K72Pm2GPM28pNDb9TCmstInlocA8cnZYTaKgaLr+G6Oau6/kwkvROgS85VxnmPlygqxvr/4B4w1Y7wQuUqcDTiylvQmt6qJjJZzbuXlydK6qqd4U8t20FgiVgAInxb3UWkmHyuTq3MPqgWsFEF4wk5sh3MhQkLKuepyiqfNeRRrPWx0OaAo2Hnq/mlNPLhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017vuW1ATsRgSuBuwLhS3yVa",
      "input": {
        "note": "Empty close (0.009): teddy is still ahead of the fingertips. Opening and lifting slightly before advancing.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017vuW1ATsRgSuBuwLhS3yVa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6472, 1.6573, 0.7422, -0.0059, -0.535, -0.4496, 0.9952, -0.0212, 0.8101, 0.6094, -0.5682, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3549 left_y=-0.1508 left_z=0.0407 left_yaw=0.0335 left_pitch=-0.1809 left_roll=0.1194 left_gripper=0.9952 right_x=0.2675 right_y=0.0015 right_z=0.1418 right_yaw=0.0006 right_pitch=-0.185 right_roll=0.0037 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -8.841, 8.6085, 1.2821, -0.2515, 0.0855, -0.1441, -0.1026, -1.3333, 6.8855, 1.7851, -0.0269, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:066f07b9b7a33a7d586b451981e1bf43714c563bf10350a9d453571388ba59a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ceaba426d4e4421b0302e60785b8ff44a0a1eae0581b16df24019e7c56ee350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86c119dac25b8967bd011ca6a5ca86de05185929ba914613b98d11c0149bd6dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 5.441 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]: [-0.6472, 1.6859, 0.709, 0.1154, -0.5327, -0.45, 0.9985, -0.0208, 0.8062, 0.6094, -0.5117, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.361 left_y=-0.1558 left_z=0.0363 left_yaw=0.0261 left_pitch=-0.1356 left_roll=0.08 left_gripper=0.9985 right_x=0.2768 right_y=0.0014 right_z=0.1531 right_yaw=0.0008 right_pitch=-0.1247 right_roll=0.0024 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -4.1915, 5.6684, 0.569, -0.0708, 0.2662, -0.0806, -0.0342, -1.2786, 6.9265, 1.7705, -0.0317, -0.0464, -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]: [-0.6464, 1.7317, 0.712, 0.149, -0.5354, -0.4385, 0.0093, -0.0212, 0.807, 0.6094, -0.5449, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3636 left_y=-0.157 left_z=0.0256 left_yaw=0.0233 left_pitch=-0.1421 left_roll=0.0961 left_gripper=0.0093 right_x=0.2713 right_y=0.0014 right_z=0.1467 right_yaw=0.0005 right_pitch=-0.1587 right_roll=0.0031 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -7.0359, 4.9573, 1.2967, -0.0904, 0.0464, 0.7253, -0.0342, -1.265, 6.8991, 1.9072, -0.0708, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6472, 1.6573, 0.7422, -0.0059, -0.535, -0.4496, 0.9952, -0.0212, 0.8101, 0.6094, -0.5682, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3549 left_y=-0.1508 left_z=0.0407 left_yaw=0.0335 left_pitch=-0.1809 left_roll=0.1194 left_gripper=0.9952 right_x=0.2675 right_y=0.0015 right_z=0.1418 right_yaw=0.0006 right_pitch=-0.185 right_roll=0.0037 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -8.841, 8.6085, 1.2821, -0.2515, 0.0855, -0.1441, -0.1026, -1.3333, 6.8855, 1.7851, -0.0269, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:066f07b9b7a33a7d586b451981e1bf43714c563bf10350a9d453571388ba59a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ceaba426d4e4421b0302e60785b8ff44a0a1eae0581b16df24019e7c56ee350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86c119dac25b8967bd011ca6a5ca86de05185929ba914613b98d11c0149bd6dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwwsKEAgSGAI4AUIIdGhpbmtpbmcSDCXJRevjV3qwqW2jUBoMUcErLPiJnI5PIZJNIjDywKUPCItxtZ8b0dUgG2HnXJ866INmSHU50BA/AYMxUYjpB1dQik9nMbnl3stPDAoq4ArHKVe5Oj74a31ctkQaHNKwAExmxJX/35AEjjRtZyKD0mwvX/KO9Cre3EJ6VX9aX8LSAPjs2RNEL0J9ULCjM1ydXQTOblJoh+kvrfNpYcYBiD/1RpJ7JaKNAEST2KhTnWpgI8bQz+tU+ay0Z3OejNJugjSjo7ZkM4LycSAYRUP9q6n6jLO6jb48Ag+JlSn8WhXWEjLaH0+cBADJPC+qdqO23cZyqwNC3CyYqKlE9eZDp/mWppBX0Y7XMfPCEnPN1V/vdE+eZ1xUP40uEqamrMyiQw45pdmuWIgAOzpXghkGXNfs5IwDCmoLQQCAnEAU2z48ZaD3f+NI1dATn++GwAoaK67aD3/51kvXpppRrwb3ZHb1egJ/evNSEgqdTSbJ6op2LcgvEisUROBvSaOP98pK/8i4afZr/LjO9rzBfL7WaV62BQL22su5nO4RJUItk1UMU6zLEGD8vBAVunueAg7lbMWTnvih5KJt4UaDpVQviiZWDTXcHEWjfex/n484c/23jaOGHdmMQo8ni/KdfRxD4Zv5ed78FEvNc/ikTTuX0IcIfhUlBXh0iYgYOUdYfUh1BKZuRHQJWItqDsyGu5yHZTHGKhV+VnBibRNNXmZcA5BIKsBmB9tCdK48HzlbFAZ8wpFL1+2zLylavfTtwD2XUVglt1ZR4HJeMXXPBclCtLy/9lUTus2caNTO13046JaFbRCPoCz1nYZLpWEFPK9mYZ6NL19LszLKRBipaha+/Dg/87fQ0tfF5GW1BV3FMMq+V4a2nzxPJBYtksiEyVId8DEimcUxDqDrrKIpzup1jcqEI5068ou7QtvF6Mj6EYkKRWj3clxOKg/n5f6TtmYZYrp/RFNQ81tTMV+SPwzjwhv8BmYmlQuE5ZN13Y8R4Bu4wv+wnHlNzWKPq00/Vl7cT96+B8d/rd6BT3D7CIfkkBCaMgXwDEzM5IAG9GEEllscNzvWdVv+U5hgoWPU0vR1Gd27L00MlJWCUdMdcHWyTmuerX2aXoW0oS1r2aNPKom9X8C8J9+zzYsPGG3FqS2GJUP8a+V6K2ALm6Ckyh7varU99UcXBjZVFdCAF1j3zhGoMytExaPj9+fDC7HWcwWBfsDRz+QNL/ef7p6JfLKlgAXgGU/NeeA1GD+4ZrNcgDPXUCEtBo+Xg3c+q06DB7UCJWuM0UDcjxh5pqGksSdY9rfppz5RlOXNdtaJBdrsC+3PmZDI6/a2xgibUnYomDwDH0BVTNzTJSUNrHCE/uIoRPXnvXV35CAFrzyFnBZMAm3s51r+aCl5cfUPhQxuvZafSgHm8eOaPLoGXAXep3E2rb/ZqugV1cAXPM3psP6wvxQVqS2SEYAS7re2x89BXAFA7tsfwYzv7FoNwJzquG3MBPpSookahkxbTmloDgXlb9h1VQOWoJkTabV+PNAKszg0J9POK0sU0wDcS7n8E4lHQvnPXlxLCBERdwBmMoJM1lVPz06f9O390Hg55epsRwVZf6/C0ir0J5pB9ygtj5pyFKa8i6O4JZu1P4qOM+1PoKf7hh3Xr8n/+yk/DaaSZDg4ElHTlSZYkcnt0nKYX3HlqQCskv3cydEF6f4dFL0WBzvpbOiLp1OCRIvsHHsq2tjDfotI4eJretDtnaV+M83sB5K6lEqIWodNpcQEwJ56RhiT2+M9gdu+C53iZVcwLpsiPpY/07qEnjM/fcCuT8X1TXwzUbNKYJKtEn6itjePF8+GnAImTYskbo8R5F9Bw3xj6C5uAu+2vSeHwq2xSVRPU94c04eDM4iQ99kY7GvfmIIFFxjs/GvFvJWQGmL9SRSCaNNuJu2P/E9F2aQSbaHUqRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RT9AGSxDZ8Jwoe9zzGmNXR",
      "input": {
        "note": "Teddy is centred in the wrist view but beyond the fingertips; advancing 5 cm forward.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.155,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01RT9AGSxDZ8Jwoe9zzGmNXR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5636, 1.7832, 0.902, -0.0532, -0.4965, -0.403, 0.9963, -0.0212, 0.8116, 0.6094, -0.5926, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.395 left_y=-0.1458 left_z=0.0381 left_yaw=0.0649 left_pitch=-0.2137 left_roll=0.1367 left_gripper=0.9963 right_x=0.2633 right_y=0.0016 right_z=0.1372 right_yaw=0.0007 right_pitch=-0.2109 right_roll=0.0043 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -7.7197, 7.8564, 1.5165, -0.0855, 0.2466, 0.1001, -0.1846, -1.2923, 6.8444, 1.746, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37f8d523147fd1b45bb361ea68cc25a3230c7b029035ca66cd29e4f09a07ce05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7550ecbfc8442a4dc4140839d55ea6808c062519ecfd03db4cd274a1233aaaa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8cc63f2dcdb7e5649b43ed3362a35b8c6fb9b4dda0a91c600514f52d2bf60d82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 5.071 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]: [-0.6464, 1.7317, 0.712, 0.149, -0.5354, -0.4385, 0.0093, -0.0212, 0.807, 0.6094, -0.5449, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3636 left_y=-0.157 left_z=0.0256 left_yaw=0.0233 left_pitch=-0.1421 left_roll=0.0961 left_gripper=0.0093 right_x=0.2713 right_y=0.0014 right_z=0.1467 right_yaw=0.0005 right_pitch=-0.1587 right_roll=0.0031 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -7.0359, 4.9573, 1.2967, -0.0904, 0.0464, 0.7253, -0.0342, -1.265, 6.8991, 1.9072, -0.0708, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.6472, 1.6573, 0.7422, -0.0059, -0.535, -0.4496, 0.9952, -0.0212, 0.8101, 0.6094, -0.5682, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3549 left_y=-0.1508 left_z=0.0407 left_yaw=0.0335 left_pitch=-0.1809 left_roll=0.1194 left_gripper=0.9952 right_x=0.2675 right_y=0.0015 right_z=0.1418 right_yaw=0.0006 right_pitch=-0.185 right_roll=0.0037 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -8.841, 8.6085, 1.2821, -0.2515, 0.0855, -0.1441, -0.1026, -1.3333, 6.8855, 1.7851, -0.0269, -0.0317, -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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5636, 1.7832, 0.902, -0.0532, -0.4965, -0.403, 0.9963, -0.0212, 0.8116, 0.6094, -0.5926, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.395 left_y=-0.1458 left_z=0.0381 left_yaw=0.0649 left_pitch=-0.2137 left_roll=0.1367 left_gripper=0.9963 right_x=0.2633 right_y=0.0016 right_z=0.1372 right_yaw=0.0007 right_pitch=-0.2109 right_roll=0.0043 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -7.7197, 7.8564, 1.5165, -0.0855, 0.2466, 0.1001, -0.1846, -1.2923, 6.8444, 1.746, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37f8d523147fd1b45bb361ea68cc25a3230c7b029035ca66cd29e4f09a07ce05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7550ecbfc8442a4dc4140839d55ea6808c062519ecfd03db4cd274a1233aaaa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cc63f2dcdb7e5649b43ed3362a35b8c6fb9b4dda0a91c600514f52d2bf60d82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQoKEAgSGAI4AUIIdGhpbmtpbmcSDNVW/BO/69w+zFmFRxoMUN//TSQQ1hybL6opIjABO8k2OIxqIeWgNV8wI18rhkR99U4MXliQVVtWgLFUc2trLfEFuuuoxsMjhhvGm9Iq3gn1RQvJ+d+LKXFzWRFMg/VQ2y2XH3kAFEt7GkJeGNrATAV9/ka9z4+gXE4HOUN6DX4i3Lt553MpBR/vMnz6/Pdc2CM9eA+KGFeE6bIXoH2w97NRVlArGEJNur4oUC6zLSMHFkF3AZNypF3XLvM0xJVigj8MTOIv8lP+EeVvFb5Xdm2OVgEuiF1fxKuv72CI2sOzfii50KCnwA8gnT0vSpq48dkOlk04S6r0zp0AGPk/W7R/gJaCOy6A/zAipRgpUZI3I5poVUVLyuEMjlF+RJSaOcJWvEc/OV6URxVXtpU6dT8npjcqU9wVfoTJkonaOXIRXVQiGUT/0LbDLqkkLb2WEeixib2m7EBc3Ap+F/8sEcjRKbiy6iDxBaLw6uv8Y5rWc9lHOIP4q+pHDiXNgM0WdBzm68WPWy0TdosJc5yOTnMOSgIP8tRxYUuv8h6ZBFnAvTXk/Yfulg0BzOhMErLWErVSlV1/8++w/dx+AQ8NubZoWa1LQukCNGwuZhSTsZuSiQHF6XRzAUIG3CmYXJudcoiJGUe1+tXUjS55ZWvXLXS/+9MsZsabx7P2g+95tgACR4Edqo4Ond6TbQ3DgrX9xtqMPOGmNh6oayAa/CXW1qAL+YnFfnzwlsko/3qPM2KvlvvicjYGYd2CBG1zHvIYTjKXZ/y7RNVMC0Nmw7Ts7hm7pGQSXtqK5GHrH0EBaL83Eym3BPhO3LU3+lBYxqN16mYNmgJDiVuSOtkxTo/7YTSvTypTD0wM7KmJm8QFR9WSsTzGPC9fJGtbM4Nf1t5Vmb5k90dk69umW7UfDz6ouwbS/0F7QgSNOU+4n1iD2AqIjo9xzJSHv1E3VvYrHLitL8Ff0yc7xYrNW1crON9bWbbJnker0GN4uI7TcTlF4gDNSvCOpgpHFGvLQSxTK211UK++eWPi9L0psze3XjBF/geo8QUzUPHDe038/iMHhqn5DX/LpInc2gsaCjXyOSGne5wM3LEq8BWqJmH3FmUYUIpDCUIB0QbanV7+q/H9DnnrbupQYUTTKHhg+GaC7jOQ4t00PRMw4DkfuiKjQkmYkayODjp5Gwm5vtn6iKaugLZA/DysY6ZUqpO7niaRezm8voIu5cNNLXB16oBgFxhCCROQvReKZV198wNdgMxyUJaPwLQwkpgSARC02DAfspfRIm0hfK3poJymVMyRMTsE8HmnQLtr/60tRGQoi2ejyrJhyG5mu7FwuEQsyYIYLK3B1vMH59kUQJXvGRcdchRXz3B4Zvko0WkEpKABf7cx6hlkDxFwP2i9uEBUzXyApZuZNVOpgnMBcjIcVOwqszKuOm4Pwd6JSTwGGvhqja0byzRQqhupnUqaHi5EQtUm5QxuWEFp6IfdHz81ntGq4ghgvtgA8a0MaoBB9eW/iyExbIuSAAVfXhNP8Y2r7zqs1wEHjOzkgCzhRgsgsrTfPN4OGdfKt75+E7fMHjDHd3bJMMc7NKpXU2gw180HJ2200LCvqqha1j0xAcuUj28JNLMFRPrpkaPuuPF8CPp6Nc7F7QXp3c3IjmOf/8m+BgvSAQoVCTN9vAmCLu5hHQLb4TV7D2a7gjlHd7JqCcAOat0i0Fd8qv/lT59FMjMHl0F4zQymP8XQIlMEezoZulTBzfpi5pYVnYbHVmzuygntwM9tGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0125M4Spw1C18HTWcqxfw35B",
      "input": {
        "note": "Teddy's head is now at the bottom of the wrist view, near the fingertips; advancing a bit more and descending to grasp.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.15,
          "left_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_0125M4Spw1C18HTWcqxfw35B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5465, 1.8488, 0.9478, -0.0357, -0.4927, -0.3946, 0.9965, -0.0212, 0.8108, 0.6094, -0.6102, -0.02, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4087 left_y=-0.1466 left_z=0.0293 left_yaw=0.0749 left_pitch=-0.218 left_roll=0.1415 left_gripper=0.9965 right_x=0.2601 right_y=0.0016 right_z=0.1343 right_yaw=0.001 right_pitch=-0.2277 right_roll=0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.5675, -7.4735, 6.735, 1.3211, -0.1734, 0.1343, 0.0024, -0.1162, -0.9915, 7.0769, 1.9414, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfce79a02d43191be8c2e046967ae263356a8f3a126f36dce9ff8807230ea9fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d69d51c50cb2bcd358187c1513f0f0712269682060e611e8e4e382a0f84d9dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba9f82c475996a84e78a08816deb0caedee0cafe49ef0f4d69aae9a5992b9fcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 5.862 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]: [-0.6472, 1.6573, 0.7422, -0.0059, -0.535, -0.4496, 0.9952, -0.0212, 0.8101, 0.6094, -0.5682, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3549 left_y=-0.1508 left_z=0.0407 left_yaw=0.0335 left_pitch=-0.1809 left_roll=0.1194 left_gripper=0.9952 right_x=0.2675 right_y=0.0015 right_z=0.1418 right_yaw=0.0006 right_pitch=-0.185 right_roll=0.0037 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -8.841, 8.6085, 1.2821, -0.2515, 0.0855, -0.1441, -0.1026, -1.3333, 6.8855, 1.7851, -0.0269, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5636, 1.7832, 0.902, -0.0532, -0.4965, -0.403, 0.9963, -0.0212, 0.8116, 0.6094, -0.5926, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.395 left_y=-0.1458 left_z=0.0381 left_yaw=0.0649 left_pitch=-0.2137 left_roll=0.1367 left_gripper=0.9963 right_x=0.2633 right_y=0.0016 right_z=0.1372 right_yaw=0.0007 right_pitch=-0.2109 right_roll=0.0043 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -7.7197, 7.8564, 1.5165, -0.0855, 0.2466, 0.1001, -0.1846, -1.2923, 6.8444, 1.746, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5465, 1.8488, 0.9478, -0.0357, -0.4927, -0.3946, 0.9965, -0.0212, 0.8108, 0.6094, -0.6102, -0.02, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4087 left_y=-0.1466 left_z=0.0293 left_yaw=0.0749 left_pitch=-0.218 left_roll=0.1415 left_gripper=0.9965 right_x=0.2601 right_y=0.0016 right_z=0.1343 right_yaw=0.001 right_pitch=-0.2277 right_roll=0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.5675, -7.4735, 6.735, 1.3211, -0.1734, 0.1343, 0.0024, -0.1162, -0.9915, 7.0769, 1.9414, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfce79a02d43191be8c2e046967ae263356a8f3a126f36dce9ff8807230ea9fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d69d51c50cb2bcd358187c1513f0f0712269682060e611e8e4e382a0f84d9dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba9f82c475996a84e78a08816deb0caedee0cafe49ef0f4d69aae9a5992b9fcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AcKEAgSGAI4AUIIdGhpbmtpbmcSDMwlJN7EFnd+85ep+hoMz9dLGFGfS5PckG6rIjASdlJU4vuSD9BTYhaf4sxCII2GZn92iwDKDe2KDAev67YWjUoPFP7rCFyzJ/hZUocq8QZLgsR7TUnMIgiocVoil+3C+/A+YfS+rFgCTVoIlh7ezOoEiuehY7vKNopBHoXck0W6cdxIFu1wRondA3WIMdvKZ2dNQ6NAyPGfpXEoaz2fqMa682DntNVKP7k+tFPYrklR7Fet9suLFalDxAbsgAHOkEPyawv6Ro/C/xDQRcU/ZLm5Spbb8IbMfdZ/U+CJLdXSV/+yQSvCKKoJ0Vfx79nKugwhdkbtola9VDQO793CohjXz+q4PvYLvWZJRFXfGwJhHfgj24oH6iqwuAPfdXeN52wZDFq3KUQMQm+c0nEozTLdWmpBzAIEZp2g+ywo9sYIfMIeE7FYfhF09buTH9BnKjKDqwmmKCFpWNy3ya5qIv0Xsmlmdb/Fz0sysdUNWtr2iFm7CVMk3Psf6Mft7kdf+R+OPmpjCyhmxFRK75qmx47F5a7wA1nDSHA4rUmfKwrayw8nJin8X5E69hMZSkDI8Rns4ppFMPPN+8s8GdOcT6ka++yw1aL5TNe1jsNJbPHxARQMUwEUOVBkBop+okwczvExw98UIOr/Ru4hyZcLpDBh+s37+rDcVqMyoD+EYTc0oGI+ZRvETA24YHuUHXzTU+BC7nbDZ50OKZIUhHopb1xFd/4SGQ796zlJijZrNufQQ2/TZ0z/vSDtEoSaHhbWtKvpGHtL9vCPEiay8V3XWTKQXxbb/x+/s3OdDNngcJ4N7JdGo/mwXoc7zEv9dT0J+L7vvCoe6d/rL2j329OOhdAnuwbKeUgKIFZcLv/LIr+xO769vhz/SH60DkVYx+3R1oXwO3ymuM38UFXj81gPUwhqeERzs5jls6ZKMs4TSUEvaMydWJSzLfDb4yriaOuCZao//Gj+7N4UuLvbUBAfMAijpyVjjWOeJVdqwbPVT49j04D2d/taLalWICnVdnBUMGnNvhnzeamFiwY9eHGM1p3yPqriwCXY3FhPw/nnR8OS6Z+pEJZ0cwwtkEW2yeBcS/HIeQd1OZ3CzOfh/ITJRRKex4qcJXX/IICyN3EeK3A6WZn5XLd3Iy+2LZXMBuGrntkVNfqiDPAv3DOc+r3eOAxveYoGy5byuxGHTlxgr9qVGKRC67F6QNJi9KUv13aLsdz+Aps/OfyFNkhCfRLNyQfWNJlBPxxQt3Rp8BdD7JCuKQAlzAZylhnJiyIwuFEShhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MxajmxQt56qkFqKGcCrY89",
      "input": {
        "note": "Teddy fills the bottom of the wrist view at grasp height; 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_01MxajmxQt56qkFqKGcCrY89",
      "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, 1.9068, 0.9565, 0.0093, -0.5014, -0.3798, 0.0731, -0.0212, 0.8154, 0.6094, -0.6319, -0.0196, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.4158 left_y=-0.1435 left_z=0.0151 left_yaw=0.0851 left_pitch=-0.2186 left_roll=0.1606 left_gripper=0.0731 right_x=0.2563 right_y=0.0016 right_z=0.1296 right_yaw=0.0006 right_pitch=-0.254 right_roll=0.0049 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.0188, 6.694, 1.2479, -0.0415, 0.2027, 2.5714, -0.2256, -1.5521, 6.7897, 1.6777, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9815f58331a17a061e37a5a1abbdab9bc9d57db4189ed0d8d271b9f35b1ba7b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd28a0c3ef3578655133b61f7ec8491615bcfc95d557572efc88586d0d5ccb71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b9cb5faf2e121c87e6c4b60c35b5517ab5d616ddef6e49643ea5ce8ca6823af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 6.502 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]: [-0.5636, 1.7832, 0.902, -0.0532, -0.4965, -0.403, 0.9963, -0.0212, 0.8116, 0.6094, -0.5926, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.395 left_y=-0.1458 left_z=0.0381 left_yaw=0.0649 left_pitch=-0.2137 left_roll=0.1367 left_gripper=0.9963 right_x=0.2633 right_y=0.0016 right_z=0.1372 right_yaw=0.0007 right_pitch=-0.2109 right_roll=0.0043 right_gripper=0.9994\nstate[joint_eff]: [0.2393, -7.7197, 7.8564, 1.5165, -0.0855, 0.2466, 0.1001, -0.1846, -1.2923, 6.8444, 1.746, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5465, 1.8488, 0.9478, -0.0357, -0.4927, -0.3946, 0.9965, -0.0212, 0.8108, 0.6094, -0.6102, -0.02, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4087 left_y=-0.1466 left_z=0.0293 left_yaw=0.0749 left_pitch=-0.218 left_roll=0.1415 left_gripper=0.9965 right_x=0.2601 right_y=0.0016 right_z=0.1343 right_yaw=0.001 right_pitch=-0.2277 right_roll=0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.5675, -7.4735, 6.735, 1.3211, -0.1734, 0.1343, 0.0024, -0.1162, -0.9915, 7.0769, 1.9414, -0.0464, -0.0464, -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]: [-0.535, 1.9068, 0.9565, 0.0093, -0.5014, -0.3798, 0.0731, -0.0212, 0.8154, 0.6094, -0.6319, -0.0196, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.4158 left_y=-0.1435 left_z=0.0151 left_yaw=0.0851 left_pitch=-0.2186 left_roll=0.1606 left_gripper=0.0731 right_x=0.2563 right_y=0.0016 right_z=0.1296 right_yaw=0.0006 right_pitch=-0.254 right_roll=0.0049 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.0188, 6.694, 1.2479, -0.0415, 0.2027, 2.5714, -0.2256, -1.5521, 6.7897, 1.6777, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9815f58331a17a061e37a5a1abbdab9bc9d57db4189ed0d8d271b9f35b1ba7b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd28a0c3ef3578655133b61f7ec8491615bcfc95d557572efc88586d0d5ccb71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b9cb5faf2e121c87e6c4b60c35b5517ab5d616ddef6e49643ea5ce8ca6823af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwkKEAgSGAI4AUIIdGhpbmtpbmcSDJK8xcbFZofzKpPxrxoM32n4nzdBtWtMuuAmIjAuntqu5/WxzRP5tEQhrn/kAhqaWETUuiws8k6wraY6ARq/VMR3rtKgu4RIBCLsRW8qtAg/tChXWAW7eFRj6I8dEnR3oFyq3ydhxO4kzdWWLPtrHOIQe5+itlM70s95HwrGuWkrVBYFYdXeiZE9yQbT+AIXt58KXhH8XQtKyk+yH9ehECVTH2Vr8GAY0ItpPkKSS7FtJ5KNXG3ot1y2F6xBl1CyQ2zC3W1cONC/rPY3HFSx/VH7ClYvWzw8RnN85p3sOZ4eqKxcgDNby3lsvpX4x2S8fuXsQwGTbzz6qkYodihLTjtJ/ZFu6qyuQT0HxLEfyW+wFM7QP/Em4l6LBKP+a3A+z0s/VVvvgh/NRAifydhuyK0xXjMsiGMb6IVX+sTnFJ23Aho5bB01io2Cm9j57Zs97jHnh3/aSKb0hBx8RMnnmEU6bhCmkhfKfQZfBsATxuRlSnD2P/bYCrNVwlhk7i2MJ7uGNr0EKNg8kVKhItyEyEZQjDyvhPI+XkePVgq8tCg0jRv25ybsr2XrBpgbiAI1/M7GXFLF4Jf2NA/K1lHTQmdjSJV6zCtB+gNnO4Scxb9507+ccq6HJtQGrOzyBP44sm91jE7teXLXAIPLMSrj+y/aXBGjuHbObm18/V5DFr3RCxIkYDgkQlzFQ1fX0aBRTEImcJhKKvjwrgyk+yj0mVR3GarQFMiB2boEu/4rYgOX/uHXz+izNUER/Eaf3MgE0Mcis+Gqk6mIkeaYl8AE/e76tDlVXoMyggOSJ5XmNK4jo4HzFQqMjSsOU+jWKJhY25w5uwbZZoA5xyedj6T/JJM1SW3DRpZLZ6w5f8vOuAYR1bUMmOX5krK4D9P5JJfpBbTDjneVdhJ9O/3AXptaAqTvuTdKLn72p9KgJ4GPdQ64uBsro/mftqY5zsPWe4s1Gi36Sn9aMm3BdgDjf5absBuqCvGPdpr6JNntYyt3WmTmsEKfZmKVIzG03nyY/pCSOSGXMohD4fSmDWnRasgGGRjE/ealrQKHDKc78AIjRADFA7/KGlYHJ2Ih2v/o7EwNfnsB0UFJW7g0IMvX3hoDj6ctZpyHhjjAszOz7YvS8MChUYxFlt02EjOEzVPMN3Ev1mxoqQktgva0T77jfh+jZWNbLFR9gShkU2SevQhkbIgPk3wwltx5aZD51Jgi+q/f3HEly6UERaCjrIw8pxzqMv+Bl1pgukCuTv1vpNrdktoxYOX00iCoHFEDhD9gzVF6fRTyNqQjp2X2dHN1BnZ+U1oArj93NkbcM3vLw42BbwTPVACjafayTeEK+fcR/e9a365QyIiaw5ePX8zTKVaOo8lKVDYyjzi1QNsOwUmpuVocV06AH5UzMSyYEiMzMJXXpuKyR3EyPQruAHfEOtAng6+PBUNLIEDsYF/ioZfn91e0O9FUEu6hWeY9wkPSuHMBXnlllPtj12JyVoKViX8mgsv3Y6ywjunl+LJQ6VIKy51KeaZJGw8UBNcmrnL3vHctsh/moxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C3t5SBXxkhUCki49kP97Gh",
      "input": {
        "note": "Gripper settled at 0.073, so the teddy seems grasped (holding its keychain end). Lifting to carry height.",
        "targets": {
          "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_01C3t5SBXxkhUCki49kP97Gh",
      "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, 1.7069, 1.4014, -0.6796, -0.4999, -0.3904, 0.0999, -0.0212, 0.8165, 0.6094, -0.6571, -0.0196, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4166 left_y=-0.1443 left_z=0.1696 left_yaw=0.0962 left_pitch=-0.2541 left_roll=0.1787 left_gripper=0.0999 right_x=0.2516 right_y=0.0017 right_z=0.1252 right_yaw=0.001 right_pitch=-0.2803 right_roll=0.0053 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -11.4393, 9.3197, 1.4139, -0.2222, 0.0855, 1.033, -0.0342, -1.1145, 6.7624, 1.6972, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61306687b1bc56d7f52a39bd015b767c1fd6e174e2a4986ce05a19771694e861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:568d87d9ad430748b872bc3d3bb466568b8cf5c870d6e15a5ac71d4f7f49f72f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1c10b7cb427f8cafb9061613b59152a802ab5158cf8b9fe4a5d4400c32b6ef0",
        "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 · 4.284 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]: [-0.5465, 1.8488, 0.9478, -0.0357, -0.4927, -0.3946, 0.9965, -0.0212, 0.8108, 0.6094, -0.6102, -0.02, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4087 left_y=-0.1466 left_z=0.0293 left_yaw=0.0749 left_pitch=-0.218 left_roll=0.1415 left_gripper=0.9965 right_x=0.2601 right_y=0.0016 right_z=0.1343 right_yaw=0.001 right_pitch=-0.2277 right_roll=0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.5675, -7.4735, 6.735, 1.3211, -0.1734, 0.1343, 0.0024, -0.1162, -0.9915, 7.0769, 1.9414, -0.0464, -0.0464, -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]: [-0.535, 1.9068, 0.9565, 0.0093, -0.5014, -0.3798, 0.0731, -0.0212, 0.8154, 0.6094, -0.6319, -0.0196, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.4158 left_y=-0.1435 left_z=0.0151 left_yaw=0.0851 left_pitch=-0.2186 left_roll=0.1606 left_gripper=0.0731 right_x=0.2563 right_y=0.0016 right_z=0.1296 right_yaw=0.0006 right_pitch=-0.254 right_roll=0.0049 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.0188, 6.694, 1.2479, -0.0415, 0.2027, 2.5714, -0.2256, -1.5521, 6.7897, 1.6777, -0.0269, -0.022, -0.0122]",
      "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]: [-0.535, 1.7069, 1.4014, -0.6796, -0.4999, -0.3904, 0.0999, -0.0212, 0.8165, 0.6094, -0.6571, -0.0196, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4166 left_y=-0.1443 left_z=0.1696 left_yaw=0.0962 left_pitch=-0.2541 left_roll=0.1787 left_gripper=0.0999 right_x=0.2516 right_y=0.0017 right_z=0.1252 right_yaw=0.001 right_pitch=-0.2803 right_roll=0.0053 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -11.4393, 9.3197, 1.4139, -0.2222, 0.0855, 1.033, -0.0342, -1.1145, 6.7624, 1.6972, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61306687b1bc56d7f52a39bd015b767c1fd6e174e2a4986ce05a19771694e861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:568d87d9ad430748b872bc3d3bb466568b8cf5c870d6e15a5ac71d4f7f49f72f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1c10b7cb427f8cafb9061613b59152a802ab5158cf8b9fe4a5d4400c32b6ef0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgsKEAgSGAI4AUIIdGhpbmtpbmcSDL4p8nMun13Pwft/PRoMQP+wyZDlA4yzPpcBIjAxrtI+UVdRlscOvp6eU40iY6i2REH6pyIKn1lwPBCCOc9dqxszLd7vt/tQxtJBsCoqswr57Xd9kqEQqWPgYi29SqQe953VnwzhpBcahupqAGJGmmzFdADp3mrQn5mISXxKJU015UAmLht+lXEPDu6BEFpn+cBAOh8shgWLJXtaaS9CdY0iAKhHeFL05Jx7u4EMnUa10YUfv79HjywzBKZTYvjJUOgN3wtku7fAqDZqOZPnFYUD1D0N3J21llgmoEBckePXLAntm1Jr8Sjy3eOvlvs3zEuqlClLM6fScB/3YXsDKiEB36S+pWNWO9EOJ9LOPCiNlsvViah2UKm6j0TAdQnKmTWQ3GFozpgxNi+VL4vFQDhYMqzx1hwMZbU7nfZwYOSGz0vNF2IHQKknAhBAlKbawUF+TEZZyjEWLGO3q2e15j4FwIiRCw2Z4wYFTcKi+mt8CGU3Vi4OGW0lRERRQeUglqt1h6t2iX4euCn0/FxYNUUNVRwU0fPI/YNt48D+EFLHSiTV+cScBs5qpG3dH0F/P7y7G7cDDjxuvfRSzuJZ/306KMKpJ5MPKAzH6bPG++SQ/DC27YZEvWYTwAFKD3uLcML2FgO/JyMObEMIlUVAbjQqe/r6V9ohy899CpMLz6CJJ9/wE28Bf9OFJmbM0M6CM24lgUiXP+bHbilHb8PBf71kBtxXHk6OccfOlcFappapwrfzYr1c6HB7KrwtjqKp+UvzSPwzbJ3QojLl4H2vIiX4iKcLaFx4ivnDu892lIBQk3uXHz+ufHp+gdBUU2/1bTVQWA8lMEDAO1N/A9/gBnAnQFUEsKUFfI1R+ZAunfqUM2IN/jfppjRTX7CQqnJM3JUJn5rEs6uKg/nrpzU29nnA5wB8JvQ3DwE+ZWqiJA5+VV1Kll5zWusvtQ/4PkvpsE2W9F/7QRw2Ho71OUbqMiQiyfRCW3uk4xT4iMpZTHhGCr4DXYBBCuas6rY9SscruRtNRYL43Ypf68cX/9YzrkeLmEUpn6qzSeGJi5RQQxm3ZhRBVrS8s+iHAIinXQoKiomU8sYQ8iqh7JDI7nnekOz1XCAmHVZgjrUKFyU1XS/rcAEwPEt6dAoKTM5EZGTeDMKJJBeMGhQov46WWYfYBnsx92r1JfVlDVBySZmHAjlpCmS78zEbtMcy5qKdnHzu36w8b4X2I+8Va+OJfF21TW0RA3mFxggr57RGmYzuNRnM02RBtHfwzyrU9nKifJAMqdGDbOS1y3bJqeDHlxpet70dw7m9AFoXDmfle3JfAi1YuShoy6Og45qLyTRvsK+HiRMNB0kLjr7lvfW47orP0reZJ4VvNsqAsFr6yZp3YDQQaDIALDJ04XLbc/JKCnoV+1lZxVEf0/CRbRiHNtn+H1GLDm+/4JLXFj3fSz/Slv1xliIgZYwz48EKWCrXhwV5XbTFMqCkNE1GW3aCmo+ab8e+Wa31OX4wI9uo5YN9BhXzf4ZILkSE4E7yJIuJtrk9iFPVhjoUIU3llctaJN7p/BIiadL2Z3ZrtXBkXSUdAqS1Ouiqh6OD6m9eWVzeRkbs5iN5mJT2ijjc5bfK58e9K2gF5c6Z/c25okjAAaHJaXKxcJ1uagq2fcI/QHudzzNREQwaOHR+O7lSAYHrJ+k7druHfH9u1QtK8i7LwSrc+PiryToh2DIP56k6fJtEjXBnLuw/eIepbIyujrsXVMfFg+cLrnjb/7hSTyWyCp/xOcDi7vGRObFSCPCBKIL4UxPQliL/uV1gI+aGFj0g3TXAnoYhISbt3CpuPb2DHiL5B4Yx0ZNT5LsWSADCG+uRgrzDfWdY83dzXffBgLhJoSVDVxkYaBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BXdNs5h7nMfr7eVrLhszEu",
      "input": {
        "note": "Holding the teddy; the open safe is to the right of the gripper. Moving right over the safe interior.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.27,
          "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_01BXdNs5h7nMfr7eVrLhszEu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8116, 2.0068, 1.898, -1.0515, -0.606, -0.6746, 0.1062, -0.0208, 0.8173, 0.6094, -0.6762, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3973 left_y=-0.2673 left_z=0.1871 left_yaw=0.0824 left_pitch=-0.2879 left_roll=0.1791 left_gripper=0.1062 right_x=0.248 right_y=0.002 right_z=0.122 right_yaw=0.0016 right_pitch=-0.3001 right_roll=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -10.4957, 8.7726, 0.9353, -0.6325, 0.0317, 1.0281, -0.0479, -1.1829, 6.9265, 1.5946, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0351667a1f75cef31f4259c7996158784926f21c0d0f5f7813433f4582d561a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b3863a5b42702cd539ac2e20b14df0b6646deeab0248df72c3f9648e2f19eda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7035793ad2912d17dfa7e3a77dff0fe15a5d03bece7b382958d5803a58573f10",
        "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 · 3.614 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]: [-0.535, 1.9068, 0.9565, 0.0093, -0.5014, -0.3798, 0.0731, -0.0212, 0.8154, 0.6094, -0.6319, -0.0196, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.4158 left_y=-0.1435 left_z=0.0151 left_yaw=0.0851 left_pitch=-0.2186 left_roll=0.1606 left_gripper=0.0731 right_x=0.2563 right_y=0.0016 right_z=0.1296 right_yaw=0.0006 right_pitch=-0.254 right_roll=0.0049 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -9.0188, 6.694, 1.2479, -0.0415, 0.2027, 2.5714, -0.2256, -1.5521, 6.7897, 1.6777, -0.0269, -0.022, -0.0122]",
      "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]: [-0.535, 1.7069, 1.4014, -0.6796, -0.4999, -0.3904, 0.0999, -0.0212, 0.8165, 0.6094, -0.6571, -0.0196, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4166 left_y=-0.1443 left_z=0.1696 left_yaw=0.0962 left_pitch=-0.2541 left_roll=0.1787 left_gripper=0.0999 right_x=0.2516 right_y=0.0017 right_z=0.1252 right_yaw=0.001 right_pitch=-0.2803 right_roll=0.0053 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -11.4393, 9.3197, 1.4139, -0.2222, 0.0855, 1.033, -0.0342, -1.1145, 6.7624, 1.6972, -0.0366, -0.0366, -0.0122]",
      "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]: [-0.8116, 2.0068, 1.898, -1.0515, -0.606, -0.6746, 0.1062, -0.0208, 0.8173, 0.6094, -0.6762, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3973 left_y=-0.2673 left_z=0.1871 left_yaw=0.0824 left_pitch=-0.2879 left_roll=0.1791 left_gripper=0.1062 right_x=0.248 right_y=0.002 right_z=0.122 right_yaw=0.0016 right_pitch=-0.3001 right_roll=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -10.4957, 8.7726, 0.9353, -0.6325, 0.0317, 1.0281, -0.0479, -1.1829, 6.9265, 1.5946, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0351667a1f75cef31f4259c7996158784926f21c0d0f5f7813433f4582d561a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b3863a5b42702cd539ac2e20b14df0b6646deeab0248df72c3f9648e2f19eda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7035793ad2912d17dfa7e3a77dff0fe15a5d03bece7b382958d5803a58573f10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3QcKEAgSGAI4AUIIdGhpbmtpbmcSDOg2/MhtKoFYW/u5GhoMz68x8VwEABySGeBdIjA2XmjJnXMcaaEvwcodKQZxgnKHtf+us5SuBFJyjAcREaX4HrnTFjajq6MlVLDwQ1Uq+gacch84XzCyFbrpws7lFZDebfJY9hfxODwnDY42X5csdJevv/OaGxsc55AOY8L+ihW83U4LURAl8eAADmOSzM4nEBvvbBDYAxjPy1upjH3QoZCRujVv6OUaUHhAcjV+o2HPMXa//1faNOOO80R5yQup2BdmzaBFtsattTT/JeNnQikXgC4/VVhzgrWO/Rr9bH7Id93q8xx1kxYur2zVDWGYvIljWiVtWGzC+Htr3ZBOe8/ogxhcPQTJMTDbtt5ZuVFwZRF6a8zrmmwwPkl1H9/bdCYLvGF9VyUOaPSB/7PQV9gUjp8LrSPzKwm3W7IPuRnqc44NCgYOV441XGiiqFZQpqH7Xr9dsAxvKqvKpV2bmW615b9nrsJKB1uAd94Hhsjbh5l5QfrZ1dDpiBEKSTADDlEni54EVBgPt5R+08RJ2TNyx/Rp/RjZ1F1fytkO+yeggjgy7DbC38p28GdgQtjKIxdF5FYVNCgi4gQKRGENc06kRwf64TK5OIknvcVv+HwHcCN+A+OwdMNM25fhmx8xbQn14lfALXbQoH8CgBfHMBJ1zaaIc3liMhCFsqKPRzMd+ID0rbTgw2vvdbT0NNbK84QEY3Ma8UgZDqfeLYs9hbeH79eaqX39F4LJmBYPf6aO2OclttbLQv+j4FsCdPLXvd+O+hvD6g7n3Y8O2+O/uC7WllRkFGX3weaOpDui30LuCNUOWXnc3TxJd8q08hlYvl74/Vjfz//DxD5EFts1iwyp0scAmlUjJTcgM5OGY2Xf6Ppt8W8juDl7eYlCTIUgsvXRkx5Uggjth+Z/5YxZvRe6FDXelZBHa+3EWC6BzCxS/8bdDPEla3gcbyqhAHC8lTW7c4NLTILcqxxcaOLA8Na0byu4hYIjUIqnKBqMKw28RbnI3ZiT4b8sp0tGi0E/Vfd5g0dde7xhaKB+gpifH5HDZV3QmcMSVrSjdDHEt66n8YyhkqDilp+P8IsSOgwSTgby1WXn24QOoLi813TdWC92bRlDWAw9vsQUnUFOzrQMZ+LrWtKChHkeLjfd1p78NHpJZ21QtTO2q2+sHDoleYAw5UwAsP/a3o6xbE/p63OOSl+AiwUJGDdtg9qeYt8ec4LsG87gmh4ZeqaclY5wgpuCcPS8O2Tz2Ti5DeYviQb1UxolY1eywWWiQ3/a47ZE7+a123aPghz0EBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RpZ2eDGtQKqjs4YyD6aMoA",
      "input": {
        "note": "The teddy is just above the safe's front wall; moving a bit forward and right into the interior and lowering.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.29,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RpZ2eDGtQKqjs4YyD6aMoA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7811, 2.1792, 1.9186, -0.9607, -0.5919, -0.6636, 0.1113, -0.0208, 0.8192, 0.6075, -0.68, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.425 left_y=-0.2775 left_z=0.1201 left_yaw=0.1142 left_pitch=-0.3375 left_roll=0.2279 left_gripper=0.1113 right_x=0.247 right_y=0.002 right_z=0.1202 right_yaw=0.0016 right_pitch=-0.3078 right_roll=0.0065 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -13.3812, 9.2513, 1.0525, -0.3687, 0.1294, 1.0281, -0.0479, -1.265, 7.1316, 1.4139, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60f053893430364586b4f92b7c6549dae0a1085b7112f6dfefb4bdf404a3b6f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c3b77b93a2accc5b712414141696069935085ca6899a8d6cd82bd05bf18551a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8bbd151ca2c3607912b28bc8f08b7c63ec1d807297a5b64312354c21ea99aa50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 10.45 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]: [-0.535, 1.7069, 1.4014, -0.6796, -0.4999, -0.3904, 0.0999, -0.0212, 0.8165, 0.6094, -0.6571, -0.0196, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4166 left_y=-0.1443 left_z=0.1696 left_yaw=0.0962 left_pitch=-0.2541 left_roll=0.1787 left_gripper=0.0999 right_x=0.2516 right_y=0.0017 right_z=0.1252 right_yaw=0.001 right_pitch=-0.2803 right_roll=0.0053 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -11.4393, 9.3197, 1.4139, -0.2222, 0.0855, 1.033, -0.0342, -1.1145, 6.7624, 1.6972, -0.0366, -0.0366, -0.0122]",
      "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]: [-0.8116, 2.0068, 1.898, -1.0515, -0.606, -0.6746, 0.1062, -0.0208, 0.8173, 0.6094, -0.6762, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3973 left_y=-0.2673 left_z=0.1871 left_yaw=0.0824 left_pitch=-0.2879 left_roll=0.1791 left_gripper=0.1062 right_x=0.248 right_y=0.002 right_z=0.122 right_yaw=0.0016 right_pitch=-0.3001 right_roll=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -10.4957, 8.7726, 0.9353, -0.6325, 0.0317, 1.0281, -0.0479, -1.1829, 6.9265, 1.5946, -0.0269, -0.0366, -0.0122]",
      "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]: [-0.7811, 2.1792, 1.9186, -0.9607, -0.5919, -0.6636, 0.1113, -0.0208, 0.8192, 0.6075, -0.68, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.425 left_y=-0.2775 left_z=0.1201 left_yaw=0.1142 left_pitch=-0.3375 left_roll=0.2279 left_gripper=0.1113 right_x=0.247 right_y=0.002 right_z=0.1202 right_yaw=0.0016 right_pitch=-0.3078 right_roll=0.0065 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -13.3812, 9.2513, 1.0525, -0.3687, 0.1294, 1.0281, -0.0479, -1.265, 7.1316, 1.4139, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60f053893430364586b4f92b7c6549dae0a1085b7112f6dfefb4bdf404a3b6f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c3b77b93a2accc5b712414141696069935085ca6899a8d6cd82bd05bf18551a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bbd151ca2c3607912b28bc8f08b7c63ec1d807297a5b64312354c21ea99aa50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Teddy is inside the safe's footprint now; releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PwMFsUDaNsCMqS4V6BFMxH",
      "input": {
        "note": "Teddy is hanging over the safe interior (red floor all around); opening to drop it in.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PwMFsUDaNsCMqS4V6BFMxH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.778, 2.2215, 1.9236, -0.9192, -0.5808, -0.6479, 0.9954, -0.0212, 0.8192, 0.6075, -0.6842, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.4317 left_y=-0.2843 left_z=0.1033 left_yaw=0.1011 left_pitch=-0.3449 left_roll=0.2276 left_gripper=0.9954 right_x=0.2461 right_y=0.0019 right_z=0.1196 right_yaw=0.0013 right_pitch=-0.312 right_roll=0.0066 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -14.7761, 8.8274, 1.0574, -0.4567, 0.0562, -0.1441, 0.0068, -1.1009, 6.7487, 1.3993, -0.0513, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7878a34f3f8dec9b9fd096118ca038f0f70e73e9f6580ea4bbfa8999cc9d72b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50eff9bedb0938a0edee0a288621eda4c0705a7b63e0549ae04a83102982d738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc4ffdc92573bf422439d7fd00aac5c59a25debffc72591498bfd9d03dd9a005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 6.272 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]: [-0.8116, 2.0068, 1.898, -1.0515, -0.606, -0.6746, 0.1062, -0.0208, 0.8173, 0.6094, -0.6762, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3973 left_y=-0.2673 left_z=0.1871 left_yaw=0.0824 left_pitch=-0.2879 left_roll=0.1791 left_gripper=0.1062 right_x=0.248 right_y=0.002 right_z=0.122 right_yaw=0.0016 right_pitch=-0.3001 right_roll=0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -10.4957, 8.7726, 0.9353, -0.6325, 0.0317, 1.0281, -0.0479, -1.1829, 6.9265, 1.5946, -0.0269, -0.0366, -0.0122]",
      "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]: [-0.7811, 2.1792, 1.9186, -0.9607, -0.5919, -0.6636, 0.1113, -0.0208, 0.8192, 0.6075, -0.68, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.425 left_y=-0.2775 left_z=0.1201 left_yaw=0.1142 left_pitch=-0.3375 left_roll=0.2279 left_gripper=0.1113 right_x=0.247 right_y=0.002 right_z=0.1202 right_yaw=0.0016 right_pitch=-0.3078 right_roll=0.0065 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -13.3812, 9.2513, 1.0525, -0.3687, 0.1294, 1.0281, -0.0479, -1.265, 7.1316, 1.4139, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.778, 2.2215, 1.9236, -0.9192, -0.5808, -0.6479, 0.9954, -0.0212, 0.8192, 0.6075, -0.6842, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.4317 left_y=-0.2843 left_z=0.1033 left_yaw=0.1011 left_pitch=-0.3449 left_roll=0.2276 left_gripper=0.9954 right_x=0.2461 right_y=0.0019 right_z=0.1196 right_yaw=0.0013 right_pitch=-0.312 right_roll=0.0066 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -14.7761, 8.8274, 1.0574, -0.4567, 0.0562, -0.1441, 0.0068, -1.1009, 6.7487, 1.3993, -0.0513, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7878a34f3f8dec9b9fd096118ca038f0f70e73e9f6580ea4bbfa8999cc9d72b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50eff9bedb0938a0edee0a288621eda4c0705a7b63e0549ae04a83102982d738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc4ffdc92573bf422439d7fd00aac5c59a25debffc72591498bfd9d03dd9a005",
        "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_019LtykRz32D77reW2Hi1NVH",
      "input": {
        "note": "Teddy dropped inside the safe. Parking the left arm at home and bringing the right arm over the lemon, which sits right of the safe.",
        "targets": {
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_gripper": 1,
          "right_x": 0.42,
          "right_y": 0.18,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_019LtykRz32D77reW2Hi1NVH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2176, 1.1278, 1.0607, -0.9054, -0.3321, -0.1352, 0.9963, 0.5106, 1.7313, 1.3586, -0.6376, 0.2848, 0.3759, 0.9995]\nstate[eef_state]: left_x=0.2952 left_y=-0.0026 left_z=0.1982 left_yaw=0.1372 left_pitch=-0.3377 left_roll=0.2159 left_gripper=0.9963 right_x=0.406 right_y=0.1747 right_z=0.1365 right_yaw=0.0231 right_pitch=-0.3655 right_roll=-0.0211 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -3.7949, 6.4068, 1.2527, -0.2027, 0.1343, 0.0806, 0.335, -8.294, 8.6906, 1.453, 0.2613, 0.2906, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fb9e1832d28c9f1761d2b9bbd7bb17d64037d5f3718ea556c73582da761c32b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0341814461023b7f24533a0a26fe52c6f73d9d07e135d2af86e150bd0687c746",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fab3f0b5922535343c13a637186923eb70ff6e312faf757d0e4d3f8b9db081ea",
        "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 · 3.556 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]: [-0.7811, 2.1792, 1.9186, -0.9607, -0.5919, -0.6636, 0.1113, -0.0208, 0.8192, 0.6075, -0.68, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.425 left_y=-0.2775 left_z=0.1201 left_yaw=0.1142 left_pitch=-0.3375 left_roll=0.2279 left_gripper=0.1113 right_x=0.247 right_y=0.002 right_z=0.1202 right_yaw=0.0016 right_pitch=-0.3078 right_roll=0.0065 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -13.3812, 9.2513, 1.0525, -0.3687, 0.1294, 1.0281, -0.0479, -1.265, 7.1316, 1.4139, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.778, 2.2215, 1.9236, -0.9192, -0.5808, -0.6479, 0.9954, -0.0212, 0.8192, 0.6075, -0.6842, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.4317 left_y=-0.2843 left_z=0.1033 left_yaw=0.1011 left_pitch=-0.3449 left_roll=0.2276 left_gripper=0.9954 right_x=0.2461 right_y=0.0019 right_z=0.1196 right_yaw=0.0013 right_pitch=-0.312 right_roll=0.0066 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -14.7761, 8.8274, 1.0574, -0.4567, 0.0562, -0.1441, 0.0068, -1.1009, 6.7487, 1.3993, -0.0513, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2176, 1.1278, 1.0607, -0.9054, -0.3321, -0.1352, 0.9963, 0.5106, 1.7313, 1.3586, -0.6376, 0.2848, 0.3759, 0.9995]\nstate[eef_state]: left_x=0.2952 left_y=-0.0026 left_z=0.1982 left_yaw=0.1372 left_pitch=-0.3377 left_roll=0.2159 left_gripper=0.9963 right_x=0.406 right_y=0.1747 right_z=0.1365 right_yaw=0.0231 right_pitch=-0.3655 right_roll=-0.0211 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -3.7949, 6.4068, 1.2527, -0.2027, 0.1343, 0.0806, 0.335, -8.294, 8.6906, 1.453, 0.2613, 0.2906, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fb9e1832d28c9f1761d2b9bbd7bb17d64037d5f3718ea556c73582da761c32b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0341814461023b7f24533a0a26fe52c6f73d9d07e135d2af86e150bd0687c746",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fab3f0b5922535343c13a637186923eb70ff6e312faf757d0e4d3f8b9db081ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wkKEAgSGAI4AUIIdGhpbmtpbmcSDIMuyyOoY+nFcpHnAxoMlU0e9PVh4zp0LS8uIjAsxJB5n/Ax9XOwDd4x1vmZHVyrlhHyQx6r1+rAYIx+CR30EIgSGoPK9GLqMI+1Rrwq8AijGFdBwdOYICrogoxyNd5nlCAch0DjZrtHz2uRF+nzI1hhIRjunOWBckLY/NT5V8S+7QlPr8sIRs2HSpakTla/SVgghK70lyMLztQM8aD6+XYDsFBYe2RRuvIo1JfDwOzRI/1BmxSjzv67J2vblf4+tDr3vwOTtBCOjWcO3L4UfO5+1LngLUxIdMY3xa4x159MXS8tWcMon8FzY4CRIrEAshC53LvJZjf06+wwuGPE1QinbMMdNlSLKxJ8ONq4VEzI3eaqkLyoYjUNjDz80+qOEHISvkZccp1g/OG/AB9Um+QjEOQtxwEBDixQ76hIwOhiHRqy3A2Wz8mF8KWfVJyPiLXm7RNypLBBGyRdZcOKQUhWvToFkEvxgmEw0HuyHsNhhTk0xr4bL38ZeDGqsPc96V7pPjK//+QrOcEk9Vv6WoB9rIKiWEyHT5nl+8+J5//8ovzF/LTGVGT9uRUcw0rb5N2CLINZP3CDPAGskyvtHnN3Hy8PR1g1F241eqwd1UxhouNhwP42e6GzdeQs0gdDrSz2/2Av9A3LjIeT8LqrMG+ycGSs5N4KTFwP5SLp/6+3Pby3T1p2NP6N7bZoscF0Yf7v7Vt8uCftyJmgNHY9FmoBXVyA25LwpqabTvr4Xo2ZpeYKhdx5JFEHyC2OwMZq8B5X+hrgxW/dKLzNK73coGWlyHP6gBJqq2uc4zco0GWn0lpvw7IatPHZ44BbmDfbAUOQNvFz8n2BtRLUkxeQeUSdLB+ETT0CLHHGKn/sIuEcYAcH8sXq3AWHzBEAdwpsyT/vVA2dj3BR6Mm7HX2C0E/T3Z8hwELmsoYSUBvDdvEjNmQ+NN2XXGAK0vgj2dlpP4Npx+nLSYKBAqCwt2STWeN0z+x6ln5v00lx3BzplZFlS5Fsx7k7yAXeqlSGD+AmXZHftIUfLMRHh3Q2r10lAj0uwohuSzYPxFsfe48ccF+jZu4xV7fle8DnQt/0MXR8jjAlGtBtaLAvZfooS8abpDgthlSap45LusU8pKWDYvcOcIHKY6MS3rXMG8OJ7b33YA+7o6JVLupiz6qnxKezGY49MuP3BSKQ6VJDwc5C+USpPX1f5w98M4XBJHqBaDwjMfmgNKv6wBlP2SZjGz1TvV4HBs0JtkBymGPqikhOfEahA2nhhi8XnqWrve6OXQJL6USRVQ9NGvHMJJRvU2uv3YfGJ0AcDza7+2dxhFkByBXYHJeH2C2lCwpjt8QIFTr3jl2piDeQ2MzPJggTEWXpvJbiTRVEenIQFRP0d1vC0NuXMo6uBVrZ36EfaS251e/O6HO0Arn40CqhNZ2y39zM3bCI7AngF8zTa/G3gdN+n6jbCMpVcGrJVrYU/lUsEfi3gRPbUoNbcihbPfHbemAAXIqKarVIJDS2d6civ12kqvISiKwYITVbrds8EnSKFxEbUC/UFMQitB0l8+OGX5sYPulDAkfyoU0p/IgUJVIMkITVVvMqIm7aVpWFz41JWRGkjf5DRf42E52Zyz36dPr/HhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Egg1xJDeDPrTFKFyfywcuF",
      "input": {
        "note": "Lemon visible right of the jaw column and ahead of the fingertips; shifting right and forward while lowering.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.15,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Egg1xJDeDPrTFKFyfywcuF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2176, 1.1309, 1.0588, -0.9211, -0.3183, -0.1226, 0.9965, 0.4271, 1.7985, 1.3323, -0.5659, 0.2462, 0.3183, 0.9994]\nstate[eef_state]: left_x=0.2921 left_y=-0.0043 left_z=0.1939 left_yaw=0.1211 left_pitch=-0.3624 left_roll=0.22 left_gripper=0.9965 right_x=0.4252 right_y=0.1501 right_z=0.1056 right_yaw=0.0019 right_pitch=-0.4003 right_roll=-0.0349 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -3.2342, 6.612, 1.4188, -0.2808, -0.0562, 0.0024, -0.0752, -8.9094, 6.3521, 1.7021, 0.0659, -0.0122, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31214584aa86f45c3973e88e88d0dd50920d711317729203d7dc3a1ee90342c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e4f2eb61e3f134fbd2cf73a8f873a46712cfa517ea7a25c980f1ff8853fa67a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:398eadbcf5389f8c37ade180947a4c2d7d7d79156632c1951e7b3cfdd06ff696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.089 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]: [-0.778, 2.2215, 1.9236, -0.9192, -0.5808, -0.6479, 0.9954, -0.0212, 0.8192, 0.6075, -0.6842, -0.02, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.4317 left_y=-0.2843 left_z=0.1033 left_yaw=0.1011 left_pitch=-0.3449 left_roll=0.2276 left_gripper=0.9954 right_x=0.2461 right_y=0.0019 right_z=0.1196 right_yaw=0.0013 right_pitch=-0.312 right_roll=0.0066 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -14.7761, 8.8274, 1.0574, -0.4567, 0.0562, -0.1441, 0.0068, -1.1009, 6.7487, 1.3993, -0.0513, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.2176, 1.1278, 1.0607, -0.9054, -0.3321, -0.1352, 0.9963, 0.5106, 1.7313, 1.3586, -0.6376, 0.2848, 0.3759, 0.9995]\nstate[eef_state]: left_x=0.2952 left_y=-0.0026 left_z=0.1982 left_yaw=0.1372 left_pitch=-0.3377 left_roll=0.2159 left_gripper=0.9963 right_x=0.406 right_y=0.1747 right_z=0.1365 right_yaw=0.0231 right_pitch=-0.3655 right_roll=-0.0211 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -3.7949, 6.4068, 1.2527, -0.2027, 0.1343, 0.0806, 0.335, -8.294, 8.6906, 1.453, 0.2613, 0.2906, -0.0708]",
      "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]: [-0.2176, 1.1309, 1.0588, -0.9211, -0.3183, -0.1226, 0.9965, 0.4271, 1.7985, 1.3323, -0.5659, 0.2462, 0.3183, 0.9994]\nstate[eef_state]: left_x=0.2921 left_y=-0.0043 left_z=0.1939 left_yaw=0.1211 left_pitch=-0.3624 left_roll=0.22 left_gripper=0.9965 right_x=0.4252 right_y=0.1501 right_z=0.1056 right_yaw=0.0019 right_pitch=-0.4003 right_roll=-0.0349 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -3.2342, 6.612, 1.4188, -0.2808, -0.0562, 0.0024, -0.0752, -8.9094, 6.3521, 1.7021, 0.0659, -0.0122, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31214584aa86f45c3973e88e88d0dd50920d711317729203d7dc3a1ee90342c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e4f2eb61e3f134fbd2cf73a8f873a46712cfa517ea7a25c980f1ff8853fa67a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:398eadbcf5389f8c37ade180947a4c2d7d7d79156632c1951e7b3cfdd06ff696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AYKEAgSGAI4AUIIdGhpbmtpbmcSDNE2zPLrXNimXB+gBhoM9ZEZKtH+TaafCen2IjCt2Le7qQHI8gDOoEEOJklSRzrVuACwVBAJRLIxfpPj005tf5NwB6AWl5Qgl+fBpnkqiQZJRikl2+V6+0VVPKZvwPIb3w7YTF9xZeQKhFymYrx+AgIQJKeLKLacnqENMP7zc4VZq39haPiFEaonU61aeVNqszHCCJoGezEqPtX5Ywh8T/8aiOE5yJTglpXr2XmPFv+fYYPf4HaddlHLwjIQYPMRlegMe/08owAvDDHrGfygQya+SPlsBpYiiOZIuTq4bXu0JWg8UJvx3pxKUxLfoSZKyMPLb1GC4Aoi2Z2QSL3/vkSH+X0fIlW3dFAhmSdYIzampPBcm/TQrXhBf633v8qkpbGyWHs3K6YY4u6Vc5lf2UI9pHLPAvsIILq0PmcmikYg3gOSpdRc/cnh56G4oLvp+xgTIZ6X2l0quaIvJMPviSZEQPFDaTsuupIHdfa8FVWT93H/Oj2oMkRw7WwU9KtVHg/ep57FOXlTJ6HYdrwc2pVCjxHQ9FSXij2KNPzKDJ8DDsbRmVwYNZRw++ZceRlDYpSGo9LIATVU6QWb9IYcQxdQ7md4v+D5jyx0E12MrlgQ5TFU1C+0ROeuIbpZpVIjTSeQcg9F8/ZLCbNZNhEpW4kR6IKRsEctxgmZRM4M5Zf2pNf3xSDM+KngY8q77jXQPhHMrJG0F6d6wjxINnEGeWO5q4ggzHAm6fwJvRcog9IIpQGUZy39DasBzO/mdPN5xADV9B0ymkPxzZZcuFHMo5gYrMfZ4wqRnML1hZ1EDKXapCfOKG2zxvWRSDSrLLoMiggLgmvEVosLQfslczhNlc7jJUDVUPh1MzwGAHOo3zJ90J9VzkP69jwIP4nxTB/VWxE8PammfzlxvzylyosXhctiyVu1Ig/d3118CFZWTY5hx9/R/G3ApsR70gXsEQeB7486O4TBvbOKBzKDJncfm8I/bVtITjcLiTCrw2jxq+EYcUC+2YiGXRj9UFsiEyQSD7CoWGWUPMSJCYJX2B9lIBvqbw4JCtLuy84IcRj6Nh7DdxYyN5s4LDbBDEWX3crIADRoBxpwOo6IjrRUMFtR2Wo0J86LQRfFgegy2cj50pGWnenaysZ/SXIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019jHoHT74P8ThmHYwn9kjbS",
      "input": {
        "note": "Lemon slightly right and ahead; nudging right/forward and descending to grasp height.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.135,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019jHoHT74P8ThmHYwn9kjbS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.132, 1.0588, -0.9237, -0.318, -0.1349, 0.9965, 0.4103, 1.8366, 1.3121, -0.5209, 0.2245, 0.289, 0.9994]\nstate[eef_state]: left_x=0.2917 left_y=-0.0042 left_z=0.1933 left_yaw=0.1286 left_pitch=-0.3647 left_roll=0.2133 left_gripper=0.9965 right_x=0.4296 right_y=0.1479 right_z=0.0865 right_yaw=0.019 right_pitch=-0.4205 right_roll=-0.0394 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -3.3162, 6.5162, 1.2283, -0.2222, 0.0757, -0.0073, -0.0068, -9.812, 6.4479, 1.2772, 0.2076, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76361e34173e7b3dfd4930cb92b4f6886a9ee130ccb3544ba9b03d7e0a641121",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d9b9ae1cedf7f57be8b3a7e33f5640946c7bad9f2a5b37c0852b15b9582d338",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d37a3764f6e2280385a5bfa5fde9a638be0d5081cc18b21a51bce0ec53032503",
        "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 · 5.144 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]: [-0.2176, 1.1278, 1.0607, -0.9054, -0.3321, -0.1352, 0.9963, 0.5106, 1.7313, 1.3586, -0.6376, 0.2848, 0.3759, 0.9995]\nstate[eef_state]: left_x=0.2952 left_y=-0.0026 left_z=0.1982 left_yaw=0.1372 left_pitch=-0.3377 left_roll=0.2159 left_gripper=0.9963 right_x=0.406 right_y=0.1747 right_z=0.1365 right_yaw=0.0231 right_pitch=-0.3655 right_roll=-0.0211 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -3.7949, 6.4068, 1.2527, -0.2027, 0.1343, 0.0806, 0.335, -8.294, 8.6906, 1.453, 0.2613, 0.2906, -0.0708]",
      "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]: [-0.2176, 1.1309, 1.0588, -0.9211, -0.3183, -0.1226, 0.9965, 0.4271, 1.7985, 1.3323, -0.5659, 0.2462, 0.3183, 0.9994]\nstate[eef_state]: left_x=0.2921 left_y=-0.0043 left_z=0.1939 left_yaw=0.1211 left_pitch=-0.3624 left_roll=0.22 left_gripper=0.9965 right_x=0.4252 right_y=0.1501 right_z=0.1056 right_yaw=0.0019 right_pitch=-0.4003 right_roll=-0.0349 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -3.2342, 6.612, 1.4188, -0.2808, -0.0562, 0.0024, -0.0752, -8.9094, 6.3521, 1.7021, 0.0659, -0.0122, -0.022]",
      "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]: [-0.2173, 1.132, 1.0588, -0.9237, -0.318, -0.1349, 0.9965, 0.4103, 1.8366, 1.3121, -0.5209, 0.2245, 0.289, 0.9994]\nstate[eef_state]: left_x=0.2917 left_y=-0.0042 left_z=0.1933 left_yaw=0.1286 left_pitch=-0.3647 left_roll=0.2133 left_gripper=0.9965 right_x=0.4296 right_y=0.1479 right_z=0.0865 right_yaw=0.019 right_pitch=-0.4205 right_roll=-0.0394 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -3.3162, 6.5162, 1.2283, -0.2222, 0.0757, -0.0073, -0.0068, -9.812, 6.4479, 1.2772, 0.2076, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76361e34173e7b3dfd4930cb92b4f6886a9ee130ccb3544ba9b03d7e0a641121",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d9b9ae1cedf7f57be8b3a7e33f5640946c7bad9f2a5b37c0852b15b9582d338",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d37a3764f6e2280385a5bfa5fde9a638be0d5081cc18b21a51bce0ec53032503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwcKEAgSGAI4AUIIdGhpbmtpbmcSDEhG9C0bZvVAo8+QdBoMqveOPEtwONPAZ97/IjCPbJA03rhAtRJo0XczTyOUOEU0+mx02RR9XljLY/pwm5mQtx0t1/Yld7UEJ2XsZ9oq1AbnmSukAHI24npHzxMrnpp6VUhCjoJZz+uSNXcVCGCkyg6c8YbZbo3XeMdkE9bP2hmNbByrmZ5soLm3XSFHLHz9mzmcB9oce5n8U6mF8L7yGnbkst3uIm9yh/t5fVWqiKk/2ZhXZy7DiXWRpQIz2QvzlEHKHtRSktEKqiZTNqQuS1cj3paJX3j+TsWobbwdBMateJSyfTnII861ISwSv4NnUyEo+4jrzku1xXUjCcvbymwDYMQ/Kd0zY3J60Z1+v1yBp+h3hvInY+fnvxyO3CwlcR4UhksKiPs+Xp+PnX0wdu2EiEylJk4zuVqXwtwVGknZQZ+R8qKhCtbPfi1f+u1ddplIJEXwebswhxaBQRkevLl+dfcajCIH3YXBYrV1cQr9uO373rstkahQH2Ph5sbPpH9NY2LMkENbenXVGarCZvLHTPSL9JqCM4nLZFX9iw8rB4ESJKyb1zeTCBFFJ5h+TPgV+T2mWkZDyv8L/unefb0yEM75/U9m8eUL1nNJ8wVeLot6SSk3EcbvNsggKbetJFxmnYSfjyTM9DCLITOFia1eo6sdjezA5CCyoqaH2agA+TAKVJNVfzUQzDNoE0z6wZvwPcLEmd2kp6kR6YPPOa5oe6dDVbnSulKQjmsgwW5K1vpfA1QldkHPXeqXyahJpQpgz+nvRT8XGC4cpwJ+1/IlTplk94tK3VQhTCQEIyKokUHmDdQLrjREkUA/N7F1Oc97e6LZ5l7To//YNaowuB8MRWjiPaArBzuCuktiAMWiPKbsmpJPvHPCgGDO9UUGT6e6Dd6Hc66BYMlXPAip9gN0gF87UE0xwhZvytYtu/MV0z5jfh7gsz5a20DS4ULrxVZFvNUQwNxRecUjwJqmj1RqzZsmHkJ3ldBBBP6pfHbeZ4c0ozStJHjmaG3G7VZ6rElMxzItoljt1qgMtcoCaO5aemiIDe/y3rOUPitq0dS4cgqX3MPSGxhtUVG/R4kdn0tswrVTMixYc0tLFvYZ4Zi9ocK1tQnTHEW1Be7Om4za1lEtYBkxZKN2x9VSS19n1vgrE+7UGwAbjCQ82j4CBECRFZL38PtOkgU/2pgGExbjz9FL79yKQqzrHr41tmNx1xyZtXCC/vWlLGNCzSgLGfQohqcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D1kbwF6n1jxgQLPT6E2VL7",
      "input": {
        "note": "Previous move barely tracked; retrying with a smaller descent toward the lemon.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.135,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01D1kbwF6n1jxgQLPT6E2VL7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1324, 1.0588, -0.9245, -0.318, -0.1356, 0.9965, 0.4103, 1.8366, 1.3121, -0.5213, 0.2249, 0.292, 0.9994]\nstate[eef_state]: left_x=0.2915 left_y=-0.0041 left_z=0.1931 left_yaw=0.1292 left_pitch=-0.3657 left_roll=0.2133 left_gripper=0.9965 right_x=0.4296 right_y=0.1478 right_z=0.0864 right_yaw=0.0168 right_pitch=-0.4207 right_roll=-0.0381 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -3.2889, 6.4752, 1.2137, -0.2222, -0.0171, -0.0073, -0.1436, -10.0034, 6.2564, 1.3065, 0.2076, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c15e20c18f3c3b9335b207b000b45b809701367b594eb5ee07aeb8aa237c5e9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22e75ec857394f9d994012af46d4ed018c44af117f44e4dde85c0d0748bb6633",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cae3fb9e79603cf41192335e07cedeac2a1ef376a7f4291c0e0c8d02d4b2fe57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 5.93 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]: [-0.2176, 1.1309, 1.0588, -0.9211, -0.3183, -0.1226, 0.9965, 0.4271, 1.7985, 1.3323, -0.5659, 0.2462, 0.3183, 0.9994]\nstate[eef_state]: left_x=0.2921 left_y=-0.0043 left_z=0.1939 left_yaw=0.1211 left_pitch=-0.3624 left_roll=0.22 left_gripper=0.9965 right_x=0.4252 right_y=0.1501 right_z=0.1056 right_yaw=0.0019 right_pitch=-0.4003 right_roll=-0.0349 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -3.2342, 6.612, 1.4188, -0.2808, -0.0562, 0.0024, -0.0752, -8.9094, 6.3521, 1.7021, 0.0659, -0.0122, -0.022]",
      "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]: [-0.2173, 1.132, 1.0588, -0.9237, -0.318, -0.1349, 0.9965, 0.4103, 1.8366, 1.3121, -0.5209, 0.2245, 0.289, 0.9994]\nstate[eef_state]: left_x=0.2917 left_y=-0.0042 left_z=0.1933 left_yaw=0.1286 left_pitch=-0.3647 left_roll=0.2133 left_gripper=0.9965 right_x=0.4296 right_y=0.1479 right_z=0.0865 right_yaw=0.019 right_pitch=-0.4205 right_roll=-0.0394 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -3.3162, 6.5162, 1.2283, -0.2222, 0.0757, -0.0073, -0.0068, -9.812, 6.4479, 1.2772, 0.2076, 0.1099, -0.0122]",
      "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]: [-0.2173, 1.1324, 1.0588, -0.9245, -0.318, -0.1356, 0.9965, 0.4103, 1.8366, 1.3121, -0.5213, 0.2249, 0.292, 0.9994]\nstate[eef_state]: left_x=0.2915 left_y=-0.0041 left_z=0.1931 left_yaw=0.1292 left_pitch=-0.3657 left_roll=0.2133 left_gripper=0.9965 right_x=0.4296 right_y=0.1478 right_z=0.0864 right_yaw=0.0168 right_pitch=-0.4207 right_roll=-0.0381 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -3.2889, 6.4752, 1.2137, -0.2222, -0.0171, -0.0073, -0.1436, -10.0034, 6.2564, 1.3065, 0.2076, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c15e20c18f3c3b9335b207b000b45b809701367b594eb5ee07aeb8aa237c5e9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22e75ec857394f9d994012af46d4ed018c44af117f44e4dde85c0d0748bb6633",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cae3fb9e79603cf41192335e07cedeac2a1ef376a7f4291c0e0c8d02d4b2fe57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgkKEAgSGAI4AUIIdGhpbmtpbmcSDId/8gwcS6U4Ju7UOBoMGNqd7n3Swr2A2UsqIjCKQAL9V7EsmOLRaxo32tfHnAZWC1HMih2oAvfY8/zVU4n08uwwu/S15WA/8mBWGWAqswho2GsLSpWF7TUBQHzkvlo6gknOzXhK/MF6jM5wsv1DVDWWhR8gDMiSc2yY+pIWMkXbPnKWExFyJNkQxmIL9H1YVKwKxPdEHAKnEpaIRooxEM92T90RxTK9zTRs+MLrrfvQkWaKQ28SNqrj6O2t+AuxjB0GoG9dC+9ZF+q7j7YZQbpgvGmWSooxSMIxaELtxwZtC2Ha6KsHcHx4R3j7qidRXgeOs8/Vdp98RAnjFXhgDTqZWYI7bglchDAD+igpwDSoS63daazkB+c6tENsK9HVNZ3XoKF+8IGlVcOWxjUwa6krU+KHCekym/NnNUNtjoYeGu3KWOhObSxqPxBHG1KqNLCkIjYZBmwFQCnVqVwvEYfXPUe0grk4sJ7EkdgQXGo9eBQeamr96vc9xhsqg1IA1fjDmYH/bS69aeJSDFlN2Ux4qwUiszEi7+W/w4aKeEx6d5Hqkm6KpMsgYVZYMuBTsMZBdO5UDXGL11rAhq2H+DT6+CKjd3waig2p+yfuWOy/LOi+T9UtG7yuHb2iX3kUT9KGCELB8QpiiOxL5619Zwu0RKUSgcxFFQmpozJxFXFn2PkShg9JPDj0Sr5y/W2u4koDGwYye0rC6xzUoepcF+Pamk271U+fVsUd/n/LhkYeRGZjkgD43Be3tnoYREUO7Hbs/GBCrLad35WSWHlwM0+F6wrqzrjP9rsDMDrMzyba+GMKPQ46X4DQd2DC8EPQQheIXFlFPo0maHc6BtPX0hfGU2nKzc1Gs+6AHRa3cGGaetq7XpMBDC+vpQRt8cnEVcaVYmwzwljKDB21L9IqG26EYYU/yDAVVJ7gJFNCie8OGdUNbiLSu0vHdDP133LOtHCz5uiu3DKmpFrgudIdsph5ODX2MB+YPKQ+OInAAMws0LG5g+iPABHHdl7XGyT/TOYeRNPPOgawA2wNxnEiRlB59iC4dSka95FTUItGPvTVegqlJRuygm8HTqe0Ajso+s64jWAvfMzeMrm2bzR2xQ5+mt9SxRs0rh/Qql57lWtrJIlatk2mf0aZQqtNTbHP/5WE42DETD552Lm9CRpBpU+z85b53BUVjZNEPCIWLHH1nNHAQaMd4XwjW4IdTx+4Hm0wj2FseiL2gUn4dxg/bM3wGJm2rycSr/nKk1xvbXmar+NQTXUqFrzJ9m0J6sY+lupAzE24xP1/hEUDmN66LeGCxpnw0ErqaEuF0HTmXTm+QnJE3CnZ/Igqp846ntl14yp8dR+EauPN7cmTXgvGH6H+Ft8Xy2CLiwVJEz7Z0bC3reOuqSUDt3pY5ew/O2EhZyTDiCUhjFqXE7ZlrvLJD2fAK5OuKYdNwYH/bxA5oxiJB9UpSGxXO86Zh0Ep/VEJKIos5jF7ux1RdGZb6wPT9yEoTXD2bdOGykKQhDBnMHQXmKG8FbP3i95blw5/49+QI4AFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QGiF9cEfpecBvPgFzwL3Zv",
      "input": {
        "note": "Right arm stalled with its pitch drifted to -0.42; resetting orientation to the start pose while descending toward the lemon.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.44,
          "right_y": 0.14,
          "right_yaw": 0.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01QGiF9cEfpecBvPgFzwL3Zv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1332, 1.0588, -0.9253, -0.318, -0.136, 0.9969, 0.4286, 1.7981, 0.8314, 0.2474, 0.3351, 0.2428, 0.9994]\nstate[eef_state]: left_x=0.2915 left_y=-0.0041 left_z=0.1928 left_yaw=0.1296 left_pitch=-0.367 left_roll=0.2136 left_gripper=0.9969 right_x=0.4286 right_y=0.1359 right_z=0.0457 right_yaw=0.0059 right_pitch=-0.0879 right_roll=-0.0197 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -3.3299, 6.4752, 1.2479, -0.2271, -0.0611, 0.0366, 0.4308, -7.5966, 6.0239, 1.9267, 0.2906, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f7fb8ecd98edc2d978a31470a058b6004a67ef2c349d65d05a32869b9ba965d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b70a59bbcf1d29a83a936fda4950b36c5b0e424fc9a2669085ecb938278a0a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5407573773a457a35a62eba30870b7d32df0a2e0fe26203408bc78dc853077a",
        "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 · 5.322 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]: [-0.2173, 1.132, 1.0588, -0.9237, -0.318, -0.1349, 0.9965, 0.4103, 1.8366, 1.3121, -0.5209, 0.2245, 0.289, 0.9994]\nstate[eef_state]: left_x=0.2917 left_y=-0.0042 left_z=0.1933 left_yaw=0.1286 left_pitch=-0.3647 left_roll=0.2133 left_gripper=0.9965 right_x=0.4296 right_y=0.1479 right_z=0.0865 right_yaw=0.019 right_pitch=-0.4205 right_roll=-0.0394 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -3.3162, 6.5162, 1.2283, -0.2222, 0.0757, -0.0073, -0.0068, -9.812, 6.4479, 1.2772, 0.2076, 0.1099, -0.0122]",
      "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]: [-0.2173, 1.1324, 1.0588, -0.9245, -0.318, -0.1356, 0.9965, 0.4103, 1.8366, 1.3121, -0.5213, 0.2249, 0.292, 0.9994]\nstate[eef_state]: left_x=0.2915 left_y=-0.0041 left_z=0.1931 left_yaw=0.1292 left_pitch=-0.3657 left_roll=0.2133 left_gripper=0.9965 right_x=0.4296 right_y=0.1478 right_z=0.0864 right_yaw=0.0168 right_pitch=-0.4207 right_roll=-0.0381 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -3.2889, 6.4752, 1.2137, -0.2222, -0.0171, -0.0073, -0.1436, -10.0034, 6.2564, 1.3065, 0.2076, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1332, 1.0588, -0.9253, -0.318, -0.136, 0.9969, 0.4286, 1.7981, 0.8314, 0.2474, 0.3351, 0.2428, 0.9994]\nstate[eef_state]: left_x=0.2915 left_y=-0.0041 left_z=0.1928 left_yaw=0.1296 left_pitch=-0.367 left_roll=0.2136 left_gripper=0.9969 right_x=0.4286 right_y=0.1359 right_z=0.0457 right_yaw=0.0059 right_pitch=-0.0879 right_roll=-0.0197 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -3.3299, 6.4752, 1.2479, -0.2271, -0.0611, 0.0366, 0.4308, -7.5966, 6.0239, 1.9267, 0.2906, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f7fb8ecd98edc2d978a31470a058b6004a67ef2c349d65d05a32869b9ba965d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b70a59bbcf1d29a83a936fda4950b36c5b0e424fc9a2669085ecb938278a0a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5407573773a457a35a62eba30870b7d32df0a2e0fe26203408bc78dc853077a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSuQcKEAgSGAI4AUIIdGhpbmtpbmcSDNkL+121KnuZ4O0mbRoMb16/k7LG0bfFeCdpIjDSRgtyRxkLbOiBeS02PP5+zJEeiAaZKkXyU2OffuokeYaxiNtwqYUV1WOinp5y6NQq1gZ77lstY85EfRMDdw91pHAdeY5/Wh1kkyTwmTGBE/LtC00Y+iT5n2OQZKyfLLU5vWfLLmxjtUEoslmpOlKndxARAwaTJiMOapzM7D/CbtKFONyR/YvDbM8qCqLTLemIRIBkgvakiqg9B9vCz9KFDXAfUqtKZZXLtpFzclbyIeY2f5x1MEQDNEggQprkmblOnewxjVYDn4tdovlh9+LqtybzWgemjOGbqiECMSmXdMSyxMzkoxwhV0ipxgwYSc5+TmqNMZTr6oxjWCSmWomf9jI7TK85secq9eCjysRdfJ9NL673kVVbVRKWdXErvBB5R9Va6lCmgL9FZqYZUlzgYgis3QOftIIuAgfq4bF0Z/A9+u/aPtYhJeAUy3RBMdg1ugqnAr+TI5uhI3jbZSY5mWgnL/lePD0l5/NYCywJE2j/SO8kX5LYhwM523CKMhI1V1c6ZE5Ohhh1HVR5leDztgyiZu1OIbTl6+Kg+RVxYv/N4brkfLqkvacFW0IWCbmiR08j6VF2M2OigwJ7VvKF5oGH2qo0B2szB83QqHfFf9taif/9TPkLlV669S5Bp0NbJfV5iYrGmzpXlfrT3xku2Z2BCSxaf7i90UdKhHJZq44zhpUhY73IpsO81TXTR3dFkSbwN1Wd1Kj7eLTL6FDY0NXueJZ1T/PdAM9BhqKwmhbXBFSY+ynEDI8fJHgEGTkrrLfCIvaaUuMdmHJdlW8092geDryCbdbBBAaYKcgHakgKEk9UbAqijJZ5CiCgzW5CPTSNIh8WU9Wl/uAZN0TVX32jjlhCjZ2uLhef2Ad4wkxnObcNYsOy5idNoLlsPK8Fs7E7s7ffhSgmm5FrYOTog0SOWMeSZ9WqMbq+Ttu87gAW7FH/3RuzytqvDCVgFNxzcdrDi6XzHzO09sSKzPv4SjyUvQaFLJ5AWW6rq7cTwAMMotu/ZtiRdqy3IPDr3WOznz8RaRKFVU5PyBP8/Hul4zyDfdQ6ALUnvzlz0LD0fcDudyNcGB60RmUiVhvYbFJOcJ/DtN0Kgyy7+8uU03MhoItOtjjLx601PtFP/WxjHTJ1xwucl1+ALvAYYJnZodFfUGRO2CX5SA8hiUBuuc/EnjxqbHej6AYkzqNWrQN7nJQguOH/wRu6ABgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DW3szryYT8Ho9gbDo1VbXi",
      "input": {
        "note": "Lemon is just ahead and a bit right of the jaws; advancing 3 cm, nudging right, and lowering to grasp height.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.46,
          "right_y": 0.125,
          "right_yaw": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DW3szryYT8Ho9gbDo1VbXi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1347, 1.0588, -0.9279, -0.318, -0.136, 0.997, 0.382, 1.9209, 0.8314, 0.4747, 0.3077, 0.2199, 0.9994]\nstate[eef_state]: left_x=0.2911 left_y=-0.004 left_z=0.192 left_yaw=0.1301 left_pitch=-0.371 left_roll=0.2151 left_gripper=0.997 right_x=0.4566 right_y=0.1297 right_z=0.0332 right_yaw=-0.004 right_pitch=0.0016 right_roll=0.0185 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -3.0154, 6.5709, 1.199, -0.2222, -0.0659, -0.0024, -0.335, -7.0769, 5.1214, 0.9597, 0.3394, -0.2955, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf702d7a1e62142b0caa9b1b0240ee6c9d03c6b1fd63f2348082bf555b089222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4928f629dbfa4f00d272c9040ab0a8c7e22965389dbe64e81c4f18ae940d0d59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bf9e4436f2b9584f196c296a14cb10ad9060fe5f1c12a67090db192840b80cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 5.272 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]: [-0.2173, 1.1324, 1.0588, -0.9245, -0.318, -0.1356, 0.9965, 0.4103, 1.8366, 1.3121, -0.5213, 0.2249, 0.292, 0.9994]\nstate[eef_state]: left_x=0.2915 left_y=-0.0041 left_z=0.1931 left_yaw=0.1292 left_pitch=-0.3657 left_roll=0.2133 left_gripper=0.9965 right_x=0.4296 right_y=0.1478 right_z=0.0864 right_yaw=0.0168 right_pitch=-0.4207 right_roll=-0.0381 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -3.2889, 6.4752, 1.2137, -0.2222, -0.0171, -0.0073, -0.1436, -10.0034, 6.2564, 1.3065, 0.2076, 0.0562, -0.0122]\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]: [-0.2173, 1.1332, 1.0588, -0.9253, -0.318, -0.136, 0.9969, 0.4286, 1.7981, 0.8314, 0.2474, 0.3351, 0.2428, 0.9994]\nstate[eef_state]: left_x=0.2915 left_y=-0.0041 left_z=0.1928 left_yaw=0.1296 left_pitch=-0.367 left_roll=0.2136 left_gripper=0.9969 right_x=0.4286 right_y=0.1359 right_z=0.0457 right_yaw=0.0059 right_pitch=-0.0879 right_roll=-0.0197 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -3.3299, 6.4752, 1.2479, -0.2271, -0.0611, 0.0366, 0.4308, -7.5966, 6.0239, 1.9267, 0.2906, -0.0024, -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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1347, 1.0588, -0.9279, -0.318, -0.136, 0.997, 0.382, 1.9209, 0.8314, 0.4747, 0.3077, 0.2199, 0.9994]\nstate[eef_state]: left_x=0.2911 left_y=-0.004 left_z=0.192 left_yaw=0.1301 left_pitch=-0.371 left_roll=0.2151 left_gripper=0.997 right_x=0.4566 right_y=0.1297 right_z=0.0332 right_yaw=-0.004 right_pitch=0.0016 right_roll=0.0185 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -3.0154, 6.5709, 1.199, -0.2222, -0.0659, -0.0024, -0.335, -7.0769, 5.1214, 0.9597, 0.3394, -0.2955, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf702d7a1e62142b0caa9b1b0240ee6c9d03c6b1fd63f2348082bf555b089222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4928f629dbfa4f00d272c9040ab0a8c7e22965389dbe64e81c4f18ae940d0d59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf9e4436f2b9584f196c296a14cb10ad9060fe5f1c12a67090db192840b80cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwgKEAgSGAI4AUIIdGhpbmtpbmcSDNi5b8EgROXRgewNthoMWe5gAM5PTYmPRvd0IjDttZRnwiGjMOfjh/W6iAUbchPSeER0R6nGs4e5lnc8zds26bTU7lj1UQU5ftRAcHsq5AfweXxiuUBn5VyLwxOOhqCp4aT7y8Zt5av0U5G5OTkg2Uek+erwY/zcHhsiCccHm8ZPWC4NDeozl+R2TCTQYKeDoQUk94fEImBacUSaq+EG4o5bzb3L/cLCZ3z2/GjzUORevLtXLvhMSxyE3gGrezqljFrm7PZ99ZQmr8/KIWVR02GVfLltpJDK372RvdMQsk121vmYlZ01Blsm6K0AUgbTbG4Qy61hdf+IEq5PzDGGFcOCXFwQycTx6jqTdygwsVDKyJbLa4GHcRgUyXABgeZJfCrg/2bC/T5XYffmok1cCscuBLgSbwOaa+9gP9WRy3T+0+HNtJ+lGmt0JfqNWs2CJlxnLVBD5FZ830gFxXaEnSEgd7D2C/hxVc+WJZhqMJ1zV5+tDErAaY9R7SxLNh79KEJSeHZU8qYTwr2wTuYLjrqlPMAEAjCwDNGAkQPePosharup+RIN8g4KNpICyAURTM/7xVVN3eg485eGJR0TCYFH2iACL+8FlGCYC50yna/YZrVr43kFG3BdDTSoeUoR+ocq5rkm1QKDAcLq+QVF8favfDrfyhLzlKH9iWcFl6a9oTKuB8yxtQD/VZKfYQh/F3zZO+XBwZJz693c17SN7ur5lNeQrANyBW1c9QFA9D4h5MV8RU5qiMn5wyJPjJviYzLY/9xIkABdcSeupIbNhUj5laAMGd/7/HN24xtVSIsnhFe1nlNSt5aog0cl61x1vhwCgRT7dxRqvxBtKD9hUckDMTt+Hh0ta8MU5gPzJOxTGHygC86AQ2PHcmgfTi5e6Pt3kBeiJf+OPlSIeulA7pZ2d5WM2uUjvQb+R0wWyQ52UYe1XXMLo64zampxTHYDWYOcD5AzFiCB5+fUrQ2c65wFpqFvzEGWpDeJ8fn28K5ZTyNPzlcPEMf10y1gP3kEjdpy0HsUVnx7ZWt/PmDynOgv5+smFpI9GuEs77KH37bMpZl8p5ssj43kU6Q7YnA+mghW4sG7V2/MGIw1RopMuhoS8ibT3D+rGWtzrnPibs+hSjylI8AVBoZDUzVwY7/Ghf1W4TnWnbBxnLgIe4nBQfXA4QlpJOOon85I1n4z2rJD1Ez2YIZ2hPyhlRHnOWWV24ibByBNnugwDNnyxRwBcXhYuj2PhIwMbtsc+OnxLPC3D7UW9fQ6BZBIxwlZaI+Nr87FPePwgj/r7xPEZNSD/LW5VpeHPbBsgA02Iizm9uU18VaG0t5EqlzJV/IxgUFDacSeLoGbiIGErpHJbS+IVHsiZ7SpIxg6LZRljvCH2xeA3jvmOhlj+qhg66qeC2kSsdehyg3eRCnmUm1pZIaWy3EeoLYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KfH5t3bspPgfHuwTFqLfiN",
      "input": {
        "note": "Lemon is centred between the jaws; closing on it.",
        "targets": {
          "right_gripper": 0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_yaw": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KfH5t3bspPgfHuwTFqLfiN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1351, 1.0588, -0.9283, -0.3176, -0.136, 0.997, 0.3706, 1.9514, 0.8314, 0.5571, 0.2989, 0.1837, 0.4148]\nstate[eef_state]: left_x=0.291 left_y=-0.0041 left_z=0.1918 left_yaw=0.1299 left_pitch=-0.3718 left_roll=0.2151 left_gripper=0.997 right_x=0.4659 right_y=0.1291 right_z=0.0354 right_yaw=0.0113 right_pitch=0.0485 right_roll=0.0112 right_gripper=0.4148\nstate[joint_eff]: [-0.1846, -3.0701, 6.4752, 1.2283, -0.1832, -0.0562, -0.0073, -0.3624, -7.8564, 4.9026, 1.3748, 0.0562, 0.0659, 0.9255]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2f0c6c5464f42dbbf6894c78f42efee4156dc1cd3a571e4e524186f6c8cff2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c2c2864500cec85892a170e8acd95a6e37d83eb0b8265a7917a024b70006be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2c15f50d3d703479f398accc96899523fce86a470d10ec2a68e000602997b92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 5.897 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]: [-0.2173, 1.1332, 1.0588, -0.9253, -0.318, -0.136, 0.9969, 0.4286, 1.7981, 0.8314, 0.2474, 0.3351, 0.2428, 0.9994]\nstate[eef_state]: left_x=0.2915 left_y=-0.0041 left_z=0.1928 left_yaw=0.1296 left_pitch=-0.367 left_roll=0.2136 left_gripper=0.9969 right_x=0.4286 right_y=0.1359 right_z=0.0457 right_yaw=0.0059 right_pitch=-0.0879 right_roll=-0.0197 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -3.3299, 6.4752, 1.2479, -0.2271, -0.0611, 0.0366, 0.4308, -7.5966, 6.0239, 1.9267, 0.2906, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2173, 1.1347, 1.0588, -0.9279, -0.318, -0.136, 0.997, 0.382, 1.9209, 0.8314, 0.4747, 0.3077, 0.2199, 0.9994]\nstate[eef_state]: left_x=0.2911 left_y=-0.004 left_z=0.192 left_yaw=0.1301 left_pitch=-0.371 left_roll=0.2151 left_gripper=0.997 right_x=0.4566 right_y=0.1297 right_z=0.0332 right_yaw=-0.004 right_pitch=0.0016 right_roll=0.0185 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -3.0154, 6.5709, 1.199, -0.2222, -0.0659, -0.0024, -0.335, -7.0769, 5.1214, 0.9597, 0.3394, -0.2955, -0.0171]",
      "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]: [-0.2173, 1.1351, 1.0588, -0.9283, -0.3176, -0.136, 0.997, 0.3706, 1.9514, 0.8314, 0.5571, 0.2989, 0.1837, 0.4148]\nstate[eef_state]: left_x=0.291 left_y=-0.0041 left_z=0.1918 left_yaw=0.1299 left_pitch=-0.3718 left_roll=0.2151 left_gripper=0.997 right_x=0.4659 right_y=0.1291 right_z=0.0354 right_yaw=0.0113 right_pitch=0.0485 right_roll=0.0112 right_gripper=0.4148\nstate[joint_eff]: [-0.1846, -3.0701, 6.4752, 1.2283, -0.1832, -0.0562, -0.0073, -0.3624, -7.8564, 4.9026, 1.3748, 0.0562, 0.0659, 0.9255]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2f0c6c5464f42dbbf6894c78f42efee4156dc1cd3a571e4e524186f6c8cff2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c2c2864500cec85892a170e8acd95a6e37d83eb0b8265a7917a024b70006be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2c15f50d3d703479f398accc96899523fce86a470d10ec2a68e000602997b92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQkKEAgSGAI4AUIIdGhpbmtpbmcSDC+IvyB4Lh/8K5ADuxoMuWhXPIK3ZGMr2qJzIjA4b3rKRuDQrAaSgMIH2Ntde1zsanIG+EIYJHVagxk/JZP8Vhja4tHvVxBx1+QBZL4qogghOHDaEnMRnPPyc5u1dqBCICPOgHndyysBkpKCcS9TAzxUAuRDLUqeAhUa7MXN3EYsYcgGo2E9w2wbE88pC6hwe5UsX64nU0NYyUgXv5NoWYWPXm2t3K5iCTFhKbsV5pAG27UUu2MnN006MCUnjey3TQHahLOv2eZqQbpcECOftIH/yFEzbI+mcLcyLiStD0mla28Oecutfd9bO0GCaz18deqNTABp8w9YE1DZRIgSOhcsxOf54DyFTv3c7y1fznS+LVACHn0+mTzjRGC8jewf59HOY7lLiDWGkeWeyzqlRFSFoWaq9dUkpbJz/Zuek7tKjn0QZ6sxfMWDFMyQKitAmel+imMUMZwIUwZVxA0MGHXqrU0/30151fI+xEMnzNLTgEuPf5k/2Gf9W5Ri2BHXxEzbgbvw/OzGXbDYzIEu1hQ0vB06yHvIcsGj+iNMgVBBKyIwH7EthYNc8KGcnxV74PTBJGnxpIuNIFD1irIGvTuJ9420k/cCjLfDZ9yyIJ4vzCsUuxvJJX397rdzfXPeIbA0WQTZlTgbO6maxGtO/9VJiGq7M9vg3S9WWxHZYTG53hHkaC4u5DxEFiwr0i+AvIml01QZwbA/4UCOi5FVh+to96QBgwXi1ZxhBoIsDmNk/5yg1gqSrcPmCh0CI2esxozERFlH86Ytpr7QJoMqVfuBPPG5hWBzfRBfFHU1z7oi+irP2Mhmgux5ZGs97Marn81pa3WdOO08atGfWaHi7ZBpG1bcF+Djwn5ZGkHsyF+s08fMDETG6hMyVFO7fa37gOucbaJtSkhfORBI5OymQkWAAWX7RX7LeixP8y7BAMP5+5yS0/aqxgySV3HBX8n9BEGiRvEiHZSk3AmOHCAo5nODfeGMCvVmgB6wI3JJDkQXWInKgQFTw7Vls580VTect+tdOPCPToNOUuQgraMzJJS3zgHM1Ua0oyjRSaFhLierezz6CTNIyqQMZC01huFoRhu7+7GALNn3isgxQZ36QtD9zGZtHRvMI/00fW7FNQkz4Y5ZG5Iy8BE481FtFMLrdhTsGnA5xfUu6YnR7Uc9SJNZhVtn3GIfToleIjHgMMd19+jwbs8aOzk6N5m0cYBVTH1Te+VY2UkzLs+aESocGJbWSP6ES71+a8xL0CjLisgkeB0nGOYCRNjWqNvkcUCBq2mZT4Th/T9xjGtWb9n1HIHBYcDwviw9wC1xss7e7h0DaZ4rQVo2MGrKgbWxDyKKJYRgH1LgopYUEc59gYZmWsoQGuR93skcX9lQTs3s8gk6vvFg9kMgbZcyP5pbyMznAvEYSF1bP/u7Aq+VfTPZfY5aS9TMdNq2mL805XF6UitdaouFVePPJH7qKCltmE7j5at5m8E83wmb8l05V8gz0YDm8PH9dTvpkQqAaT3uHrgB+RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CiQVzn8JqugTahGLZn2PnB",
      "input": {
        "note": "Lemon grasped (gripper settled at 0.41). Lifting above the safe wall height.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_yaw": 0.0,
          "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_01CiQVzn8JqugTahGLZn2PnB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.318, -0.136, 0.9971, 0.3717, 1.6695, 1.1961, -0.1833, 0.2951, 0.1833, 0.4164]\nstate[eef_state]: left_x=0.2909 left_y=-0.004 left_z=0.1918 left_yaw=0.1303 left_pitch=-0.3721 left_roll=0.2155 left_gripper=0.9971 right_x=0.4654 right_y=0.1302 right_z=0.1706 right_yaw=0.0159 right_pitch=-0.0402 right_roll=-0.0199 right_gripper=0.4164\nstate[joint_eff]: [-0.1436, -3.1248, 6.4752, 1.199, -0.2222, -0.0513, -0.0122, -0.1436, -11.0564, 9.1282, 1.9414, 0.1538, 0.105, 0.7399]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05e78b272de8546fac249967e4e3ec2240ea0f97d721bed37149ffedbd2ab72f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6d9a33bbcaa32aa45b8b90e9df5c29c6e51953ad008d5a78d5afc820734a392",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2611b9c7d37b241c3691c7aa7bb28e5570223553bcada3ec4088d4cebb5ea1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 5.988 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]: [-0.2173, 1.1347, 1.0588, -0.9279, -0.318, -0.136, 0.997, 0.382, 1.9209, 0.8314, 0.4747, 0.3077, 0.2199, 0.9994]\nstate[eef_state]: left_x=0.2911 left_y=-0.004 left_z=0.192 left_yaw=0.1301 left_pitch=-0.371 left_roll=0.2151 left_gripper=0.997 right_x=0.4566 right_y=0.1297 right_z=0.0332 right_yaw=-0.004 right_pitch=0.0016 right_roll=0.0185 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -3.0154, 6.5709, 1.199, -0.2222, -0.0659, -0.0024, -0.335, -7.0769, 5.1214, 0.9597, 0.3394, -0.2955, -0.0171]",
      "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]: [-0.2173, 1.1351, 1.0588, -0.9283, -0.3176, -0.136, 0.997, 0.3706, 1.9514, 0.8314, 0.5571, 0.2989, 0.1837, 0.4148]\nstate[eef_state]: left_x=0.291 left_y=-0.0041 left_z=0.1918 left_yaw=0.1299 left_pitch=-0.3718 left_roll=0.2151 left_gripper=0.997 right_x=0.4659 right_y=0.1291 right_z=0.0354 right_yaw=0.0113 right_pitch=0.0485 right_roll=0.0112 right_gripper=0.4148\nstate[joint_eff]: [-0.1846, -3.0701, 6.4752, 1.2283, -0.1832, -0.0562, -0.0073, -0.3624, -7.8564, 4.9026, 1.3748, 0.0562, 0.0659, 0.9255]",
      "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]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.318, -0.136, 0.9971, 0.3717, 1.6695, 1.1961, -0.1833, 0.2951, 0.1833, 0.4164]\nstate[eef_state]: left_x=0.2909 left_y=-0.004 left_z=0.1918 left_yaw=0.1303 left_pitch=-0.3721 left_roll=0.2155 left_gripper=0.9971 right_x=0.4654 right_y=0.1302 right_z=0.1706 right_yaw=0.0159 right_pitch=-0.0402 right_roll=-0.0199 right_gripper=0.4164\nstate[joint_eff]: [-0.1436, -3.1248, 6.4752, 1.199, -0.2222, -0.0513, -0.0122, -0.1436, -11.0564, 9.1282, 1.9414, 0.1538, 0.105, 0.7399]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05e78b272de8546fac249967e4e3ec2240ea0f97d721bed37149ffedbd2ab72f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6d9a33bbcaa32aa45b8b90e9df5c29c6e51953ad008d5a78d5afc820734a392",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2611b9c7d37b241c3691c7aa7bb28e5570223553bcada3ec4088d4cebb5ea1f",
        "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/QcKEAgSGAI4AUIIdGhpbmtpbmcSDJfVyw/ppF6mZTbEOxoM49h5DunpP1qdIhg6IjBY3XKIAp5IEMo4rngC2hkWrJC/XZwuVbBFpv4m9Yif3/Z5rwZEgIaERvKkHlpkrVQqmge4QxW8siaQoxuEFTYnimjCI0y0PL3WnWJ4uz4Lxk1RESav/qB1GL3IHX/6QyzHynZv16emrzDdBRWccnQU/iwHJNvzKQsgnvggC41blX+icyRR8GA7uiimM4bP9YTwoXr5WJWKRZ5n0KNCec2eOCD0hpV/Tkiup0hnBSTyOetDo/LJSUc8u8uji/rWpy/JDVG0zkDJXQNbOMiqe4JEakPj+htUtYVFvjR0gLYNVVnfTyZ1u8ddHpKIJVGvKy651Fom6VaoczdiTqiPfd/cLyXrrED2gkbkYpc/O9dgTImjCae6gqcEX96+CwImCj3sXpQ6cKf0txfEONNvaVRhPozwN90S0yYSwX5mG8kmRzCgqotHI7+RAy7PuKSSdWMZUwZDo4CDF4cOmbhrMEcslBPFk8sa6cGYE9uk0OWHVv+7sE4c+rLNZBuv0ZU+Uxs241WhQgp+mVoX4fH98INSVyIH/PosWkes+3cleMzR4IJC1I+c9LWIimGelgJlpA21lfw3QRff6C/odi6I2jJYQ/sv69R+oB2bEr7Ps4w1YS+0YCMKnB1PXQ3buzKMHf2qQILc6VMMcqQ2sDVS62IPae9EuseV3/20lvgilWptKi9jJ7s1B+hSyqNOvTuB9qBSs5m91aLTlnOt+L8uNAF5Ts+4l8myCVPnReoXlzQGjUUxCQyb8e78IgjYBStRn16t941H8JhBCmQ5MB6/um1+MpoF5kJBbS2egYYb0W7P+vBkdWdXcSBETthbXVF3ieSClqGjF8QzqS+Lyfd0SkIHq1pgMXIUyCH3OhgIazW92t41atwGOEbkcIpccKU1jzmGlYQP883NtyWrM2Nt1NScxDL7twk4gQVDULjVaWrnCAod3w1qevI3WoWRzpKe3wZcn41pqTUAX/Zh0x8RQKaRahfH0jzCkQPrU6qNHmaAJYLuTk7bvzw4nQ2zrIDdNSBf2drTlWuaGUMrlE3HjLlzra0ny6BortHSwqdXj2DjijLVo8ZdL1+IZ+POarw/YNbizRe0lOPMnG7BN7em2Mny9IcV8+I9H/pDm+IsHauLkLEimAkaLJF94UNVn0hTCOMRvpxeo2VH0KKWnLbf+iljqvMNYdHjBMLkAc+SDOH1kw2oouvA1E0Jg29R0oB+0rUUtpXroOO31B+BgMmZE4hIvq6sBIGlOaCqNs6IK9biAztKguKSjv04eAxtkhllTHCDLFUyBswsxt8UOusDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017UVoEYB2iMmX1kZZvnHWXa",
      "input": {
        "note": "Lemon held above table; the safe is just to the left. Moving left over the safe interior.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.45,
          "right_y": 0.26,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_017UVoEYB2iMmX1kZZvnHWXa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1351, 1.0588, -0.9283, -0.318, -0.136, 0.9971, 0.6926, 1.8507, 1.4162, -0.3286, 0.5232, 0.3794, 0.4186]\nstate[eef_state]: left_x=0.291 left_y=-0.004 left_z=0.1919 left_yaw=0.1302 left_pitch=-0.3717 left_roll=0.2154 left_gripper=0.9971 right_x=0.4402 right_y=0.2552 right_z=0.163 right_yaw=0.0457 right_pitch=-0.0587 right_roll=-0.0431 right_gripper=0.4186\nstate[joint_eff]: [-0.0615, -3.2889, 6.4752, 1.2674, -0.2173, -0.0464, -0.0171, 0.1983, -9.1692, 9.5932, 1.6923, 0.3541, 0.2173, 0.442]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35c8361c699295118e60b80c7171bbdb47e60d668193ce13f41a4c3718db423d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c7bd89065051f7b67f7908784250a3b7cf7bfe8de727261bdc7700fc0a3ce51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52417b1abb3ea83d2dbb0598b1834f0231d3e0f86b1f5a89ef4ae468900a75e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 3.593 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]: [-0.2173, 1.1351, 1.0588, -0.9283, -0.3176, -0.136, 0.997, 0.3706, 1.9514, 0.8314, 0.5571, 0.2989, 0.1837, 0.4148]\nstate[eef_state]: left_x=0.291 left_y=-0.0041 left_z=0.1918 left_yaw=0.1299 left_pitch=-0.3718 left_roll=0.2151 left_gripper=0.997 right_x=0.4659 right_y=0.1291 right_z=0.0354 right_yaw=0.0113 right_pitch=0.0485 right_roll=0.0112 right_gripper=0.4148\nstate[joint_eff]: [-0.1846, -3.0701, 6.4752, 1.2283, -0.1832, -0.0562, -0.0073, -0.3624, -7.8564, 4.9026, 1.3748, 0.0562, 0.0659, 0.9255]",
      "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]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.318, -0.136, 0.9971, 0.3717, 1.6695, 1.1961, -0.1833, 0.2951, 0.1833, 0.4164]\nstate[eef_state]: left_x=0.2909 left_y=-0.004 left_z=0.1918 left_yaw=0.1303 left_pitch=-0.3721 left_roll=0.2155 left_gripper=0.9971 right_x=0.4654 right_y=0.1302 right_z=0.1706 right_yaw=0.0159 right_pitch=-0.0402 right_roll=-0.0199 right_gripper=0.4164\nstate[joint_eff]: [-0.1436, -3.1248, 6.4752, 1.199, -0.2222, -0.0513, -0.0122, -0.1436, -11.0564, 9.1282, 1.9414, 0.1538, 0.105, 0.7399]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1351, 1.0588, -0.9283, -0.318, -0.136, 0.9971, 0.6926, 1.8507, 1.4162, -0.3286, 0.5232, 0.3794, 0.4186]\nstate[eef_state]: left_x=0.291 left_y=-0.004 left_z=0.1919 left_yaw=0.1302 left_pitch=-0.3717 left_roll=0.2154 left_gripper=0.9971 right_x=0.4402 right_y=0.2552 right_z=0.163 right_yaw=0.0457 right_pitch=-0.0587 right_roll=-0.0431 right_gripper=0.4186\nstate[joint_eff]: [-0.0615, -3.2889, 6.4752, 1.2674, -0.2173, -0.0464, -0.0171, 0.1983, -9.1692, 9.5932, 1.6923, 0.3541, 0.2173, 0.442]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35c8361c699295118e60b80c7171bbdb47e60d668193ce13f41a4c3718db423d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c7bd89065051f7b67f7908784250a3b7cf7bfe8de727261bdc7700fc0a3ce51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52417b1abb3ea83d2dbb0598b1834f0231d3e0f86b1f5a89ef4ae468900a75e1",
        "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/QcKEAgSGAI4AUIIdGhpbmtpbmcSDBLZEgoF//zA4nTM1xoMnBLawqRzjVI+7l5BIjBtyS/hipm/L0FwROAzfsriXUj0cvAOlR7D9jIVZZlbaHS0IVh92Ot4mX87RZs4jboqmgc2kxkW5DjbPgLTrzme21XpxLPC+UkDOG8WkEnGQzjmndSXLnNSXl0lhzt3B7elxuMkWh/xD1i6R5IxTv8IfXX4aGjhrx+6SemKQQfBP1g8uOCxhJDIBVTf/MvuM+s0xFsOeeVwOcWob7eGJfzSuiUmhabVI5/Squ+xJeQiM0xj0CqlGIBEsrQ7MAp0VdLoW/BPxN7BOrymvdPitUlL8FJCe35jHWBYOzmzbqtRPYQ6tM0Tu99u6HrkrWlJAImZBInrJLipSHzUnCjZqhWaXKSlaUgHBaThQN+oCd3/kTOlyujuJyw/jXSR+S5M70u5w7vqdqiWS2UIwXfKiwDIKr3XrPU3zNFTmgcPCUhSCekvN8EvW9IIKNo+3zKBk4ouUZQ1QRi8U3tvzKnu+QdMJkBwv6aab1gQjcVJKewkeLTlnZBFssR9bD+kXHtz9+WB3cZrpX3aVF+Bv2Ibk/+iNgolWQhQPU+u+4HdypnGb+Q9YfXhJCx4iSHQyitYBwZPvxkxz383W/xF3BOpNfXEKfzELaf35m0G+OrC0hIilPycyNXqsyqYmw1lL2LP4n4G8wz9Ek74LuoW2fa2Wa/04MwJuEsU/X3hjHTf3pVUuQA/tYWlmqXxW1ujYVB/lNW9ttmksjMATffjuw5LW2c0PyZxETJEll5r61AmZ+avoB4uaI70g9Gwf2P4Av/bL6e3UI4y6SCJhYidVn1qml9aOvWNU519FUEoWMSvrv/VmVdXgSkX8/pirb2GCbHTVVj43/Rlw63ocEYsv/QZZyCcmsHf8VTJiGk59owGhDVVeVIQjat6FANyce0Eh8moEe6HouK9lBfmN/LW4XFuefwUEY+9G2G6Yw2W5H412W5EgS/0vdVsiA2KNzpp1MNgLVT2+1ujTjiZL9G1xhJdZfB1Cq6mtPVzr4P1kdNBDEyu/AQezK+5F93PSKsmhIOF3rDHCiz31vcq4nc6JCBJlVcOw0A5tFO1qYy7vFoU5LROTR38mcpQCEdmw51O9rGj9xier/LTJwBZ++FXzn7SBzKpRxoKW04n4AJZ01y59chbTpj0FnGmGO7LjI7OPczpyXenKkIpuffxDGc72w21UR/6yFKHGgzBx41o2f0Y2upCyviRhLpYqdro3QqiHb/6R8D+rpfQcoljIzGrrSQUSUoB4jjD7SsLCSajGukQP9IcRRl4klrIP07mXtgyIcSJ298AtvxysHEkDy/+24PoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WqATg2qu43TAAGSc14MGGj",
      "input": {
        "note": "Lemon is over the safe near its right front corner; nudging deeper into the interior and lowering before release.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.47,
          "right_y": 0.28,
          "right_yaw": 0.0,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WqATg2qu43TAAGSc14MGGj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.3176, -0.136, 0.9971, 0.7013, 2.0212, 1.4155, -0.1932, 0.5457, 0.4026, 0.4207]\nstate[eef_state]: left_x=0.2909 left_y=-0.0041 left_z=0.1918 left_yaw=0.13 left_pitch=-0.3722 left_roll=0.2152 left_gripper=0.9971 right_x=0.4577 right_y=0.2713 right_z=0.1012 right_yaw=0.0233 right_pitch=-0.0766 right_roll=-0.0592 right_gripper=0.4207\nstate[joint_eff]: [-0.1436, -3.2342, 6.653, 1.199, -0.1441, -0.022, -0.0171, 0.5675, -11.7402, 6.8171, 1.8388, 0.3541, 0.1929, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:177964f013f3f41ce460fc8b23ceccfa81374f8849b93d302fe8d0f633f49c5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a61c83e60ef173a4c1d5e1ac5d1b3920a1de5f0398e82df994d8c454eadfd29b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbf28b9bb8a9583543133d54e07dfe99590c06c46d4076f4791eba3f0c459e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 6.062 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]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.318, -0.136, 0.9971, 0.3717, 1.6695, 1.1961, -0.1833, 0.2951, 0.1833, 0.4164]\nstate[eef_state]: left_x=0.2909 left_y=-0.004 left_z=0.1918 left_yaw=0.1303 left_pitch=-0.3721 left_roll=0.2155 left_gripper=0.9971 right_x=0.4654 right_y=0.1302 right_z=0.1706 right_yaw=0.0159 right_pitch=-0.0402 right_roll=-0.0199 right_gripper=0.4164\nstate[joint_eff]: [-0.1436, -3.1248, 6.4752, 1.199, -0.2222, -0.0513, -0.0122, -0.1436, -11.0564, 9.1282, 1.9414, 0.1538, 0.105, 0.7399]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.2173, 1.1351, 1.0588, -0.9283, -0.318, -0.136, 0.9971, 0.6926, 1.8507, 1.4162, -0.3286, 0.5232, 0.3794, 0.4186]\nstate[eef_state]: left_x=0.291 left_y=-0.004 left_z=0.1919 left_yaw=0.1302 left_pitch=-0.3717 left_roll=0.2154 left_gripper=0.9971 right_x=0.4402 right_y=0.2552 right_z=0.163 right_yaw=0.0457 right_pitch=-0.0587 right_roll=-0.0431 right_gripper=0.4186\nstate[joint_eff]: [-0.0615, -3.2889, 6.4752, 1.2674, -0.2173, -0.0464, -0.0171, 0.1983, -9.1692, 9.5932, 1.6923, 0.3541, 0.2173, 0.442]",
      "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]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.3176, -0.136, 0.9971, 0.7013, 2.0212, 1.4155, -0.1932, 0.5457, 0.4026, 0.4207]\nstate[eef_state]: left_x=0.2909 left_y=-0.0041 left_z=0.1918 left_yaw=0.13 left_pitch=-0.3722 left_roll=0.2152 left_gripper=0.9971 right_x=0.4577 right_y=0.2713 right_z=0.1012 right_yaw=0.0233 right_pitch=-0.0766 right_roll=-0.0592 right_gripper=0.4207\nstate[joint_eff]: [-0.1436, -3.2342, 6.653, 1.199, -0.1441, -0.022, -0.0171, 0.5675, -11.7402, 6.8171, 1.8388, 0.3541, 0.1929, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:177964f013f3f41ce460fc8b23ceccfa81374f8849b93d302fe8d0f633f49c5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a61c83e60ef173a4c1d5e1ac5d1b3920a1de5f0398e82df994d8c454eadfd29b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbf28b9bb8a9583543133d54e07dfe99590c06c46d4076f4791eba3f0c459e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019h9oH5H6VQtKQhdxwzhw9D",
      "input": {
        "note": "Lemon is inside the safe walls; releasing it.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_yaw": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019h9oH5H6VQtKQhdxwzhw9D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.318, -0.136, 0.9971, 0.7017, 2.0552, 1.4128, -0.1318, 0.5468, 0.4118, 0.9949]\nstate[eef_state]: left_x=0.2909 left_y=-0.004 left_z=0.1918 left_yaw=0.1303 left_pitch=-0.3721 left_roll=0.2155 left_gripper=0.9971 right_x=0.4641 right_y=0.2767 right_z=0.0925 right_yaw=0.0188 right_pitch=-0.0566 right_roll=-0.0369 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -2.9744, 6.4889, 1.2332, -0.2173, -0.0317, -0.0171, -0.0342, -12.588, 7.0222, 1.9072, 0.4322, 0.1197, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b282d9d2585031835d94c247722a33bc78f97267e5e2aad8fd25edb10e3cddf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d10193fa28e5f0d92575b6277a59c707a2f9da1a7e360acb1396274f3481dea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54f729a407acb2fafe7b03424f8e2017fb6bfd3492db94b80c862e1fd6743b32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.879 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]: [-0.2173, 1.1351, 1.0588, -0.9283, -0.318, -0.136, 0.9971, 0.6926, 1.8507, 1.4162, -0.3286, 0.5232, 0.3794, 0.4186]\nstate[eef_state]: left_x=0.291 left_y=-0.004 left_z=0.1919 left_yaw=0.1302 left_pitch=-0.3717 left_roll=0.2154 left_gripper=0.9971 right_x=0.4402 right_y=0.2552 right_z=0.163 right_yaw=0.0457 right_pitch=-0.0587 right_roll=-0.0431 right_gripper=0.4186\nstate[joint_eff]: [-0.0615, -3.2889, 6.4752, 1.2674, -0.2173, -0.0464, -0.0171, 0.1983, -9.1692, 9.5932, 1.6923, 0.3541, 0.2173, 0.442]",
      "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]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.3176, -0.136, 0.9971, 0.7013, 2.0212, 1.4155, -0.1932, 0.5457, 0.4026, 0.4207]\nstate[eef_state]: left_x=0.2909 left_y=-0.0041 left_z=0.1918 left_yaw=0.13 left_pitch=-0.3722 left_roll=0.2152 left_gripper=0.9971 right_x=0.4577 right_y=0.2713 right_z=0.1012 right_yaw=0.0233 right_pitch=-0.0766 right_roll=-0.0592 right_gripper=0.4207\nstate[joint_eff]: [-0.1436, -3.2342, 6.653, 1.199, -0.1441, -0.022, -0.0171, 0.5675, -11.7402, 6.8171, 1.8388, 0.3541, 0.1929, 0.2125]",
      "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]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.318, -0.136, 0.9971, 0.7017, 2.0552, 1.4128, -0.1318, 0.5468, 0.4118, 0.9949]\nstate[eef_state]: left_x=0.2909 left_y=-0.004 left_z=0.1918 left_yaw=0.1303 left_pitch=-0.3721 left_roll=0.2155 left_gripper=0.9971 right_x=0.4641 right_y=0.2767 right_z=0.0925 right_yaw=0.0188 right_pitch=-0.0566 right_roll=-0.0369 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -2.9744, 6.4889, 1.2332, -0.2173, -0.0317, -0.0171, -0.0342, -12.588, 7.0222, 1.9072, 0.4322, 0.1197, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b282d9d2585031835d94c247722a33bc78f97267e5e2aad8fd25edb10e3cddf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d10193fa28e5f0d92575b6277a59c707a2f9da1a7e360acb1396274f3481dea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54f729a407acb2fafe7b03424f8e2017fb6bfd3492db94b80c862e1fd6743b32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAgKEAgSGAI4AUIIdGhpbmtpbmcSDB6hCeKlW9xftNN1VBoMUym29PVQnlszso6RIjDWV9HC8KsSoYXsJjBGBowRfcHd0O7Ol4BTnyjyKWeQf4+VMNf3OfaI1NhaqOX/k20q2QculFxvosiE8/dE+/dna3V+WR7NVmW5CLR4QtN28vsd7T+BATYsRgcesXlGa9g6NxdNk1btOsRkmUzETz+CdOB6eU08Vco+jbymhV5jt060Ne22bTUJPZw4ThfBE9ES2ne2uzmuOZuXJbuWMz0hZ/73W8nk9HAKK96S0/4Qxd7ZxPykXwQXNE//z/xjoZNFM55iMkOK9PuhL8whTenerFnBK/bE/UlGPba25st/yRH/rAgY97FGe/AdBIsgUithVAOqVNwq82qgHdihQ3Y3bMP6nsFWy9RQl95LPd70Nta3Cu9Lh7mmrufblklyGmjjTfhKEB1xvnQzWucVBv/zJI5oJPeyHP4gG14GzkeYv0pgXLDCmNfkRuv5NjG8qV40d31KZ4zi6lBhCAszSc+KPYhOvbq9Em01wET4+TPHegPpw+Ne/Wo1YH+5uuXoRjwcyKeT2wTyLUP/vsEu0mJ2o8TuwZdeI+DKjC2uOC5DvLmU1Ux4YP5pjFxGblD8ENqDkeBDoD9KIJKzxylkmzVJyMBIFZDWH1fVg0mFw/PkE4QLL9YaN/I26WKHlkaDXZTdBDzBWyf0hV1lJcD+Q0agGjInuFDohSTVrHSrHfk0uf0omJLHCRjjCcZGvRHYDzwahDwBAgNANBnSVoK7nFGc84ZaVRF54R8afGvLOJZYq6oY1jyYuNhgFMk10TY/LfGL4tlHH4DfZ3O3SSvs8AcqGqR7RMEY3WCVHI2SIG6VsVEQhUxeA/irXgjWvoxtE352iQLnrzyDi4zXL/PKIByQaoBSicdWBjiTE/jlnStzD0pIvbh3MnoheE4JpSOGZMMlUVJc3Dx7z4TR7kskVdUqzdEgDZoGPB0YQ6+NPJOZWXA8vLCCEFFvGNY9K8AWX4VE0UDzl00Kimq+2ycb3Cy1++3OpE8y+F5CCmnt95HoU0ld4E3dtdBMJ//02oXViij81ly6aauKqv6YPvGTzphOE3s0sImm4JYPYEdDj81OkGbSDUTHEzksObxa+ZDT7i9xxI8S4DwS443vyNMDFXBv4B2wIKh3PNSviYTBOVDfzPbCmKM4ZIXiRiLsSe3FUWQwgh4doiw/9WCFoOWQFANGqrKYAMZr116Gktnuqx7xjEu6C8OK9I5oKC0E/zrx2lHK5xxLKpnKXuWkuCfhzYq28kt/S1Fc/qVk5hKGC1H8xaMCtoqSN0LcwHcnKoRNNh0k5p2yqIXQ868pLEAHlJcNizAO550+dZxvhGdfgGtkLn1YVS4vVTrE17j44viU2I9QWGwq8ILneAio4u30vw6hn/3+3LfIhYfSNRhoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SGdTZadaBSGU8kQfWQJzT9",
      "input": {
        "note": "Lemon is in the safe. The brown teddy bear lies in front of the safe; moving the right arm back above it.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.32,
          "right_y": 0.3,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01SGdTZadaBSGU8kQfWQJzT9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9318, -0.318, -0.136, 0.9971, 1.0222, 1.7401, 1.2778, -0.4717, 0.7567, 0.6842, 0.9965]\nstate[eef_state]: left_x=0.2906 left_y=-0.0039 left_z=0.1904 left_yaw=0.1312 left_pitch=-0.3785 left_roll=0.2181 left_gripper=0.9971 right_x=0.3239 right_y=0.3043 right_z=0.1572 right_yaw=0.0388 right_pitch=-0.0412 right_roll=-0.0416 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -3.0974, 6.4752, 1.2869, -0.1929, -0.0317, -0.0122, 0.1709, -11.0974, 7.9521, 1.3993, 0.5836, 0.1148, 0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16acfe3e62ddb029941b57f9591c8e2477f81f67f4db745dea7e30da577dd255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6606ecafb57a5ff0b788593e46246b710ba4736ae285b54cfebb351bac426754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c07811e7302e63363fd4a374cceb3492dbfcb048eb0b637e3f3aa8a2f8e2502",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 3.826 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]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.3176, -0.136, 0.9971, 0.7013, 2.0212, 1.4155, -0.1932, 0.5457, 0.4026, 0.4207]\nstate[eef_state]: left_x=0.2909 left_y=-0.0041 left_z=0.1918 left_yaw=0.13 left_pitch=-0.3722 left_roll=0.2152 left_gripper=0.9971 right_x=0.4577 right_y=0.2713 right_z=0.1012 right_yaw=0.0233 right_pitch=-0.0766 right_roll=-0.0592 right_gripper=0.4207\nstate[joint_eff]: [-0.1436, -3.2342, 6.653, 1.199, -0.1441, -0.022, -0.0171, 0.5675, -11.7402, 6.8171, 1.8388, 0.3541, 0.1929, 0.2125]",
      "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]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.318, -0.136, 0.9971, 0.7017, 2.0552, 1.4128, -0.1318, 0.5468, 0.4118, 0.9949]\nstate[eef_state]: left_x=0.2909 left_y=-0.004 left_z=0.1918 left_yaw=0.1303 left_pitch=-0.3721 left_roll=0.2155 left_gripper=0.9971 right_x=0.4641 right_y=0.2767 right_z=0.0925 right_yaw=0.0188 right_pitch=-0.0566 right_roll=-0.0369 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -2.9744, 6.4889, 1.2332, -0.2173, -0.0317, -0.0171, -0.0342, -12.588, 7.0222, 1.9072, 0.4322, 0.1197, -0.2466]\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]: [-0.2173, 1.1389, 1.0588, -0.9318, -0.318, -0.136, 0.9971, 1.0222, 1.7401, 1.2778, -0.4717, 0.7567, 0.6842, 0.9965]\nstate[eef_state]: left_x=0.2906 left_y=-0.0039 left_z=0.1904 left_yaw=0.1312 left_pitch=-0.3785 left_roll=0.2181 left_gripper=0.9971 right_x=0.3239 right_y=0.3043 right_z=0.1572 right_yaw=0.0388 right_pitch=-0.0412 right_roll=-0.0416 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -3.0974, 6.4752, 1.2869, -0.1929, -0.0317, -0.0122, 0.1709, -11.0974, 7.9521, 1.3993, 0.5836, 0.1148, 0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16acfe3e62ddb029941b57f9591c8e2477f81f67f4db745dea7e30da577dd255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6606ecafb57a5ff0b788593e46246b710ba4736ae285b54cfebb351bac426754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c07811e7302e63363fd4a374cceb3492dbfcb048eb0b637e3f3aa8a2f8e2502",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS7AcKEAgSGAI4AUIIdGhpbmtpbmcSDL+siaAFmEcMeBzMdxoMwBB6U1mQKswACDtfIjAEmRBjPq+kzlxhig27gmbk/cSPb9cDvTtBduABMG5n749KBI1m+a0DF+MybKkgn6sqiQf/fQZluG1pHuuF9qNtS5StTsF1GGCrKD9sM2Znzbze06FjRVJyMfEgtbR4SxJeZMBfX+ccsdsofRBZLpolg5Vf4TZxuoPbYSTH9vxTOQ0O4fTRvWtK1a5pe2sGnCg6J0IzT7BMItn/ths+CFLkhpOrqnrVX04k3W5t0jaBzXxf7InA1ct0bYom0Se4Vh3KE9TcIoltMMjf2wIj6adNP/XjyBPW6wfr0v7rorhp/8z+wSrTTjY0VyJu5ZDRhTUxBmOK7j6yve5oyKDJPuB1fAUnQ8j+squqIHpaeVE4xdjf1TIEepK6FcAOreQlztsVvqUnTJm8oiXrEmLqzF830ZnVoe/udZ7gMW4zELjlVErVdv71FvdYVx8uKxbJfl+kwRlbAIdYkfbwH6uFxfLsdimrEstrI/sP8hMAAO1LqYD75IZyUJ2XJFq+Z9Z0gLuG4VqSn4rqTAIxtXcMH2bwdz7WKjDJiBNMe2b3mir0upmtRsUqeDICH6S2xxGtyZjwv0ev9s6Hklgcp8/XsyYCj+nYkv363pfXb+8Uo6Gn08MJ/eG4asTxeFo+KrgB/XcgvemGuh0VqMeTw8svAWTvffSz6wufX3mHtqLDax76Bhy68aznAV1fb9uVqGjF+MvtW29AwQR1k2MQqO03RJjkX3Ms/BqXLB0jRPew2Oh/8Jy7+4UaGfrYdOGQl43wPVp53L1AM8jjqqX832KAX3a5NNxH5Tn1izcD7sDNyoSqxMzWc1sSki9VNrcHr2xlU8hSQK118KSdDarDtfPLogOLGjm6B/iGvCkpnj6/cj2Lq9Nfx8hJnfpjcl7Ff3YCcQBkzo6VaxmnmSPE/N8m5rkJTd1Ta0dtODL2cPAaCmcrQeFYXFB5XNfekCnooBKlsVXxPPCMWKC8EqXC8TIahBcL15zDYPj/4KB07prUVWstIq2vLjT1Fx9XXZaXceUfYc5foPCbG8gCcCEyEU5Ooizja33aTKCKjxQE5yoVf0H7chRH4JMF7vQz9LTl8LyCalX6BWbDyFmSa9esgd4Z+JMC9LSzUUPzYb6n1Fdff9YDE5XnFW50dhldqWjXvx2dxijVY5/IM3yLbwgpd4yDEQhljtS3Ibg4spT0fs2gyRGoOb64mKB6iN+usaTDpFI9HsP4ggZoQ1awOfddjiAEKaX8dPM3WyEHj3lh03q24sqC8YplljmJP1Q9V9nwUBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G5fssUEv6M2dKFb4Ckt6D9",
      "input": {
        "note": "Brown bear is directly below/just ahead of the jaws in the wrist view; descending to grasp it.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.33,
          "right_yaw": 0.0,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01G5fssUEv6M2dKFb4Ckt6D9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9344, -0.318, -0.136, 0.9971, 1.0203, 1.9312, 1.0199, -0.0376, 0.7734, 0.7074, 0.9967]\nstate[eef_state]: left_x=0.2901 left_y=-0.0038 left_z=0.1901 left_yaw=0.1316 left_pitch=-0.381 left_roll=0.219 left_gripper=0.9971 right_x=0.3245 right_y=0.2996 right_z=0.0426 right_yaw=0.0134 right_pitch=-0.0374 right_roll=-0.0426 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -3.3162, 6.4615, 1.2674, -0.2222, -0.0611, -0.0171, -0.1299, -8.4855, 5.1487, 1.3993, 0.4225, 0.0513, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fd4d579fa021156e0082cc6c7c5acb57e4379d69aa77afbe9bea0730ebb302b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:592d9fab0aabf1d1646f91cf1d27bec861c3a5f4d37055b5ae0ee87d98376560",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42824dbc2f095ab57d94812d010075bb4b5ece3fbe5c2e4c2d80d089e7840d62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.055 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]: [-0.2173, 1.1351, 1.0588, -0.9287, -0.318, -0.136, 0.9971, 0.7017, 2.0552, 1.4128, -0.1318, 0.5468, 0.4118, 0.9949]\nstate[eef_state]: left_x=0.2909 left_y=-0.004 left_z=0.1918 left_yaw=0.1303 left_pitch=-0.3721 left_roll=0.2155 left_gripper=0.9971 right_x=0.4641 right_y=0.2767 right_z=0.0925 right_yaw=0.0188 right_pitch=-0.0566 right_roll=-0.0369 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -2.9744, 6.4889, 1.2332, -0.2173, -0.0317, -0.0171, -0.0342, -12.588, 7.0222, 1.9072, 0.4322, 0.1197, -0.2466]\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]: [-0.2173, 1.1389, 1.0588, -0.9318, -0.318, -0.136, 0.9971, 1.0222, 1.7401, 1.2778, -0.4717, 0.7567, 0.6842, 0.9965]\nstate[eef_state]: left_x=0.2906 left_y=-0.0039 left_z=0.1904 left_yaw=0.1312 left_pitch=-0.3785 left_roll=0.2181 left_gripper=0.9971 right_x=0.3239 right_y=0.3043 right_z=0.1572 right_yaw=0.0388 right_pitch=-0.0412 right_roll=-0.0416 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -3.0974, 6.4752, 1.2869, -0.1929, -0.0317, -0.0122, 0.1709, -11.0974, 7.9521, 1.3993, 0.5836, 0.1148, 0.1538]",
      "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]: [-0.2173, 1.1389, 1.0588, -0.9344, -0.318, -0.136, 0.9971, 1.0203, 1.9312, 1.0199, -0.0376, 0.7734, 0.7074, 0.9967]\nstate[eef_state]: left_x=0.2901 left_y=-0.0038 left_z=0.1901 left_yaw=0.1316 left_pitch=-0.381 left_roll=0.219 left_gripper=0.9971 right_x=0.3245 right_y=0.2996 right_z=0.0426 right_yaw=0.0134 right_pitch=-0.0374 right_roll=-0.0426 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -3.3162, 6.4615, 1.2674, -0.2222, -0.0611, -0.0171, -0.1299, -8.4855, 5.1487, 1.3993, 0.4225, 0.0513, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fd4d579fa021156e0082cc6c7c5acb57e4379d69aa77afbe9bea0730ebb302b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:592d9fab0aabf1d1646f91cf1d27bec861c3a5f4d37055b5ae0ee87d98376560",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42824dbc2f095ab57d94812d010075bb4b5ece3fbe5c2e4c2d80d089e7840d62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016c3gJNn3QqZSkWZyxdtkJr",
      "input": {
        "note": "Bear fur fills the bottom of the wrist view between the jaws; closing on it.",
        "targets": {
          "right_gripper": 0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016c3gJNn3QqZSkWZyxdtkJr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.944, -0.318, -0.1364, 0.9971, 1.0218, 1.964, 0.9623, 0.1047, 0.7746, 0.7124, 0.0092]\nstate[eef_state]: left_x=0.2882 left_y=-0.0034 left_z=0.1889 left_yaw=0.1331 left_pitch=-0.3899 left_roll=0.2223 left_gripper=0.9971 right_x=0.3248 right_y=0.301 right_z=0.0285 right_yaw=0.0125 right_pitch=-0.0089 right_roll=0.0049 right_gripper=0.0092\nstate[joint_eff]: [-0.212, -3.3026, 6.4479, 1.2625, -0.2222, -0.0757, -0.0171, 0.2393, -7.1726, 4.9162, 1.4725, 0.5104, 0.0904, 0.6764]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2e0e7a0a934483869f4c8e247aad411b3122530bf1c9285e7be13e12061f903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1789c8249b9c705d829472f3630234702a920fa84336fbffc0bc6854953e166a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14301c3d638414bbab00dc84030bc8a3f1914cf43a41b1f032f39236e2e4da7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.669 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9318, -0.318, -0.136, 0.9971, 1.0222, 1.7401, 1.2778, -0.4717, 0.7567, 0.6842, 0.9965]\nstate[eef_state]: left_x=0.2906 left_y=-0.0039 left_z=0.1904 left_yaw=0.1312 left_pitch=-0.3785 left_roll=0.2181 left_gripper=0.9971 right_x=0.3239 right_y=0.3043 right_z=0.1572 right_yaw=0.0388 right_pitch=-0.0412 right_roll=-0.0416 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -3.0974, 6.4752, 1.2869, -0.1929, -0.0317, -0.0122, 0.1709, -11.0974, 7.9521, 1.3993, 0.5836, 0.1148, 0.1538]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9344, -0.318, -0.136, 0.9971, 1.0203, 1.9312, 1.0199, -0.0376, 0.7734, 0.7074, 0.9967]\nstate[eef_state]: left_x=0.2901 left_y=-0.0038 left_z=0.1901 left_yaw=0.1316 left_pitch=-0.381 left_roll=0.219 left_gripper=0.9971 right_x=0.3245 right_y=0.2996 right_z=0.0426 right_yaw=0.0134 right_pitch=-0.0374 right_roll=-0.0426 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -3.3162, 6.4615, 1.2674, -0.2222, -0.0611, -0.0171, -0.1299, -8.4855, 5.1487, 1.3993, 0.4225, 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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.944, -0.318, -0.1364, 0.9971, 1.0218, 1.964, 0.9623, 0.1047, 0.7746, 0.7124, 0.0092]\nstate[eef_state]: left_x=0.2882 left_y=-0.0034 left_z=0.1889 left_yaw=0.1331 left_pitch=-0.3899 left_roll=0.2223 left_gripper=0.9971 right_x=0.3248 right_y=0.301 right_z=0.0285 right_yaw=0.0125 right_pitch=-0.0089 right_roll=0.0049 right_gripper=0.0092\nstate[joint_eff]: [-0.212, -3.3026, 6.4479, 1.2625, -0.2222, -0.0757, -0.0171, 0.2393, -7.1726, 4.9162, 1.4725, 0.5104, 0.0904, 0.6764]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2e0e7a0a934483869f4c8e247aad411b3122530bf1c9285e7be13e12061f903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1789c8249b9c705d829472f3630234702a920fa84336fbffc0bc6854953e166a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14301c3d638414bbab00dc84030bc8a3f1914cf43a41b1f032f39236e2e4da7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAgKEAgSGAI4AUIIdGhpbmtpbmcSDGcVZzlXzsmQa+SA7BoM8OQbMVybtUIKWFnCIjD9hONAUDysZMj7b0cc84dVDFtjPW/TL0tBrAJkh2mnhx32VOMFbxSdNCOJa/YZYGcq6QfG/xX+zXuVL4FyWoJo6SKlQQ1z6GK6TkI5zVXjEWsG3u0z2ig/ERPmSJ5ZufifKFC6NCOSe8he28M8Ze08fykNViPhZ65z8q0kWOJmdaDjiiGlhd+jkDvCUeE+ccc4Ksv3UIrRcMzUwy2nx3wGdhQfToYQYn3xoQ0zJ1TjjDXFhzmDT57KHvE9ETeE0b9NRZbUp/tyVFriAQvIx+pJdGO9kudtK25x24gSiIiVqI8labJhNuY2U+WtDB1Fv8ZuCTdi2AL4c4zjI7Rk+chYGbMPxN0qAVWHhRQ7IIVxV+c/o+VbM6ZApucs8WLL0ilTC3ieVz1WIxNTdTG5m1mXF8bUh1UVPb4B/1lwWouVAJgbPAMvn/oo0td3VdYnKQ/3RAwAIMZmfT9eU3parjYzgq/3CGrXWQruL+2xIX7EdlufBySOyx7zNlMwGi4wIYxJpayT7CmQQyojq6FBQCIgiiABnqT7LWf408Qm5kW2r9njDttJCw51dwjf2sTDM3Z8K2VO14cITrNZRuDsoujgunS642igZ/J+Mn5cdJmy7Zsvja9Py/80PSXMpy5PAx/wO0tGmvqE4GGiUO4ta8o2pQM4i41wgKQKqefwrX+ATYmrQKL4l0DxOb23LDU+qs6YuDiBd7XsHvhWoaGXD6YqdIxiOpEooelF5LXo8IiabVXp4UQlFCgzqLajsTPxNjdEfLLNY+/2fuVq6kFgZQZwRfqAs/6oVE0HZbM5wBj5MrrLBx6yHxR2umG4cCJQv2kAsq0P9KAOwA/tvNQXDYh3MovFWPSKAGWKffMzlg+F3I1pP3OkXUdu8RCKfkPzw7GVgUlZLPAPa/iipSnluFgYAJ+2lZg0WqPgXSh6M+PkUg0XbvrAL0PYGEi7JSeg2kcpZuypd+VJPwFKSVGSYUFwFp8AItP1iyn8mDuweB/+9UJ6w2ADuaJyH+BAs6ceLs6h/lS71SgGI5sWKtqQLsvPNE58iEI7L+72NPFJ9+tH3o3JAWbdiy21tytTrLJg1Mm4zO/QWRNb79DUBocy9r+8mbTnTXjaThnBVIIHJRy1m2diEuOuVWLAFCq+ptjGpebFA0gLMVD695rAXXtZ5oeRknGyUnwZXSvWCIhG/8A86u0GUS05TAuy/0prxVlZvEEX+Z3EXgcOrNK1cAmzUwTI/GagXVfP/mBvXTKyozbLw94O4LQhvbHA+xwO22rTi1Yc4dIp0zvghdA8DUwGiLDrS2ffWR6DRw3BdqX2kKCEjgqQW5xM0/s6+DjhH8vvHOXXvxCzL4AiqWz9tzlPKDqy3VSbnYbopsgwiYv20gybVzBqYk1GQgt4XKaK+RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WeR3MoMT8iQ85irtKGxCro",
      "input": {
        "note": "Empty close: the bear's body is still ahead of the fingertips. Opening and advancing 4–5 cm.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.37,
          "right_yaw": 0.0,
          "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_01WeR3MoMT8iQ85irtKGxCro",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9478, -0.318, -0.136, 0.9971, 0.9291, 2.0014, 1.0466, 0.0845, 0.7208, 0.6201, 0.9946]\nstate[eef_state]: left_x=0.2874 left_y=-0.0032 left_z=0.1884 left_yaw=0.1334 left_pitch=-0.3936 left_roll=0.224 left_gripper=0.9971 right_x=0.3608 right_y=0.294 right_z=0.0317 right_yaw=0.0057 right_pitch=-0.0283 right_roll=-0.0256 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -3.2889, 6.5026, 1.2625, -0.2076, -0.0122, -0.0171, -0.4581, -8.7043, 7.665, 1.5946, 0.3541, -0.0757, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bbbf89c9e508e9ca1f4b8e6a5e8f19c2fec33c49fc7f9e156a9991691091907",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b1a30593aa00089505116631266647af4a9c6648d1ffaeb816f1dd003e1053",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5cbb9ac7db47e988ed73cfb9e99f51d109f539ae87bed005f5684be1be6aa2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 6.908 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9344, -0.318, -0.136, 0.9971, 1.0203, 1.9312, 1.0199, -0.0376, 0.7734, 0.7074, 0.9967]\nstate[eef_state]: left_x=0.2901 left_y=-0.0038 left_z=0.1901 left_yaw=0.1316 left_pitch=-0.381 left_roll=0.219 left_gripper=0.9971 right_x=0.3245 right_y=0.2996 right_z=0.0426 right_yaw=0.0134 right_pitch=-0.0374 right_roll=-0.0426 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -3.3162, 6.4615, 1.2674, -0.2222, -0.0611, -0.0171, -0.1299, -8.4855, 5.1487, 1.3993, 0.4225, 0.0513, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.944, -0.318, -0.1364, 0.9971, 1.0218, 1.964, 0.9623, 0.1047, 0.7746, 0.7124, 0.0092]\nstate[eef_state]: left_x=0.2882 left_y=-0.0034 left_z=0.1889 left_yaw=0.1331 left_pitch=-0.3899 left_roll=0.2223 left_gripper=0.9971 right_x=0.3248 right_y=0.301 right_z=0.0285 right_yaw=0.0125 right_pitch=-0.0089 right_roll=0.0049 right_gripper=0.0092\nstate[joint_eff]: [-0.212, -3.3026, 6.4479, 1.2625, -0.2222, -0.0757, -0.0171, 0.2393, -7.1726, 4.9162, 1.4725, 0.5104, 0.0904, 0.6764]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9478, -0.318, -0.136, 0.9971, 0.9291, 2.0014, 1.0466, 0.0845, 0.7208, 0.6201, 0.9946]\nstate[eef_state]: left_x=0.2874 left_y=-0.0032 left_z=0.1884 left_yaw=0.1334 left_pitch=-0.3936 left_roll=0.224 left_gripper=0.9971 right_x=0.3608 right_y=0.294 right_z=0.0317 right_yaw=0.0057 right_pitch=-0.0283 right_roll=-0.0256 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -3.2889, 6.5026, 1.2625, -0.2076, -0.0122, -0.0171, -0.4581, -8.7043, 7.665, 1.5946, 0.3541, -0.0757, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bbbf89c9e508e9ca1f4b8e6a5e8f19c2fec33c49fc7f9e156a9991691091907",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b1a30593aa00089505116631266647af4a9c6648d1ffaeb816f1dd003e1053",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5cbb9ac7db47e988ed73cfb9e99f51d109f539ae87bed005f5684be1be6aa2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AkKEAgSGAI4AUIIdGhpbmtpbmcSDBK9kh/6LNCp1mpQzhoMVbBHAo4+gKQbgj+wIjCrPLxIpRlDw1/XeoWoseeRpUHE+2cFLA1dtSPmMSPrEH470QIcvCdEjd122gVhXV0q/QhVju5ljxybzra62YD706QfgsS6revMsJ8Z5RzN2yAVT23kYgslGaUWAjgBVDwv1W+uF1PrWarIEr9T10W0zHJMDQ2+TbOOo45Ib8ArRH1JoEwIFVUr9NG7eRfN6MspU9PEsdO/Q597LTwFa2P8k9no5p7rxB0G0blcLMxyKQpjzuS6d5Li/uS/MOE0Q170Ies65bTSIvfNOniLGJrFkRNhYbIVREg8XEic5jlIR19DbKZKSx04SKV58FkRPBMwIRaGJ/4E7+XyLoiDfGfhtYfK/eJ7oJEMK/F1FhkIA6I9Z+vrndueaepE8B9p1XAnPVtROMBorJjqwTm+Nq9My2eWkXgRP0Htdg8OsDAcOJoAnp9Vgr7YBqdAIiwaY5LNCAIDtdKduu8D8hDsADHsGVoQMFoCLw/4siL6bzpDTBX6VYXqqkd28hZvGF2PuSFaDaVlBGEooiTWww8MRne2vz52rh9tItt/qog8hc3cJDgr7VjfmSuNCSOKjVHOcFQctxQX9+1ZxNtumohBUX6kZwmiH5m0Wf5BmLcVCDwOmmQIiAjXftAbw1XkYe1/eIXDuNahUPVfGBfy0T+efAArHay8HC4wW+/dEp+ElJMagYwJU+qr/ORBwYTCg/jZ3hbWJAnJPHLszd4YxvZwWoX2qnOHamBbEhV5B5SeEozZGKLaU3tYlHnEVZkuhXzsbOhd+I9CQysL3Xb5ljx+E20z/fgTWKA1HwEiB0qICFiwnGeqp8aXhyBxY2wZVcWCS3wEG76RPGt7QBwBTpVdF8tLKx1d3Mb/970UAIkWRyczz/egAl0hHDeSqeOYYHWZ7zVqDj7Su0rZvDCf9MgfEyw1IVxSRbJKVcX/QhWd+voF8l5G1dAUHBbxwhmobqiN96dvuiHVyAG5SRiXCJKI40btM+5XxrzGBu/c8V1SWpu3hQnXWdFHPJUOPykdV11DN2RmoX1Elx+/rWaAL+XYPytwVpyUDxc2RNlAfwEmVWUICJDjukqSOkYr/qRTcp+Eu03ZZWrm4eZ1u6xSj6REofRGlmrVNr0H5qYX1ABDgpI7YgK0ErPiClOaygW99kuN033IZd74dVtgXM3ZiGjgDgayhcm/uxHhSsBdfbbacX1UX/MRbEw7iZrn41GtUx8x2RRbkTiUVbsJ8umb3+lLuDLT6D0ODGs6IEkyW/2Yg9POXPd8uJ1eMDAsKulD19RpsGquNADTNxEwyYKTNo3wHFfmab1R1C5Wb02r8GVGdTSTnOehMMeGrH1AUF+XkuRr59S3ZjVzybU9vgTIZEOxTECF2IlFcl7cpPYZ2SeYe8syuc+FuMT+SyrUpxly7VpZjv63iJSjPfkoo3NkKjuA3AL8i5tKaizXt70FTqNflhMCpUoK7aBCXF38ASQ7mWi+suCLKTzyua6jIEGIFU4TrD2wGfeM6r7DyliTM5vvjmXtIGhpF7O4AY6sUuhwf6UEXn9GtE80PbXiQXISodqER7rkvSNro61iarDxE8Wn0wGznHPbrdoLuuBCfWZjt9YHb5IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015kFNvES7jpF3Z1ECyQDgdE",
      "input": {
        "note": "The bear's raised paw is centred between the jaws at the bottom of the wrist view; lowering slightly and closing on it.",
        "targets": {
          "right_gripper": 0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015kFNvES7jpF3Z1ECyQDgdE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9504, -0.318, -0.136, 0.9971, 0.9279, 2.0277, 1.0084, 0.1822, 0.7219, 0.6174, 0.0124]\nstate[eef_state]: left_x=0.2869 left_y=-0.0031 left_z=0.1881 left_yaw=0.1338 left_pitch=-0.3961 left_roll=0.225 left_gripper=0.9971 right_x=0.3614 right_y=0.2937 right_z=0.0213 right_yaw=0.0057 right_pitch=-0.0076 right_roll=-0.0019 right_gripper=0.0124\nstate[joint_eff]: [-0.0342, -3.2752, 6.6667, 1.2137, -0.2271, -0.022, -0.0122, 0.212, -8.335, 4.7658, 1.6532, 0.3541, 0.022, 0.7399]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96e27603b7ebc51bc379bbb52c8e81d2a90b0e2939a589024cc60450bdb1cac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:270cd3dc210786fb33437f82304440c4f8387806099c3f3c338036fee6217ac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ad8332fc7b5dc9701035b73c2cd5fe410bf9e497a9e08387d7523316d42fa98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 5.901 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.944, -0.318, -0.1364, 0.9971, 1.0218, 1.964, 0.9623, 0.1047, 0.7746, 0.7124, 0.0092]\nstate[eef_state]: left_x=0.2882 left_y=-0.0034 left_z=0.1889 left_yaw=0.1331 left_pitch=-0.3899 left_roll=0.2223 left_gripper=0.9971 right_x=0.3248 right_y=0.301 right_z=0.0285 right_yaw=0.0125 right_pitch=-0.0089 right_roll=0.0049 right_gripper=0.0092\nstate[joint_eff]: [-0.212, -3.3026, 6.4479, 1.2625, -0.2222, -0.0757, -0.0171, 0.2393, -7.1726, 4.9162, 1.4725, 0.5104, 0.0904, 0.6764]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9478, -0.318, -0.136, 0.9971, 0.9291, 2.0014, 1.0466, 0.0845, 0.7208, 0.6201, 0.9946]\nstate[eef_state]: left_x=0.2874 left_y=-0.0032 left_z=0.1884 left_yaw=0.1334 left_pitch=-0.3936 left_roll=0.224 left_gripper=0.9971 right_x=0.3608 right_y=0.294 right_z=0.0317 right_yaw=0.0057 right_pitch=-0.0283 right_roll=-0.0256 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -3.2889, 6.5026, 1.2625, -0.2076, -0.0122, -0.0171, -0.4581, -8.7043, 7.665, 1.5946, 0.3541, -0.0757, -0.1783]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9504, -0.318, -0.136, 0.9971, 0.9279, 2.0277, 1.0084, 0.1822, 0.7219, 0.6174, 0.0124]\nstate[eef_state]: left_x=0.2869 left_y=-0.0031 left_z=0.1881 left_yaw=0.1338 left_pitch=-0.3961 left_roll=0.225 left_gripper=0.9971 right_x=0.3614 right_y=0.2937 right_z=0.0213 right_yaw=0.0057 right_pitch=-0.0076 right_roll=-0.0019 right_gripper=0.0124\nstate[joint_eff]: [-0.0342, -3.2752, 6.6667, 1.2137, -0.2271, -0.022, -0.0122, 0.212, -8.335, 4.7658, 1.6532, 0.3541, 0.022, 0.7399]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96e27603b7ebc51bc379bbb52c8e81d2a90b0e2939a589024cc60450bdb1cac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:270cd3dc210786fb33437f82304440c4f8387806099c3f3c338036fee6217ac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ad8332fc7b5dc9701035b73c2cd5fe410bf9e497a9e08387d7523316d42fa98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS8QkKEAgSGAI4AUIIdGhpbmtpbmcSDCEqgLhw5ghqoxyYHhoMrXGkDNtAgCL/8UasIjD99VK4MN4W2J5xUjSdar4yEw10KC8dwmAF3ebTteQsir7nuf+4icTknjHIFPP0WVMqjglzFFQSRItmCDqUyAiUYYVEuhwwYeAytEoyD59UKny39eIvmvFNc1p8k5FgBiHcJX78/NyeDUQ69msR4lKrF/O2RYFg8k6aFCaBfKbMOcNGILeTcdg+UTFALrUSbu0BCjjj/qQkEzhZRfYNCxgAzDI1RfqeXhJUbDkDjjh2X/yAClq7ME4tKeM/CAHNtaKiHG+TDjM7oTfWcMw8cwsruL7d+RNdoqIlZvZAkhik7zHG/XVPosx7NbFRxjH/RuOwdAcwql1ew9u9hNwnpqMQPE4jkMc47bA2hF7KA6QAFNwVZVOgYcXlGh5N0JVbimylaSjuLwA/k/IRNrBw0vCGxUZ3QGl9MoU7WX+QP54SIGMwgwaMWS31TLpYq7WAEovQtoL3PtguylNYFERvYdpD0f+qHiSsboU01p/NeVD0CWIoRba+Zsw4IO/8fh974f1rwKzO3xM9sWT7LOPWwlUPHWvJQNeJEtXkBEDrQW9ofl5+/BQvGfgX83n2itNWBYJZDrfSpWzLQxjmCC7fPYapV3LLdaMa7thxvyYoQrxBBf08LJ5+/58PDnIfq9KhAKF+ClAyGKzqxy+q0aurOET16va64KHhjoz42y6uOTcHEEatPptlX31OLRJIZ1Y7qdCGzvrcP2u9nTrqYqK8R32sA7T2NPzaekzO7KgRMAucjyyeuOULhyzYyo+NQkQeiOm/WEB7/HkWlgwbyZXqWcHPB9vaSke1Qmq5Xnn5CxynGdEJURklypmflf6rlNBzL6+aStN+GZ7muMvWST9utw/NyDoJEN0ol97SVL3XZN+TS5iX12AIODoTVt4pbPQjJSop7pk9oU+in7eJJgbhG0Z26DdHG71tAddnNk5JNCO6PMBT5X6eiV5p/aOFK5SbwbNnXTVTpOG8OcFgnIapP0NGtadAOYRKvPfEo91H3XSiifzLmzlaD6YewtYNtonFESpaPt2WxrChXiZE2YeHtnSTX5qa8OT8AJaReKuZWLVQJn0VQ49f7CJgZaRP2jCGDyf2rVuj7c5KNXXogHgbsDNxxdt79VSGcgbkFzXXLKoecDbkKtXgdMXM8Lz1HY2di197MZazesSB97MgmMfCkLLTVjwpyJd6Mx4V374ZJeWl6uLc1/RHj4ojJP5oA1SBtXDUPpvB0lHEviLpm4athK4VZGE++VlYmrBYHa49r8v+RE73kTAkrEBg8IZ7Jlm2mNgAwCghUX8UyYHTD6K56eStyKsvYmk05VZ50ZFcX/q/wlOD+/jnAnUYbssFMSGCwQECFLiR0y+p828eBoxbk5rJ7hAtiSBiXZ35Jhapd/2A6JfD3UasSB1Z+O7WhiGaxY8HRgeoez1TmqQSqy1CCOLQngPOxhpZiGZmSUNMfkIlcICOwPPP1jbEN9A/IrB1/ktBz9VGsbaZXIXTGttX3fTkkbw66aEYTmPnkpEkI9HUMz0pPQtIsRfUoFAQxLG33DeqtOrgaZLWbXiSvnpQ2BUXPmo+U9DDXpDgAtuk/m/i/IDfeigXDvIykeqjbD0xJ06XrE2YoS9FyE8Otro28VMR2RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JDk5ivGAVcN6TFdUNpS6yN",
      "input": {
        "note": "Second empty close; the paw still shows ahead of the jaws. Opening and advancing another 3 cm.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.395,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JDk5ivGAVcN6TFdUNpS6yN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.136, 0.9971, 0.8661, 2.0464, 1.0737, 0.1513, 0.6785, 0.5564, 0.9946]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1339 left_pitch=-0.3964 left_roll=0.2251 left_gripper=0.9971 right_x=0.3861 right_y=0.2885 right_z=0.0261 right_yaw=0.0074 right_pitch=-0.0229 right_roll=-0.02 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -3.2889, 6.4342, 1.1941, -0.2076, -0.0562, -0.0122, -0.7043, -8.759, 7.9248, 1.6532, 0.2759, -0.0366, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1054071717a62dff6f7d3e762a4eb168d38ede99e238b306a1f9c2cf7e0b8cd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66eb5bbdc08a2af1269a3f46d84d5cfff6d3045a2fb414241983ab074f3acc38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66f09dd26640e59834118c74ba77cbffad83a9c0ab314ffb6d57efc6c6dc5e80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 7.238 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9478, -0.318, -0.136, 0.9971, 0.9291, 2.0014, 1.0466, 0.0845, 0.7208, 0.6201, 0.9946]\nstate[eef_state]: left_x=0.2874 left_y=-0.0032 left_z=0.1884 left_yaw=0.1334 left_pitch=-0.3936 left_roll=0.224 left_gripper=0.9971 right_x=0.3608 right_y=0.294 right_z=0.0317 right_yaw=0.0057 right_pitch=-0.0283 right_roll=-0.0256 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -3.2889, 6.5026, 1.2625, -0.2076, -0.0122, -0.0171, -0.4581, -8.7043, 7.665, 1.5946, 0.3541, -0.0757, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9504, -0.318, -0.136, 0.9971, 0.9279, 2.0277, 1.0084, 0.1822, 0.7219, 0.6174, 0.0124]\nstate[eef_state]: left_x=0.2869 left_y=-0.0031 left_z=0.1881 left_yaw=0.1338 left_pitch=-0.3961 left_roll=0.225 left_gripper=0.9971 right_x=0.3614 right_y=0.2937 right_z=0.0213 right_yaw=0.0057 right_pitch=-0.0076 right_roll=-0.0019 right_gripper=0.0124\nstate[joint_eff]: [-0.0342, -3.2752, 6.6667, 1.2137, -0.2271, -0.022, -0.0122, 0.212, -8.335, 4.7658, 1.6532, 0.3541, 0.022, 0.7399]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.136, 0.9971, 0.8661, 2.0464, 1.0737, 0.1513, 0.6785, 0.5564, 0.9946]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1339 left_pitch=-0.3964 left_roll=0.2251 left_gripper=0.9971 right_x=0.3861 right_y=0.2885 right_z=0.0261 right_yaw=0.0074 right_pitch=-0.0229 right_roll=-0.02 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -3.2889, 6.4342, 1.1941, -0.2076, -0.0562, -0.0122, -0.7043, -8.759, 7.9248, 1.6532, 0.2759, -0.0366, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1054071717a62dff6f7d3e762a4eb168d38ede99e238b306a1f9c2cf7e0b8cd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66eb5bbdc08a2af1269a3f46d84d5cfff6d3045a2fb414241983ab074f3acc38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66f09dd26640e59834118c74ba77cbffad83a9c0ab314ffb6d57efc6c6dc5e80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS6QgKEAgSGAI4AUIIdGhpbmtpbmcSDCmQ2rYmJ06q/HL/8RoMNjK3/5nGl0Ko1q13IjBjnDugFGUslzr2i/PaPyrJD29jWg8V3Cm3143thmbsIvCNq0XbRQvZmHu1n4qVa88qhgieOGSo8RokLeE05AWWPbGnueQabiRB1ESS7H/IjMXNoP6V8B82Sh+QjoK2jhLar9NlOAeka0fXUas512tqXmtj8lVCuN9FrQagkaOnZVzSVLHfRzZFw//rnTe5euBTH6xkpzMeYVNq30KqbKYz3G8/TSc4/aUvzSJe8oiM5Z6KPSjmxs5v0+D0JyAwTMifW1euvbnybwHujtxKAe+l8iYMbj7ZM7u4OCMFr0NbLvzCogRZCDKeJCtQzCKfPSz6qmsWREZQuGGLHWSZdf9ooY++yFe5Dt4wOUipPXh2zYRZyJMY3PG/9aIYeAxIFuGt9Iy6HwRg2wrCVderpbJ5beHXdNsxXS6+Ah/oDIkxDNpN1gXKDO7KXSKL9b8VuughKczG6ASfnb0LU3p0BokYR3a6mSJ9XltrE0zjhanPEtrC9q8npIstSVRfGdE6Krap1xzE1ajUT8kVmo5x2he2qSf56+vFlL8PtwQPd1jLpWejZKelJKkxmYEN7rMfp0bb/UT+OQeLu/hljySDa71X3APVAzt7cCP2rf06xGCxbiCygqXEJ5/np3MlhcVTYc48MVowpyonD2MAw4eCxJazYN+PKaN72GCtLLpjIusJ4ABdfr6e0ddVRHmYWlEmcJnlW4enP5In87nn7sYz/JTtiOl+iSP3ndUDIaa3dQE8TY66emDgjYsYM6DsulvclWgjv/2PD8PdEZUITVrHYQqSioUnH3U8sCEEnk33ZSg36ZlZ2hglgjA4U/qnsCSSwwN1s37nDOmZafX85b9mV7bbN7Bj9kVku2oRQUm68xhpd0Cy+dS/zEg4gSjJdcx3qDGDK896Ql+rOUmjRd6a+J4aR6kW10vk/5nEYRQyAftnj3QWZ9a0ejTq+LZ5wiuipYL24Q/2gCaLN6ly9VOTOAxCK4JaymB+EBaRoTO/WydXUY5Mj55MVD3GlpQiE6yTWTDf94uw1Ggi1Q9WpIG9gCYrsyNzsANmArsBJ4CL1J+5n1qWmv5GSBZ7VsxJDMdsUslmVU2vIKi8oa8MIFLHe6pdC1qMnaCAzBhNhbyuS/DR9lYhHMrHKMQ4LUwy5WpoQBDcGj5/lYgiaQPQjBcVMDOXxBwYOTQTFk8lZKYye+GeCGc8esNkES7Z9Sk/BF1yHt7aCrtbZjL8ZEALc1e769jsKBgrT++GdZLqe3VS/dHrSgHwXz3wFA3M0WLFUVuOk1fJjeCOCLzBoHA1Gzo2EcxaxiOB2V+zygFSEVDQR5TOsZ+5/ru9rjMqbM/ppAwomW0jAcAKZTO5l8fjuLFp+D2xOWDVCODOOArv64LRHjyOtQwqadcrgjaw3BdotF4+/VO9a2sjxfJ0iaDOTgPGfklAbJEWt4QIdAixGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GTXrPtr6sihe4KUi85aG9p",
      "input": {
        "note": "The bear's raised paw is now right at the bottom of the jaw column; closing.",
        "targets": {
          "right_gripper": 0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GTXrPtr6sihe4KUi85aG9p",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.136, 0.9971, 0.8692, 2.0605, 1.0527, 0.2157, 0.6815, 0.5514, 0.0171]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1339 left_pitch=-0.3964 left_roll=0.2251 left_gripper=0.9971 right_x=0.3865 right_y=0.2905 right_z=0.0224 right_yaw=0.0113 right_pitch=-0.002 right_roll=-0.0033 right_gripper=0.0171\nstate[joint_eff]: [-0.1983, -3.1658, 6.4342, 1.1746, -0.2027, -0.0024, -0.0122, -0.3214, -8.3761, 4.6564, 1.5409, 0.3394, 0.0904, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69f71a61d9a7acc2f0c7a48180d8eced5d02c63451aa8152080c44e4c4b2b703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0a5bffc863c432e029af1e33ce59542711dd15044b6ed7109c9d18a76ef7644",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f87246d976ab61ff5ac75d4d6758c168d425eff19af32f4ab8d3a6e74d882135",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 4.422 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9504, -0.318, -0.136, 0.9971, 0.9279, 2.0277, 1.0084, 0.1822, 0.7219, 0.6174, 0.0124]\nstate[eef_state]: left_x=0.2869 left_y=-0.0031 left_z=0.1881 left_yaw=0.1338 left_pitch=-0.3961 left_roll=0.225 left_gripper=0.9971 right_x=0.3614 right_y=0.2937 right_z=0.0213 right_yaw=0.0057 right_pitch=-0.0076 right_roll=-0.0019 right_gripper=0.0124\nstate[joint_eff]: [-0.0342, -3.2752, 6.6667, 1.2137, -0.2271, -0.022, -0.0122, 0.212, -8.335, 4.7658, 1.6532, 0.3541, 0.022, 0.7399]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.136, 0.9971, 0.8661, 2.0464, 1.0737, 0.1513, 0.6785, 0.5564, 0.9946]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1339 left_pitch=-0.3964 left_roll=0.2251 left_gripper=0.9971 right_x=0.3861 right_y=0.2885 right_z=0.0261 right_yaw=0.0074 right_pitch=-0.0229 right_roll=-0.02 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -3.2889, 6.4342, 1.1941, -0.2076, -0.0562, -0.0122, -0.7043, -8.759, 7.9248, 1.6532, 0.2759, -0.0366, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.136, 0.9971, 0.8692, 2.0605, 1.0527, 0.2157, 0.6815, 0.5514, 0.0171]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1339 left_pitch=-0.3964 left_roll=0.2251 left_gripper=0.9971 right_x=0.3865 right_y=0.2905 right_z=0.0224 right_yaw=0.0113 right_pitch=-0.002 right_roll=-0.0033 right_gripper=0.0171\nstate[joint_eff]: [-0.1983, -3.1658, 6.4342, 1.1746, -0.2027, -0.0024, -0.0122, -0.3214, -8.3761, 4.6564, 1.5409, 0.3394, 0.0904, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69f71a61d9a7acc2f0c7a48180d8eced5d02c63451aa8152080c44e4c4b2b703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0a5bffc863c432e029af1e33ce59542711dd15044b6ed7109c9d18a76ef7644",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f87246d976ab61ff5ac75d4d6758c168d425eff19af32f4ab8d3a6e74d882135",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSngoKEAgSGAI4AUIIdGhpbmtpbmcSDIiP3zlkFBkWn1HR2hoMeIRvIJFNpP0X2TB4IjChMTEjGvCaXQyjZpwQCCrmoit6zArrI2B8CQKDPMLznMk/Po2bYZFPj3Rb9vtn/T0quwnwLwkbYbgLCokkzheYWZhStRgrSJZ4MVdtWunTriz5+Dtb1M5Ne582auenCnvtmzrTI941O+6DCTRaW6zMjfc78eXLUwWRPz/xnuPSkwilX6xpcVeV57KTCA9wi8JnnXJnUTM8VZ27eRnyZwOD7LtN4UpIcu3WFjvaSsdp4HOq/i57aX89BBAMEy9ORKUFTme1ZWy8IKtPs7dsNO24GFb6h8PrRBJLEMmYBRSA2RzqdA2nkIxtrHg24U5s15qItzKP3E0M6W2/4rzux6A1IK7FHjUtssrxHtNNjjfB9g4GgxKtcSukZ3ZijLgUK03GLJGvfGkvc9rcolju/BxH42/rERPFTr0KUmGpD2YyDoWGFWq0RI00B3OOS0gfmAWJ8a36WX9Cmp9f1fogpKk6yXUkEri4gv4Cs+XR4J5OoG9xMmdeVCZ5enioFwoM4iBQjQLHcjwyPh1ciCOEKVsGEy/sr48HCyeOUVH+mJnqlxeoU77EM5sd4QsglJElUSNJyLHZx1Q7C0gHV0dDdj7mi1XopCMJi8N9SRnbp1XfNwW69nPc4o4LRoX/B4I/GsguZhUlfJr+Hun6f+etz/9uZXbud4DIPD633NCGm4+OxkeiyqPX4N1hT6e9IOOhplhko6sqwFuTRXPrNjvyauIIQ0PO64yBa6u/1ybE5UkNT5XVLx9cQ8ldMSWsj5Jm/Lv5FCBYOoU07AkXqsjcMdtGxShZVU8nyEo71LTuC5VuRW/tDAJJsKgcYvdlVEtMPyfJZDzcrZbANJRVLI/NwdQ47ofbvfMpbgRx0MtTGYAa5L1bjzX4qMrBy+DtUa5oxVoqJRzZDJpffwwSqDQlGhRphrh1hC8tmC5Y0p5FR/B5feUeFJc6Rpa3/8cpQte0Jj7hX2d9bMcmOjmHG+QIHRevbV7BBujPX8Z0P8QNGhM63qwLluSS7a1LN2vvkucZOEzufpMych0pZs3RDLWZ4E9zElfx+BzQ0fkFljjdiMFHgUcedrAOCF2qPSFmz2qEPbHW2qBdoUWAKf4dRP9cvNX4kzx+gJmBJcQaomw7pAe1tZIh8L9MH8FLUTVwUApBlE5WC/Soqc2lOrGsr53RlI8iQ2wt08B5a/eSvCtVX/wMmGPOpq0hfnCqqoOGptlB62SxdiISDg7El4t8KqEsoapAMCEMc7QyHzj69qGdPl5BL8MzdzFsNFBKs0x4w30gz9jKkTT61dRMHVjLSbyuAKZrw+z28RW/ClQLp4KDTjWXOlRXJmAqcoEw0RhZnrSoq9AtiYB4Dhoba6iw142uneLqJ+vi2TCpxwJ84rxXT5BMIVfFlC4BTgOBvAax+YtbIFEk5dS1AQ8qkJaHRv5hitPMuN4RDgo5Jzs4V5JLhgptEsB+TsaEdWk2ItGVTVlICQF9mm+HWDMhQA95Pa0BSE2PHiHlpvaCvalmBGT/Ih+Pupb4gDAGx7PgGPNYh/FwnHCIUggcZ/ht0D9pnntOvEm97/fnED5GgJELgwADffPUx0zf1jvw19ihJcWg5ml0fWlThJQI4uinaWxcy+wbTZZoveG4bU9gmpGOAUWHgFEhqKYtPcsF6HHoy1qzOpJAbHqdy7yJo6uB1Tm2aMr5kxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019FLRHgzDUkH79vegqLT86u",
      "input": {
        "note": "Third empty close—what I saw was the safe's handle area. The overhead view shows the bear body behind and left of the gripper, so moving back ~6 cm and left ~4 cm.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.32,
          "right_y": 0.33,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019FLRHgzDUkH79vegqLT86u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9512, -0.318, -0.1364, 0.9971, 1.0683, 2.0609, 1.0702, 0.0162, 0.794, 0.7429, 0.9946]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.188 left_yaw=0.1342 left_pitch=-0.3968 left_roll=0.225 left_gripper=0.9971 right_x=0.318 right_y=0.3246 right_z=0.0126 right_yaw=0.029 right_pitch=-0.0355 right_roll=-0.0444 right_gripper=0.9946\nstate[joint_eff]: [-0.0205, -3.2889, 6.4615, 1.1844, -0.232, -0.0415, -0.0171, 0.253, -12.0137, 7.3094, 1.16, 0.5104, 0.1001, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfa75a32332729e32c6017078da46da941d8ff055e1486e6af2a635b9afecbb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b038133569d21a759fb9770efd69eaa7511728e3d9ad9349f8ad1f826ad2b23e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:99040907d5b9a2ac649d70a8636cdb22dbd5388a5b551de9d1fc6756db798416",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 7.832 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.136, 0.9971, 0.8661, 2.0464, 1.0737, 0.1513, 0.6785, 0.5564, 0.9946]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1339 left_pitch=-0.3964 left_roll=0.2251 left_gripper=0.9971 right_x=0.3861 right_y=0.2885 right_z=0.0261 right_yaw=0.0074 right_pitch=-0.0229 right_roll=-0.02 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -3.2889, 6.4342, 1.1941, -0.2076, -0.0562, -0.0122, -0.7043, -8.759, 7.9248, 1.6532, 0.2759, -0.0366, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.136, 0.9971, 0.8692, 2.0605, 1.0527, 0.2157, 0.6815, 0.5514, 0.0171]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1339 left_pitch=-0.3964 left_roll=0.2251 left_gripper=0.9971 right_x=0.3865 right_y=0.2905 right_z=0.0224 right_yaw=0.0113 right_pitch=-0.002 right_roll=-0.0033 right_gripper=0.0171\nstate[joint_eff]: [-0.1983, -3.1658, 6.4342, 1.1746, -0.2027, -0.0024, -0.0122, -0.3214, -8.3761, 4.6564, 1.5409, 0.3394, 0.0904, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9512, -0.318, -0.1364, 0.9971, 1.0683, 2.0609, 1.0702, 0.0162, 0.794, 0.7429, 0.9946]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.188 left_yaw=0.1342 left_pitch=-0.3968 left_roll=0.225 left_gripper=0.9971 right_x=0.318 right_y=0.3246 right_z=0.0126 right_yaw=0.029 right_pitch=-0.0355 right_roll=-0.0444 right_gripper=0.9946\nstate[joint_eff]: [-0.0205, -3.2889, 6.4615, 1.1844, -0.232, -0.0415, -0.0171, 0.253, -12.0137, 7.3094, 1.16, 0.5104, 0.1001, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfa75a32332729e32c6017078da46da941d8ff055e1486e6af2a635b9afecbb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b038133569d21a759fb9770efd69eaa7511728e3d9ad9349f8ad1f826ad2b23e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99040907d5b9a2ac649d70a8636cdb22dbd5388a5b551de9d1fc6756db798416",
        "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/AYKEAgSGAI4AUIIdGhpbmtpbmcSDD5I2wtHr+8hMyVcHRoMtIODdZ3E4eNX2FjCIjDXsY5gPVEYa/Xa+iYITjw3iRzbN7QQVKOWBOfThOOJD4313TpMekVoxEClWhooTcsqmQZLMw5knoYvSJtetUvoOvDDEvBp5qdAreK8MKivq0k4pRf1N4b0t57T0MjuNfP1CJKt4gINjpFByqdEBQgz5Q3wRCksG+R/6K1sqmZQfREdGjZxzL4EhDqglXzOmD+wExiVfN1CNRgw0nt8L8cu1oQ9xUUDg28ZtNtYq/oCn8eSRQZUQej3i/O8Eql2seY+bhgVkfdkDPvVFUqb2NTdA6YvYVRSmklHMI+o1zhHR6X6sKXD6qKgm+h5gt7XyL/WxK8muPVMEimOlGt3yzny/I69o8XOVq77DlxGLJ8Ueu+JOzB52f5NM71WN5SZlWYRPLWO+oFfbju7JLe8vDgz5EejAquFCAeHjcEBdu2nCEhGrKDpJFOu+XK4vzmci9OTmmTF36RZ0fibiSyRe2XvTc0p8obaXr0nxa16tc4b8VHSJuudXGaY61TMvwOkEwhlwuljSdxlH/nKNn3D8OG6t/1kvC7VL81lKHxAxyRqtjYVujcXtbOnMokWsbxGh8ec4o86TAcRgkNp6on445HznYGuD5v/UFam1z/8cwz6bLshWsvYzC2JapoPJqc5uNySKz1dlgY5XjGaxPGccLHQBPC8C+LPRT8X7gQaWCyiOhUWVQKGlHQ9df2Y207Ktpgr+w5+bJxS/GOr/wu+slNYpDEjoiz4OI/CEVWZiEfNURf689H/bjV/rPeSl2/KAqspRQE7gXEB9MtCo8XT35HOpKcNErcptJFwLdX19gdiTSzqZP2fORq63NGhDCCnES17I3g6lX7ROkH65CFthcJd5sp4xlYS5kJ0BfKhG0hbkqOq7A96HKa8sKxulWb1Gs0lSpZCl9Dw6uR1gDwQ/81rjmxDLg7K8eol0y8rw08JJJnMdAAYL36O5N0kAQcU7SVwD9qnjrc/hbiGeyJtB4OJz96Rd49xgbdVbaWPIRy9qLk9jTPKdGGhJavXeFIFXsrxsJ7rvWKOLtb0AVGarojpoWjkhfms4MnytUnNCzStZCYlfIbSi6dXrOzFlOJGhQAmzi9gPah2rhYBX2fQBzsrBrEFHVv3mvp2/P7/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0158sMsTh4N2FhNAVk4k9gZi",
      "input": {
        "note": "Brown bear body now sits between the jaws at the bottom of the wrist view; closing.",
        "targets": {
          "right_gripper": 0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_yaw": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0158sMsTh4N2FhNAVk4k9gZi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.1364, 0.9971, 1.0725, 2.0609, 1.055, 0.0391, 0.7975, 0.77, 0.0223]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1341 left_pitch=-0.3964 left_roll=0.2249 left_gripper=0.9971 right_x=0.3162 right_y=0.3243 right_z=0.011 right_yaw=0.0165 right_pitch=-0.0289 right_roll=-0.017 right_gripper=0.0223\nstate[joint_eff]: [-0.0615, -3.0701, 6.5436, 1.1697, -0.2125, -0.0611, -0.0171, 0.4171, -9.5658, 4.6291, 1.5311, 0.5641, 0.0855, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96645042ae906414fbe46eb387fefc70230b0dba040e283da4a72471f8cf5421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:076ded37c4450af0bc8be1e7b0f94e3a6edcecada83e3259b23442064970672d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f63b18cdaac14a75c9eedac46bc594e0ae75c7cbc6319aa338810805d1dfdde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 7.799 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.136, 0.9971, 0.8692, 2.0605, 1.0527, 0.2157, 0.6815, 0.5514, 0.0171]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1339 left_pitch=-0.3964 left_roll=0.2251 left_gripper=0.9971 right_x=0.3865 right_y=0.2905 right_z=0.0224 right_yaw=0.0113 right_pitch=-0.002 right_roll=-0.0033 right_gripper=0.0171\nstate[joint_eff]: [-0.1983, -3.1658, 6.4342, 1.1746, -0.2027, -0.0024, -0.0122, -0.3214, -8.3761, 4.6564, 1.5409, 0.3394, 0.0904, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9512, -0.318, -0.1364, 0.9971, 1.0683, 2.0609, 1.0702, 0.0162, 0.794, 0.7429, 0.9946]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.188 left_yaw=0.1342 left_pitch=-0.3968 left_roll=0.225 left_gripper=0.9971 right_x=0.318 right_y=0.3246 right_z=0.0126 right_yaw=0.029 right_pitch=-0.0355 right_roll=-0.0444 right_gripper=0.9946\nstate[joint_eff]: [-0.0205, -3.2889, 6.4615, 1.1844, -0.232, -0.0415, -0.0171, 0.253, -12.0137, 7.3094, 1.16, 0.5104, 0.1001, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.1364, 0.9971, 1.0725, 2.0609, 1.055, 0.0391, 0.7975, 0.77, 0.0223]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1341 left_pitch=-0.3964 left_roll=0.2249 left_gripper=0.9971 right_x=0.3162 right_y=0.3243 right_z=0.011 right_yaw=0.0165 right_pitch=-0.0289 right_roll=-0.017 right_gripper=0.0223\nstate[joint_eff]: [-0.0615, -3.0701, 6.5436, 1.1697, -0.2125, -0.0611, -0.0171, 0.4171, -9.5658, 4.6291, 1.5311, 0.5641, 0.0855, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96645042ae906414fbe46eb387fefc70230b0dba040e283da4a72471f8cf5421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:076ded37c4450af0bc8be1e7b0f94e3a6edcecada83e3259b23442064970672d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f63b18cdaac14a75c9eedac46bc594e0ae75c7cbc6319aa338810805d1dfdde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSlAsKEAgSGAI4AUIIdGhpbmtpbmcSDHMSIOe921ryX16W3BoMkwUAcfOWockxWDQvIjAnLxxRFC6JKLr8OsB5aAnOOCfi2fK0xPOQB7J/Z2bTpCBUeyyHS4M+IWv7Wql5bM0qsQrQiqlNZJBc6uoDQ1GBjDwBcZmdUrKhj8MZu44W8FOLHcIu8IAzscviZT18AGwYtjRF0pAO5aifCqU6Mv5QgyUwaJBLL60TiK42nRvdwu+nMpDFzocRi+vRE/QlFjdJq3wOfTTPd8lZwOfjFqmZP2D06gC5TvL7jjvNbj75nrdqWrPpJ0U+wNmJLn/m0t5iI/fxmDpP8zrk1Z1GWtF9GJFOzwKFDuZCVwDzIzVJ7xPkekXyqSiE5RAEhRGk8ae2OImw4Hcp7xytBDwvwZHkACBfB4CYyv9MyHgqyD3+tFXdU8gQX1bS2hZG647ic6N8e/PpapXIOMHlTQ92wBpd08kDQWtLg/nf64NkAj1i4/wbOiAbAgnCY/y1psqWcSXwSkUEoxWt1S9x8jpfFEdYOKLwhzGxeqa0kN87CRUruhzUxFmn+SLW6L0bSCyhC6R9MyZY48mg1Wl4S80tZ50suaoPBJ9FEy7ukfhubnb/m9bVm6R1NelhZQj8Wgjkk9OW/G2szwl6f544qQG00Z5b8HCziRooghZN0EdjN+JVGbW2GTzsaspQq6jkNQMWnYCNDjG8wbcLFd8zW725xhihj++T7UrF63KmeCZDKb6ysmEE8AGJTnKe/ujlfp0ESRbE/GgYV9rCg3jNOfpvFB/l33gmnTkvhVsDm782t2c9t1UOjQOLrrOaZsdis5h89VSHdQ4nhKjI/4bLaKrqoviifu3fb1m7cZ8xrYgxTWu4BrHe1gpe0i9S8ioY9YLDqAtBEP5Z9klNV1WzqCADMsA8ZUf+U2soo+GspR6kJ5pTmkpCNpD+s80u+Bht4HjysGictFy0ycE9CkU82SxtFQgKtUsuKBcVJsnG0tI0WVHBHtU8lHftBMyKoDMXh74zVFiVXhg6o/Y+8QA1Lc4mvG9xf0fhshYodOpJfQ5WKw41ZMU2M4bnA3UyCImL9/L1XjmfSg3DboTtW32tGl+opNX+3qRiui89E1nYWNBGrqroswUd65aWss5hnlqlGWgIXWQ+inIygOaXumGd5N1fRxskovFUMOUcuwL3U8+JflprPTtKk+s+moazpi1qYRTWAPsSp5n+pU33xI332Hx5S//gpL3h+X+NQmPIEAmZw/x9xZwpuyIS1qytjsqzvUlPErL0gz5k1bl78KusOIoPw/LiiAMwC0KdJC29CVz4ccpH8LXTSAQKUhO/jDQqpRULq2X/IHKp+s0ou0fhpFzMOcmMfQO6uF+Rniy5Cs/C107lrnDzOry+nL8LDIHLqvEN5UQKWJXzkIjXe7yaFL5+Cq8dyyKNsq8O+PmRf5g3AsOYOMWQZ3+YngNtoigKWRbzg38eMeGCjwxi5UBd+IxFzpASS3EMVrfBJ31QL5M+yHfYor3zKxDqiJ+7XelFfcSt8uarcKIUqfR0Ya41RQbDF10XfX86GSBgPio+ysP0xy/C/vToPmraKJd8sIdeneUue2u0UHzbpII1Bs/YtpRSuZT/z28ITZlAXT15WYsXGlaVzrWlaB7hgKpkvkl7i5a+0FvkD7I+s9981Sso+dZmVwpEEQFX3pe+nGgG/9iIknvgRo8L1TtRkx1OvMUbJDyZEpqtq39KumyEmEKqA4cWaTNe8UnlIQtp5JMJGIHtozSeJOHTHXmmGJYEpvGQpiFXpAxa+0Pv5mo5xu3zVEc/LCuO6muKiiiMRtj2RtTV1+YNQHIq7tGfd+mPv0n+i0NFFyZAk8i6GYjVdP720MyH7R6tK4CFXH5ksFlkK6MQYkfyIj8zAOEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015qZNepC416whEEaKyqH34X",
      "input": {
        "note": "Gripper closed on the bear's pink loop (visible in the jaws). Lifting and carrying it over the safe interior.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.44,
          "right_y": 0.33,
          "right_yaw": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_015qZNepC416whEEaKyqH34X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9512, -0.318, -0.1364, 0.9971, 0.8455, 2.0212, 1.8191, -0.5838, 0.664, 0.5446, 0.0293]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.188 left_yaw=0.1342 left_pitch=-0.3968 left_roll=0.225 left_gripper=0.9971 right_x=0.4336 right_y=0.3305 right_z=0.2114 right_yaw=0.0039 right_pitch=-0.0074 right_roll=0.0038 right_gripper=0.0293\nstate[joint_eff]: [-0.0615, -3.2752, 6.5846, 1.1941, -0.232, -0.0464, -0.0122, -0.4718, -10.4821, 8.0479, 1.5018, 0.2662, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51005d2252080e5575472993675ef51e6e9bdf07abcf4dcd7232f674d52285c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06cd49a365bc8665b213a2cc08b88e2ccbd87e685a0bcfdcdf1480d65c9c290a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3afe8b37719b38490c34091cc955adee28754d23d6e77ac128f97a06fc35dfa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 11.11 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9512, -0.318, -0.1364, 0.9971, 1.0683, 2.0609, 1.0702, 0.0162, 0.794, 0.7429, 0.9946]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.188 left_yaw=0.1342 left_pitch=-0.3968 left_roll=0.225 left_gripper=0.9971 right_x=0.318 right_y=0.3246 right_z=0.0126 right_yaw=0.029 right_pitch=-0.0355 right_roll=-0.0444 right_gripper=0.9946\nstate[joint_eff]: [-0.0205, -3.2889, 6.4615, 1.1844, -0.232, -0.0415, -0.0171, 0.253, -12.0137, 7.3094, 1.16, 0.5104, 0.1001, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.1364, 0.9971, 1.0725, 2.0609, 1.055, 0.0391, 0.7975, 0.77, 0.0223]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1341 left_pitch=-0.3964 left_roll=0.2249 left_gripper=0.9971 right_x=0.3162 right_y=0.3243 right_z=0.011 right_yaw=0.0165 right_pitch=-0.0289 right_roll=-0.017 right_gripper=0.0223\nstate[joint_eff]: [-0.0615, -3.0701, 6.5436, 1.1697, -0.2125, -0.0611, -0.0171, 0.4171, -9.5658, 4.6291, 1.5311, 0.5641, 0.0855, 0.7839]\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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9512, -0.318, -0.1364, 0.9971, 0.8455, 2.0212, 1.8191, -0.5838, 0.664, 0.5446, 0.0293]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.188 left_yaw=0.1342 left_pitch=-0.3968 left_roll=0.225 left_gripper=0.9971 right_x=0.4336 right_y=0.3305 right_z=0.2114 right_yaw=0.0039 right_pitch=-0.0074 right_roll=0.0038 right_gripper=0.0293\nstate[joint_eff]: [-0.0615, -3.2752, 6.5846, 1.1941, -0.232, -0.0464, -0.0122, -0.4718, -10.4821, 8.0479, 1.5018, 0.2662, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51005d2252080e5575472993675ef51e6e9bdf07abcf4dcd7232f674d52285c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06cd49a365bc8665b213a2cc08b88e2ccbd87e685a0bcfdcdf1480d65c9c290a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3afe8b37719b38490c34091cc955adee28754d23d6e77ac128f97a06fc35dfa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSvAsKEAgSGAI4AUIIdGhpbmtpbmcSDFZpfpIiiAVXyrzMChoMwgfvPyYeXRPlGsqQIjCDGqkZo8MVVp0PWAntYGJ/7ewJ0lq+1+bKM9wUIOEzqXnLZPD9ASc6/XppJzb2Gzoq2QqNGAHcJEZRL2+90c5yri5K4kaaD3FsXZEpPfMxW/WeaJNygfQ71HU0cYbas6Wuiw8xfXli+WjUkH7UhIdN05r7EpYW4DIwfNCaEn82qNjPewJLVqr48Um/NooQiaNhpIxPb58Uyf1WOqT27SQJTNFpapU0B1bJ9uqRM3cBTs3+U1kIquBMrEck/JbBdgRLZLy4Si83uq5U4c4As7b256vGYZs1iM4oxGbYZa4tZUK6g9ApPBqJHEIaJKNiEjCJU/O6PJjN3GG315JnSxFfi4L37tnUSN5Sh8a5Nxm/APHAaY+ez6v+rcuRoNJD0tdkBswL78cx0u3EPEIHcgEv8NxdQQ50VUlP6piat5x1K3uvUssS7EPVHHq1S36rnLYzZSOT5Ya9dTn7c1O6wFLbnxQiN4rLTevuuL6Tcjh31fwwTScSx76NagWa2p7K9WfjXuUi/3X8qQkAkrWuZ0SNs5lr+zngPv3mNcPgNNgV4dc/NIgqvrVQ7mHStyy3l1KSzRGlsZuV6NEGbF1EfGxtGnM41PnsI2RJpcEIuKcPnknAgdCrUaNuzjblFhRZzdcf3TlPFumPs1jn9rgw05Mxzr5oPEiaOi5cWsJxTsQg1vB2SVWdfMHrpIwIX3wiwFMiqgETuJrM6AbG52j5vfJthEf8wB4oI81+iGrRQbJcJWy2JYoXnNKivl27DaXm59xBEcwiY214lIfOuq/nmmz6WSwyGkAmy3VVGDyGY8KPQd6vcg0a4WSQZHbebd5NsAg/8CWFirvGnnIH3IuQMd8fsfoApBBwRrEe5m8E30f58x0w0jKuQwvzIDhpIcffk9rKQ9x7ukoutLQ09pdBf5yQpWJlr4q3aukXr1dWbB3m4px0yb0fLx2xIesj2HFPHl75zU2/eH23vKPnoibgSdZ15096LdRIPVlweqhZHRRLMRaSJBbR+jwut0csCAVOAMWh/T4yR/Ju99V8qI20a0LtevTrxcpQT5MDyjyBxnmJCEw7mSrvc/lwd9xUN3Lhyhx5Ink3RXuePD2egzQYblYEz1LlW76INeWO/9ESCfzmOQn72DX9Y5NgCWOWbAJw3M4vm5ZutHGsU7oTAPUM+v9hWK+oNzDJ6YavKrBCIt4yRzsOA4XsRLa8jnV1IuyZiv2bZmyiLTxY+UWrfsrEsYrodtuMkA6SJGr62CMa7/MMp89ozFlPJsvHvNPynDPyB9pdZodhJ941890/g9Tg5nKmuWhdJeaGOg7ByBz31gcyWm6rR40NSSkZlU1gKFP8+Uuf+2pvk5ha4eQ537H3Ke4zQfvZMSYpjtN8NEwcasxbzDUna3czTE3Fd0Uk4o8/l1Gxky5H9c3QXfH//rqb8c+gpvVfhH7RoxtMqJjL52ND2baH51pKIxq2kWMVIpaxRgXHf70cKho9ZLqKi8lnnLUTaGo9129tw7d8FhMYx1hy9dgAN1KQGf9RX8S4x/WF331TIDP7gMrKiM/Bc8J79f60tReehuViMF02oQphOj63w+nh/6gN/yDZaWhA2e5vbidJWRdbFHzldiy0PjGkHc51gpLzzhFJF0JVbbnmatYZjTUYw4/BRxtG9wB0EhNSJDGbaR5x7o0MBZABI7UOuaDtPjWUqZJ1NV6zRZDiRaLNsaUYF6a/EJQJ8EvnzgJA8hFB4B6P+fK303VH/iRItZQdp+pxrzDgSRdVOtcvnPtut797xRYtVMidMGrqXJ5f4snhAAT3m1FxmiJbPMW390OxTqxsOeNL5CZIKTJmcm9fJhmS/x9N4A35A9UjIRzfpXBonmLsDDRq7qos49lcjB71X9UNse3v80YEPZL9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PDusdCkFuERreKERbRmdpt",
      "input": {
        "note": "Bear is hanging above the safe interior next to the lemon; moving slightly deeper, lowering and releasing it.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.46,
          "right_yaw": 0.0,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PDusdCkFuERreKERbRmdpt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1435, 1.0588, -0.9524, -0.318, -0.136, 0.9971, 0.8101, 2.0914, 1.7287, -0.4416, 0.6342, 0.5011, 0.9946]\nstate[eef_state]: left_x=0.2869 left_y=-0.0031 left_z=0.1867 left_yaw=0.1348 left_pitch=-0.4022 left_roll=0.2274 left_gripper=0.9971 right_x=0.4518 right_y=0.328 right_z=0.1573 right_yaw=0.0133 right_pitch=-0.0356 right_roll=-0.0308 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -3.6991, 6.4615, 1.2283, -0.2076, -0.0073, -0.0171, -0.5402, -11.3983, 6.612, 1.7265, 0.2857, 0.0757, -0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bef00ad7186923c745e6d3fb0a2bfa029bcba43ee0d85453ddccf29719e60cc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86a5a56218d97d13cdb515d077f5a24abc0750e37bf00eef93781d6356043e03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efc692cc896f7b5432d70637d391d08eb48b44c2493884dd2902701d42fbae53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 13.03 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9508, -0.318, -0.1364, 0.9971, 1.0725, 2.0609, 1.055, 0.0391, 0.7975, 0.77, 0.0223]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.1881 left_yaw=0.1341 left_pitch=-0.3964 left_roll=0.2249 left_gripper=0.9971 right_x=0.3162 right_y=0.3243 right_z=0.011 right_yaw=0.0165 right_pitch=-0.0289 right_roll=-0.017 right_gripper=0.0223\nstate[joint_eff]: [-0.0615, -3.0701, 6.5436, 1.1697, -0.2125, -0.0611, -0.0171, 0.4171, -9.5658, 4.6291, 1.5311, 0.5641, 0.0855, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1389, 1.0588, -0.9512, -0.318, -0.1364, 0.9971, 0.8455, 2.0212, 1.8191, -0.5838, 0.664, 0.5446, 0.0293]\nstate[eef_state]: left_x=0.2868 left_y=-0.0031 left_z=0.188 left_yaw=0.1342 left_pitch=-0.3968 left_roll=0.225 left_gripper=0.9971 right_x=0.4336 right_y=0.3305 right_z=0.2114 right_yaw=0.0039 right_pitch=-0.0074 right_roll=0.0038 right_gripper=0.0293\nstate[joint_eff]: [-0.0615, -3.2752, 6.5846, 1.1941, -0.232, -0.0464, -0.0122, -0.4718, -10.4821, 8.0479, 1.5018, 0.2662, -0.0464, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2173, 1.1435, 1.0588, -0.9524, -0.318, -0.136, 0.9971, 0.8101, 2.0914, 1.7287, -0.4416, 0.6342, 0.5011, 0.9946]\nstate[eef_state]: left_x=0.2869 left_y=-0.0031 left_z=0.1867 left_yaw=0.1348 left_pitch=-0.4022 left_roll=0.2274 left_gripper=0.9971 right_x=0.4518 right_y=0.328 right_z=0.1573 right_yaw=0.0133 right_pitch=-0.0356 right_roll=-0.0308 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -3.6991, 6.4615, 1.2283, -0.2076, -0.0073, -0.0171, -0.5402, -11.3983, 6.612, 1.7265, 0.2857, 0.0757, -0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bef00ad7186923c745e6d3fb0a2bfa029bcba43ee0d85453ddccf29719e60cc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86a5a56218d97d13cdb515d077f5a24abc0750e37bf00eef93781d6356043e03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efc692cc896f7b5432d70637d391d08eb48b44c2493884dd2902701d42fbae53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RLGvr9DBnG6ZUo8RVwu2Lv",
      "input": {
        "note": "Bear released (it may be resting on the front wall). With few calls left, raising the right arm up and beyond the open lid's top edge so I can pull the lid shut toward the base.",
        "targets": {
          "right_gripper": 0.3,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.59,
          "right_y": 0.33,
          "right_yaw": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01RLGvr9DBnG6ZUo8RVwu2Lv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2165, 1.1461, 1.058, -0.9661, -0.318, -0.1394, 0.9971, 0.6415, 2.5999, 2.8674, -1.0706, 0.5144, 0.3695, 0.3035]\nstate[eef_state]: left_x=0.2842 left_y=-0.0023 left_z=0.1841 left_yaw=0.1401 left_pitch=-0.4178 left_roll=0.2318 left_gripper=0.9971 right_x=0.5484 right_y=0.3055 right_z=0.2098 right_yaw=0.0048 right_pitch=-0.0948 right_roll=-0.07 right_gripper=0.3035\nstate[joint_eff]: [-0.1573, -3.2342, 6.5436, 1.3162, -0.1929, 0.0122, -0.0122, 0.0479, -17.5795, 7.7607, 1.8584, 0.2613, 0.0122, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2375be76a4d8d5a213e9032978a2fe851e667ebbf0ed45935b1b6c77995730b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:208c3f697ebeba1e4e13672698be5de46be72170c47c9edf9ccf8e9763f103ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea09a6ac796cf35c55d791cc7379f931be66351c46c0e009978edf3134636ef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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