adhoc

completed
2026-09-22T20:10:59.436286+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
212.1 s
total steps
273
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, white teddy left of it, yellow lemon right of it, brown bear in front. Moving the left arm above the white teddy (estimated position) to check the wrist view.
move_to
left_x0.4000left_y-0.1800left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3904, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6071, -0.403, -0.02, -0.033, 0.9996] state[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.0009 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4718, -1.3744, 10.2222, 2.0195, -0.0952, 0.1978, -0.0904, -0.5812, -1.4564, 9.6205, 2.0928, -0.0366, 0.1587, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.18, "left_z": 0.15}, "note": "Scene: open red safe in the centre, white teddy left of it, yellow lemon right of it, brown bear in front. Moving the left arm above the white teddy (estimated position) to check the wrist view."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteWhite teddy is just under the jaws, slightly left in the wrist view. Nudging left and descending to grasp its body.
move_to
left_y-0.1600left_x0.3900left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6239, 1.5486, 0.9329, -0.1333, -0.4927, -0.4026, 0.9992, -0.0212, 0.7986, 0.6075, -0.4332, -0.0196, -0.0334, 0.9996] state[eef_state]: left_x=0.3871 left_y=-0.1713 left_z=0.1299 left_yaw=-0.0133 left_pitch=-0.065 left_roll=0.0264 left_gripper=0.9992 right_x=0.2881 right_y=0.001 right_z=0.1695 right_yaw=-0.0001 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.4581, -7.2821, 9.0598, 1.8584, -0.5055, 0.0757, -0.0171, -0.212, -1.6342, 7.0769, 1.9902, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.16, "left_x": 0.39, "left_z": 0.03}, "note": "White teddy is just under the jaws, slightly left in the wrist view. Nudging left and descending to grasp its body."})
tool
executing move_to over 7 steps (0.7s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteTeddy fills the wrist view just ahead of the jaws; advancing 2 cm so its body sits between the fingers.
move_to
left_x0.4050left_z0.0200left_y-0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.593, 1.7603, 0.7216, 0.239, -0.4744, -0.3897, 0.9992, -0.0212, 0.8005, 0.6067, -0.4549, -0.02, -0.0338, 0.9996] state[eef_state]: left_x=0.3822 left_y=-0.156 left_z=0.0278 left_yaw=-0.001 left_pitch=-0.1144 left_roll=0.0548 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1643 right_yaw=0.0005 right_pitch=-0.0591 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [0.6222, -7.5692, 4.7521, 1.8242, -0.0952, 0.0952, -0.0122, -0.1299, -1.388, 7.2547, 1.8584, -0.0317, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_z": 0.02, "left_y": -0.15}, "note": "Teddy fills the wrist view just ahead of the jaws; advancing 2 cm so its body sits between the fingers."})
tool
executing move_to over 2 steps (0.2s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteTeddy's body is right at the jaws; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5671, 1.8103, 0.7338, 0.2928, -0.4587, -0.3737, 0.9992, -0.0212, 0.8021, 0.6056, -0.4576, -0.02, -0.0334, 0.9996] state[eef_state]: left_x=0.3928 left_y=-0.1531 left_z=0.0201 left_yaw=0.0031 left_pitch=-0.1076 left_roll=0.0491 left_gripper=0.9992 right_x=0.2844 right_y=0.0011 right_z=0.1629 right_yaw=0.0003 right_pitch=-0.0645 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [0.9778, -7.241, 6.9949, 1.4921, -0.0806, 0.2369, -0.0122, -0.0889, -0.8137, 7.0359, 1.7216, -0.0513, -0.0269, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Teddy's body is right at the jaws; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteEmpty close: the teddy lies just beyond the fingertips. Opening, lifting a bit and advancing ~4 cm to get over its body.
move_to
left_gripper1.0000left_z0.0600left_x0.4300left_y-0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5682, 1.8324, 0.7387, 0.2726, -0.4503, -0.3763, 0.0196, -0.0212, 0.8051, 0.6056, -0.4854, -0.0196, -0.0338, 0.9996] state[eef_state]: left_x=0.3891 left_y=-0.1529 left_z=0.0094 left_yaw=-0.0005 left_pitch=-0.1423 left_roll=0.0622 left_gripper=0.0196 right_x=0.2803 right_y=0.0011 right_z=0.1567 right_yaw=0.0002 right_pitch=-0.0954 right_roll=0.0012 right_gripper=0.9996 state[joint_eff]: [0.0068, -9.894, 4.6017, 1.6337, -0.2857, -0.0317, 0.7643, -0.0752, -1.3607, 6.9402, 1.8877, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.06, "left_x": 0.43, "left_y": -0.14}, "note": "Empty close: the teddy lies just beyond the fingertips. Opening, lifting a bit and advancing ~4 cm to get over its body."})
tool
executing move_to over 10 steps (1.0s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteTeddy body now centred between the jaws; descending to table level before closing.
move_to
left_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4747, 1.8175, 0.8917, 0.0624, -0.3985, -0.3225, 0.9954, -0.0212, 0.8062, 0.6056, -0.5041, -0.02, -0.0338, 0.9996] state[eef_state]: left_x=0.4164 left_y=-0.1329 left_z=0.0314 left_yaw=0.0266 left_pitch=-0.2009 left_roll=0.0902 left_gripper=0.9954 right_x=0.2774 right_y=0.0013 right_z=0.1528 right_yaw=0.0006 right_pitch=-0.1152 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [0.5949, -11.3983, 8.8137, 1.4921, -0.0806, 0.188, -0.1392, -0.1299, -1.1282, 7.0222, 1.8339, -0.0562, -0.0611, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0}, "note": "Teddy body now centred between the jaws; descending to table level before closing."})
tool
executing move_to over 3 steps (0.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteJaws straddle the teddy's lower body at table level; closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4717, 1.8877, 0.8669, 0.136, -0.3965, -0.3229, 0.9964, -0.0212, 0.8082, 0.6056, -0.5175, -0.02, -0.0338, 0.9996] state[eef_state]: left_x=0.4149 left_y=-0.131 left_z=0.0052 left_yaw=0.0306 left_pitch=-0.2203 left_roll=0.0991 left_gripper=0.9964 right_x=0.2753 right_y=0.0013 right_z=0.1498 right_yaw=0.0006 right_pitch=-0.1304 right_roll=0.0022 right_gripper=0.9996 state[joint_eff]: [-0.4171, -9.1009, 4.8342, 1.6239, -0.1734, 0.1832, 0.0757, -0.1026, -0.8547, 6.8991, 1.8632, -0.0806, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws straddle the teddy's lower body at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteGripper settled at 0.047 on the soft teddy, likely a grasp; lifting to verify.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4713, 1.8938, 0.8577, 0.1619, -0.4061, -0.3271, 0.0469, -0.0212, 0.8101, 0.6056, -0.5453, -0.02, -0.0338, 0.9996] state[eef_state]: left_x=0.4159 left_y=-0.1296 left_z=0.004 left_yaw=0.0396 left_pitch=-0.2071 left_roll=0.0974 left_gripper=0.0469 right_x=0.2708 right_y=0.0014 right_z=0.1443 right_yaw=0.0007 right_pitch=-0.1602 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [-0.1983, -9.1282, 6.3658, 1.16, -0.105, 0.0611, 2.7863, -0.0889, -1.1829, 6.9128, 1.8535, -0.0366, -0.0659, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1}, "note": "Gripper settled at 0.047 on the soft teddy, likely a grasp; lifting to verify."})
tool
executing move_to over 7 steps (0.7s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteTeddy is held (moves with the jaws). Lifting high and moving right over the open safe.
move_to
left_z0.2000left_y-0.2800left_x0.4200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4713, 1.7138, 0.9985, -0.2016, -0.4072, -0.3378, 0.0834, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0338, 0.9996] state[eef_state]: left_x=0.4105 left_y=-0.1266 left_z=0.0737 left_yaw=0.0513 left_pitch=-0.2432 left_roll=0.1122 left_gripper=0.0834 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0008 right_pitch=-0.1831 right_roll=0.0034 right_gripper=0.9996 state[joint_eff]: [-0.1026, -10.4274, 8.6085, 1.5604, -0.2515, 0.0904, 1.033, -0.212, -1.1419, 6.8718, 1.746, -0.0562, -0.0464, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_y": -0.28, "left_x": 0.42}, "note": "Teddy is held (moves with the jaws). Lifting high and moving right over the open safe."})
tool
executing move_to over 14 steps (1.4s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteGripper is over the back of the safe near the lid hinge; moving slightly toward the base and lower to centre the teddy over the safe interior.
move_to
left_x0.3800left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7799, 2.0277, 1.9118, -0.9375, -0.551, -0.6331, 0.0918, -0.0212, 0.8101, 0.6056, -0.5987, -0.02, -0.0334, 0.9996] state[eef_state]: left_x=0.4201 left_y=-0.2804 left_z=0.1886 left_yaw=0.0346 left_pitch=-0.2587 left_roll=0.0908 left_gripper=0.0918 right_x=0.2615 right_y=0.0016 right_z=0.1349 right_yaw=0.0007 right_pitch=-0.2136 right_roll=0.0043 right_gripper=0.9996 state[joint_eff]: [-0.5265, -10.947, 8.212, 0.9597, -0.5446, 0.0415, 1.033, -0.1983, -1.1282, 6.8308, 1.7949, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_z": 0.13}, "note": "Gripper is over the back of the safe near the lid hinge; moving slightly toward the base and lower to centre the teddy over the safe interior."})
tool
executing move_to over 4 steps (0.4s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteWrist view shows the safe interior is ahead and to the right of the jaws; moving there before releasing.
move_to
left_x0.4300left_y-0.3100left_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8421, 1.9724, 1.5608, -0.7967, -0.5659, -0.6849, 0.0976, -0.0212, 0.8116, 0.6056, -0.617, -0.0196, -0.0338, 0.9996] state[eef_state]: left_x=0.3726 left_y=-0.2698 left_z=0.1072 left_yaw=0.0476 left_pitch=-0.3466 left_roll=0.1876 left_gripper=0.0976 right_x=0.2583 right_y=0.0016 right_z=0.1314 right_yaw=0.0007 right_pitch=-0.2334 right_roll=0.0042 right_gripper=0.9996 state[joint_eff]: [-0.1846, -14.2701, 7.6376, 1.58, -0.4615, -0.0806, 1.033, -0.1299, -1.2376, 7.0085, 1.7021, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.31, "left_z": 0.14}, "note": "Wrist view shows the safe interior is ahead and to the right of the jaws; moving there before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
Teddy is over the safe interior now. Releasing.
agent noteWrist view shows red safe interior all around the teddy; 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]: [-0.8093, 2.2383, 2.064, -1.0027, -0.5465, -0.6777, 0.1018, -0.0212, 0.8162, 0.6029, -0.6357, -0.0196, -0.0338, 0.9996] state[eef_state]: left_x=0.4277 left_y=-0.3104 left_z=0.132 left_yaw=0.0563 left_pitch=-0.3412 left_roll=0.1544 left_gripper=0.1018 right_x=0.2545 right_y=0.0017 right_z=0.1261 right_yaw=0.0008 right_pitch=-0.2593 right_roll=0.0048 right_gripper=0.9996 state[joint_eff]: [0.253, -12.7521, 7.6923, 0.5592, -0.3541, 0.2271, 1.0281, -0.0889, -1.4564, 7.0085, 1.6093, -0.0073, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
Teddy is over the safe interior now. Releasing.
move_to({"targets": {"left_gripper": 1.0}, "note": "Wrist view shows red safe interior all around the teddy; opening to drop it in."})
tool
executing move_to over 9 steps (0.9s)
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 noteWhite teddy is in the safe. Parking the left arm at home and moving the right arm above the brown bear in front of the safe.
move_to
left_x0.2900left_y0.0000left_z0.1800right_x0.3100right_y0.2500right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8101, 2.2555, 2.0628, -1.0256, -0.543, -0.6861, 0.9928, -0.0212, 0.8177, 0.6018, -0.6582, -0.0196, -0.0338, 0.9996] state[eef_state]: left_x=0.424 left_y=-0.3078 left_z=0.1209 left_yaw=0.0701 left_pitch=-0.3693 left_roll=0.1806 left_gripper=0.9928 right_x=0.25 right_y=0.0018 right_z=0.1216 right_yaw=0.001 right_pitch=-0.2845 right_roll=0.0054 right_gripper=0.9996 state[joint_eff]: [-0.0479, -14.1197, 6.3658, 1.1111, -0.3639, 0.0122, 0.0855, -0.0752, -1.1692, 6.8581, 1.6728, -0.0317, -0.0269, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.18, "right_x": 0.31, "right_y": 0.25, "right_z": 0.16}, "note": "White teddy is in the safe. Parking the left arm at home and moving the right arm above the brown bear in front of the safe."})
tool
executing move_to over 28 steps (2.8s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteBrown bear lies in front of the safe, its torso just ahead of the right jaws. Advancing ~4 cm and descending onto the torso.
move_to
right_x0.3450right_y0.2450right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1722, 1.121, 0.9924, -0.8577, -0.2634, -0.1143, 0.9929, 0.8856, 1.6066, 1.2652, -0.7822, 0.4866, 0.7074, 0.9996] state[eef_state]: left_x=0.2929 left_y=-0.0006 left_z=0.1773 left_yaw=0.1142 left_pitch=-0.3717 left_roll=0.1767 left_gripper=0.9929 right_x=0.3005 right_y=0.2428 right_z=0.1465 right_yaw=0.0239 right_pitch=-0.3332 right_roll=-0.0302 right_gripper=0.9996 state[joint_eff]: [-0.0342, -3.9179, 6.4068, 1.4383, -0.0464, 0.1001, -0.0024, 0.5675, -7.1043, 8.9915, 1.2186, 0.5299, 0.1343, -0.0122] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.345, "right_y": 0.245, "right_z": 0.03}, "note": "Brown bear lies in front of the safe, its torso just ahead of the right jaws. Advancing ~4 cm and descending onto the torso."})
tool
executing move_to over 8 steps (0.8s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteBear's torso fills the jaws; pressing down into it before closing.
move_to
right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1236, 0.9878, -0.8684, -0.2512, -0.1135, 0.9929, 0.7967, 1.8317, 1.0698, -0.3801, 0.4377, 0.6228, 0.9996] state[eef_state]: left_x=0.2901 left_y=-0.002 left_z=0.173 left_yaw=0.1059 left_pitch=-0.3918 left_roll=0.172 left_gripper=0.9929 right_x=0.3323 right_y=0.2379 right_z=0.0323 right_yaw=0.0121 right_pitch=-0.3801 right_roll=-0.0653 right_gripper=0.9996 state[joint_eff]: [-0.1573, -3.3983, 6.8991, 1.3651, -0.2857, -0.0757, -0.0122, -0.6085, -7.8701, 5.5043, 1.1404, 0.3297, -0.0904, -0.0122] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0}, "note": "Bear's torso fills the jaws; pressing down into it before closing."})
tool
executing move_to over 3 steps (0.3s)
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 noteJaws are pressed into the bear's torso; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1236, 0.9878, -0.8722, -0.2508, -0.1131, 0.9929, 0.794, 1.8637, 1.0363, -0.2646, 0.4324, 0.6174, 0.9996] state[eef_state]: left_x=0.2893 left_y=-0.002 left_z=0.1725 left_yaw=0.1058 left_pitch=-0.3956 left_roll=0.173 left_gripper=0.9929 right_x=0.3393 right_y=0.2447 right_z=0.0206 right_yaw=0.0296 right_pitch=-0.3479 right_roll=-0.0276 right_gripper=0.9996 state[joint_eff]: [-0.1573, -3.2205, 6.5573, 1.2381, -0.1294, -0.0317, -0.0122, 0.1573, -6.2017, 4.1504, 0.7497, 0.2271, -0.022, -0.0122] 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_gripper": 0.0}, "note": "Jaws are pressed into the bear's torso; closing."})
tool
executing move_to over 10 steps (1.0s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteGripper closed to 0.035 on fur; lifting to see if the bear comes along.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1236, 0.9878, -0.8757, -0.2508, -0.1131, 0.9929, 0.799, 1.8725, 1.0271, -0.2192, 0.4461, 0.6167, 0.0354] state[eef_state]: left_x=0.2886 left_y=-0.0018 left_z=0.172 left_yaw=0.1062 left_pitch=-0.3989 left_roll=0.174 left_gripper=0.9929 right_x=0.343 right_y=0.2483 right_z=0.0201 right_yaw=0.0321 right_pitch=-0.3197 right_roll=-0.0172 right_gripper=0.0354 state[joint_eff]: [-0.335, -3.2615, 6.5299, 1.2283, -0.1929, -0.0024, -0.0122, -0.5128, -6.694, 4.4239, 0.8034, 0.0952, 0.1734, 1.1404] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Gripper closed to 0.035 on fur; lifting to see if the bear comes along."})
tool
executing move_to over 6 steps (0.6s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteBear appears to rise with the jaws. Lifting high and carrying it over the open safe.
move_to
right_z0.2200right_x0.4000right_y0.3300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1236, 0.9878, -0.8757, -0.2508, -0.1131, 0.9929, 0.799, 1.7763, 1.1679, -0.5068, 0.4294, 0.6094, 0.0357] state[eef_state]: left_x=0.2886 left_y=-0.0018 left_z=0.172 left_yaw=0.1062 left_pitch=-0.3989 left_roll=0.174 left_gripper=0.9929 right_x=0.3365 right_y=0.2455 right_z=0.0726 right_yaw=0.0354 right_pitch=-0.3667 right_roll=-0.0477 right_gripper=0.0357 state[joint_eff]: [-0.1709, -3.1521, 6.5162, 1.2332, -0.1832, -0.0464, -0.0122, -0.2256, -10.7692, 8.7863, 1.2283, 0.3541, 0.0464, 1.0281] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.4, "right_y": 0.33}, "note": "Bear appears to rise with the jaws. Lifting high and carrying it over the open safe."})
tool
executing move_to over 10 steps (1.0s)
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 noteBear is held above the safe; lowering it toward the interior before releasing.
move_to
right_z0.1500right_x0.3900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1236, 0.9878, -0.8768, -0.2504, -0.1131, 0.9929, 0.8257, 2.2238, 2.3619, -1.2453, 0.4286, 0.6182, 0.0377] state[eef_state]: left_x=0.2884 left_y=-0.0019 left_z=0.1718 left_yaw=0.106 left_pitch=-0.4001 left_roll=0.174 left_gripper=0.9929 right_x=0.4025 right_y=0.3334 right_z=0.2086 right_yaw=0.0595 right_pitch=-0.3613 right_roll=-0.0358 right_gripper=0.0377 state[joint_eff]: [-0.2803, -3.2479, 6.6803, 1.2869, -0.1148, -0.0317, -0.0122, 0.3897, -11.0701, 6.5983, 0.5397, 0.2613, 0.1832, 1.033] 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_z": 0.15, "right_x": 0.39}, "note": "Bear is held above the safe; lowering it toward the interior before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteWrist view shows the white teddy inside the safe just ahead; shifting the bear forward so it lands inside rather than on the front wall.
move_to
right_x0.4200right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.124, 0.9878, -0.8764, -0.2508, -0.1131, 0.9929, 0.8406, 2.1548, 1.9545, -1.0714, 0.4263, 0.6216, 0.0377] state[eef_state]: left_x=0.2885 left_y=-0.0018 left_z=0.1718 left_yaw=0.1063 left_pitch=-0.4 left_roll=0.1743 left_gripper=0.9929 right_x=0.3756 right_y=0.3154 right_z=0.1218 right_yaw=0.0214 right_pitch=-0.4782 right_roll=-0.1603 right_gripper=0.0377 state[joint_eff]: [0.1162, -3.2068, 6.5299, 1.1941, -0.1978, -0.0757, -0.0122, 0.335, -15.6376, 8.2393, 1.2967, 0.3541, 0.1343, 1.0427] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_z": 0.16}, "note": "Wrist view shows the white teddy inside the safe just ahead; shifting the bear forward so it lands inside rather than on the front wall."})
tool
executing move_to over 4 steps (0.4s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteBear is hanging above the safe interior next to the white teddy; releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1248, 0.9878, -0.8772, -0.2508, -0.1131, 0.9929, 0.7788, 2.3325, 2.3775, -1.2613, 0.3992, 0.5629, 0.0377] state[eef_state]: left_x=0.2884 left_y=-0.0018 left_z=0.1715 left_yaw=0.1065 left_pitch=-0.4015 left_roll=0.1748 left_gripper=0.9929 right_x=0.4194 right_y=0.3224 right_z=0.1558 right_yaw=0.0337 right_pitch=-0.4616 right_roll=-0.1286 right_gripper=0.0377 state[joint_eff]: [-0.1709, -3.3299, 6.5573, 1.2869, -0.1441, -0.0464, -0.0122, -0.1436, -12.0957, 7.3231, 0.5543, 0.1685, 0.0415, 1.0427] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Bear is hanging above the safe interior next to the white teddy; releasing it."})
tool
executing move_to over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteBear dropped into the safe. The yellow lemon sits to the right of the safe; moving the right arm above it.
move_to
right_x0.4400right_y0.1900right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1259, 0.9878, -0.8768, -0.2508, -0.1131, 0.9929, 0.7738, 2.3497, 2.3707, -1.2919, 0.3946, 0.5507, 0.9945] state[eef_state]: left_x=0.2885 left_y=-0.0018 left_z=0.1713 left_yaw=0.1066 left_pitch=-0.4022 left_roll=0.175 left_gripper=0.9929 right_x=0.4154 right_y=0.316 right_z=0.1424 right_yaw=0.0199 right_pitch=-0.5054 right_roll=-0.1736 right_gripper=0.9945 state[joint_eff]: [-0.0205, -3.3573, 6.7077, 1.2332, -0.1587, -0.0611, -0.0122, 0.1709, -14.4889, 6.5162, 1.1404, 0.2027, 0.1392, -0.0513] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.19, "right_z": 0.13}, "note": "Bear dropped into the safe. The yellow lemon sits to the right of the safe; moving the right arm above it."})
tool
executing move_to over 11 steps (1.1s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteLemon is ahead and slightly right of the jaws in the wrist view; advancing toward it. (Bear's legs are hanging over the safe's front wall; will fix after.)
move_to
right_x0.5000right_y0.1700right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1278, 0.9878, -0.8768, -0.2504, -0.1131, 0.9929, 0.5201, 2.0602, 1.7813, -0.9897, 0.3122, 0.3149, 0.9953] state[eef_state]: left_x=0.2886 left_y=-0.0019 left_z=0.1707 left_yaw=0.1065 left_pitch=-0.4042 left_roll=0.1753 left_gripper=0.9929 right_x=0.4304 right_y=0.1881 right_z=0.108 right_yaw=-0.0206 right_pitch=-0.5763 right_roll=-0.2174 right_gripper=0.9953 state[joint_eff]: [0.0342, -3.1658, 6.5846, 1.2039, -0.1636, -0.0464, -0.0122, -0.1983, -14.4342, 7.0632, 1.2234, 0.0757, -0.0415, 0.0611] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.17, "right_z": 0.09}, "note": "Lemon is ahead and slightly right of the jaws in the wrist view; advancing toward it. (Bear's legs are hanging over the safe's front wall; will fix after.)"})
tool
executing move_to over 6 steps (0.6s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
assistant
agent noteLemon is centred a few cm ahead of the jaws, near the edge of reach; extending forward and down to straddle it.
move_to
right_x0.5400right_y0.1600right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1294, 0.9878, -0.8787, -0.2508, -0.1131, 0.9929, 0.4194, 2.2772, 2.0434, -1.0397, 0.2821, 0.2195, 0.9954] state[eef_state]: left_x=0.2883 left_y=-0.0018 left_z=0.1701 left_yaw=0.1072 left_pitch=-0.4074 left_roll=0.1766 left_gripper=0.9929 right_x=0.4878 right_y=0.1676 right_z=0.0853 right_yaw=-0.0347 right_pitch=-0.606 right_roll=-0.2344 right_gripper=0.9954 state[joint_eff]: [-0.1709, -3.3983, 6.6393, 1.199, -0.1587, -0.0659, -0.0122, -0.212, -12.0684, 8.1299, 0.9109, 0.1197, 0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_x": 0.54, "right_y": 0.16, "right_z": 0.04}, "note": "Lemon is centred a few cm ahead of the jaws, near the edge of reach; extending forward and down to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 203
assistant
agent noteLemon is right at the jaws, slightly to the right; shifting right ~1.5 cm and lowering to centre it between the fingers.
move_to
right_x0.5450right_y0.1450right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1305, 0.9878, -0.8795, -0.2508, -0.1131, 0.9929, 0.3729, 2.4935, 2.236, -1.0473, 0.2672, 0.1703, 0.9954] state[eef_state]: left_x=0.2882 left_y=-0.0018 left_z=0.1697 left_yaw=0.1075 left_pitch=-0.4092 left_roll=0.1772 left_gripper=0.9929 right_x=0.5239 right_y=0.1587 right_z=0.0351 right_yaw=-0.0445 right_pitch=-0.647 right_roll=-0.2564 right_gripper=0.9954 state[joint_eff]: [-0.1436, -3.3709, 6.7761, 1.2283, -0.1832, -0.0366, -0.0122, -0.4308, -13.8325, 8.7179, 0.9597, 0.1441, -0.0659, -0.0122] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.545, "right_y": 0.145, "right_z": 0.025}, "note": "Lemon is right at the jaws, slightly to the right; shifting right ~1.5 cm and lowering to centre it between the fingers."})
tool
executing move_to over 2 steps (0.2s)
step 205
assistant
agent noteLemon sits between the open jaws at the reach limit; closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1305, 0.9878, -0.8791, -0.2508, -0.1131, 0.9929, 0.3668, 2.5175, 2.2627, -1.0489, 0.2668, 0.1596, 0.9954] state[eef_state]: left_x=0.2883 left_y=-0.0018 left_z=0.1698 left_yaw=0.1074 left_pitch=-0.4088 left_roll=0.1771 left_gripper=0.9929 right_x=0.5287 right_y=0.157 right_z=0.0308 right_yaw=-0.0427 right_pitch=-0.6475 right_roll=-0.2599 right_gripper=0.9954 state[joint_eff]: [-0.0205, -3.2205, 6.6256, 1.1746, -0.1734, -0.0415, -0.0122, -0.4171, -14.3932, 8.0342, 1.0281, 0.1001, 0.0073, -0.0171] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon sits between the open jaws at the reach limit; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 215
assistant
agent noteEmpty close: the lemon got nudged further forward, beyond vertical-tool reach. Opening and pitching the tool forward to extend the fingertips out over it.
move_to
right_gripper1.0000right_pitch0.4000right_x0.5800right_y0.1300right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1305, 0.9878, -0.8833, -0.2504, -0.1131, 0.9929, 0.3744, 2.4786, 2.1857, -1.0107, 0.2409, 0.128, 0.035] state[eef_state]: left_x=0.2874 left_y=-0.0017 left_z=0.1692 left_yaw=0.1076 left_pitch=-0.413 left_roll=0.178 left_gripper=0.9929 right_x=0.5201 right_y=0.1629 right_z=0.0283 right_yaw=0.011 right_pitch=-0.6613 right_roll=-0.2439 right_gripper=0.035 state[joint_eff]: [-0.212, -3.0701, 6.5436, 1.2283, -0.2076, -0.0562, -0.0122, -0.0889, -13.6684, 5.7094, 1.4921, 0.8816, 0.0269, 0.7106] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_pitch": 0.4, "right_x": 0.58, "right_y": 0.13, "right_z": 0.06}, "note": "Empty close: the lemon got nudged further forward, beyond vertical-tool reach. Opening and pitching the tool forward to extend the fingertips out over it."})
tool
executing move_to over 36 steps (3.6s)
step 251
assistant
agent noteLemon now clearly visible just ahead of the jaws beside the safe wall; advancing and lowering to straddle it.
move_to
right_x0.6000right_y0.1400right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1305, 0.9878, -0.8951, -0.2504, -0.1131, 0.9929, 0.3561, 2.3333, 1.2251, 0.828, 0.4381, -0.1509, 0.9985] state[eef_state]: left_x=0.285 left_y=-0.0013 left_z=0.1678 left_yaw=0.109 left_pitch=-0.4243 left_roll=0.1816 left_gripper=0.9929 right_x=0.5748 right_y=0.1377 right_z=0.047 right_yaw=0.0464 right_pitch=0.319 right_roll=-0.2568 right_gripper=0.9985 state[joint_eff]: [-0.1709, -3.0838, 6.5162, 1.3797, -0.1783, -0.0122, -0.0122, -0.9368, -10.7829, 5.559, 2.2198, 0.2418, -0.0806, -0.0415] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.6, "right_y": 0.14, "right_z": 0.03}, "note": "Lemon now clearly visible just ahead of the jaws beside the safe wall; advancing and lowering to straddle it."})
tool
executing move_to over 2 steps (0.2s)
step 253
assistant
agent noteAt the reach limit the lemon is still slightly ahead; pitching the tool further forward to push the fingertips out and down around it.
move_to
right_pitch0.6000right_x0.6000right_z0.0200right_y0.1450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1301, 0.9878, -0.8982, -0.2508, -0.1131, 0.9929, 0.35, 2.3932, 1.3079, 0.8471, 0.429, -0.1577, 0.9989] state[eef_state]: left_x=0.2844 left_y=-0.0011 left_z=0.1675 left_yaw=0.1097 left_pitch=-0.4268 left_roll=0.1827 left_gripper=0.9929 right_x=0.5926 right_y=0.1419 right_z=0.0487 right_yaw=0.0479 right_pitch=0.3574 right_roll=-0.2481 right_gripper=0.9989 state[joint_eff]: [-0.2256, -3.2205, 6.4889, 1.199, -0.188, -0.022, -0.0122, -0.8957, -11.3299, 5.4496, 1.8144, 0.0806, -0.0269, 0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_pitch": 0.6, "right_x": 0.6, "right_z": 0.02, "right_y": 0.145}, "note": "At the reach limit the lemon is still slightly ahead; pitching the tool further forward to push the fingertips out and down around it."})
tool
executing move_to over 9 steps (0.9s)
step 262
assistant
agent noteLemon now sits between the jaws at the bottom of the wrist view; lowering slightly while closing on it.
move_to
right_gripper0.0000right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1324, 0.9878, -0.8986, -0.2508, -0.1131, 0.9929, 0.3523, 2.587, 1.3991, 1.3449, 0.4305, -0.2371, 0.999] state[eef_state]: left_x=0.2844 left_y=-0.0011 left_z=0.1669 left_yaw=0.1101 left_pitch=-0.4294 left_roll=0.1835 left_gripper=0.9929 right_x=0.6059 right_y=0.148 right_z=0.0826 right_yaw=0.0255 right_pitch=0.7241 right_roll=-0.1982 right_gripper=0.999 state[joint_eff]: [-0.0205, -3.2479, 6.694, 1.1502, -0.1978, -0.0562, -0.0122, -0.212, -6.8581, 4.0, 0.7009, 0.0562, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_z": 0.05}, "note": "Lemon now sits between the jaws at the bottom of the wrist view; lowering slightly while closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 272
assistant
agent noteI couldn't finish the task: only the white teddy is fully inside the safe. The brown bear dropped in but its lower body is hanging over the front wall. The yellow lemon sits right next to the safe at about x≈0.6 m from the right arm's base, which is the edge of that arm's reach. My first close pushed it further away. With the tool tilted forward I reached x≈0.60 m, but the grasp point couldn't get below about z≈0.07 m, so two closes on the lemon came up empty. I have too few calls left to reposition the bear, get the lemon and flip the lid shut.
give_up
hindsight- Layout: the safe is a red case with its lid standing open at the back, centred at about left (x 0.43, y −0.31) / right (x 0.43, y 0.33). The yellow lemon sat right next to it at about right (x 0.55–0.58, y 0.14), right at the edge of reach. Go for far objects like this first, and come in from above with a fully open gripper and the tool tilted forward (pitch ~+0.4). Straight-down grasps only reach about x 0.52, and a missed grasp pushes the object even further out. - With the tool tilted forward the arm reaches x≈0.60, but it can't get lower than about z≈0.05–0.08 out there. - Soft plush toys: close fully while pressed to the table (z≈0). The settled reading will be only 0.03–0.05 even when the grasp worked (the fur squashes), so check by lifting instead. - The wrist view puts objects further out than they are. When an object fills the view, it is still 2–4 cm past the fingertips. - When dropping a large toy, move it toward the back of the safe (x≈0.43–0.45 or more), otherwise its legs hang over the front wall. - The call budget is tight: plan roughly 5 calls per object and save about 6 for closing the lid.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1715, 1.1332, 0.9878, -0.8989, -0.2504, -0.1131, 0.9929, 0.3538, 2.529, 1.3491, 1.2373, 0.4301, -0.1989, 0.0084] state[eef_state]: left_x=0.2844 left_y=-0.0012 left_z=0.1666 left_yaw=0.1099 left_pitch=-0.4305 left_roll=0.1835 left_gripper=0.9929 right_x=0.6015 right_y=0.1475 right_z=0.0737 right_yaw=0.0264 right_pitch=0.6339 right_roll=-0.1908 right_gripper=0.0084 state[joint_eff]: [-0.1026, -3.3436, 6.5573, 1.2332, -0.1636, -0.0317, -0.0122, 0.294, -9.2376, 5.9419, 1.7607, 0.0806, 0.0317, 0.5788] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I couldn't finish the task: only the white teddy is fully inside the safe. The brown bear dropped in but its lower body is hanging over the front wall. The yellow lemon sits right next to the safe at about x\u22480.6 m from the right arm's base, which is the edge of that arm's reach. My first close pushed it further away. With the tool tilted forward I reached x\u22480.60 m, but the grasp point couldn't get below about z\u22480.07 m, so two closes on the lemon came up empty. I have too few calls left to reposition the bear, get the lemon and flip the lid shut.", "hindsight": "- Layout: the safe is a red case with its lid standing open at the back, centred at about left (x 0.43, y \u22120.31) / right (x 0.43, y 0.33). The yellow lemon sat right next to it at about right (x 0.55\u20130.58, y 0.14), right at the edge of reach. Go for far objects like this first, and come in from above with a fully open gripper and the tool tilted forward (pitch ~+0.4). Straight-down grasps only reach about x 0.52, and a missed grasp pushes the object even further out.\n- With the tool tilted forward the arm reaches x\u22480.60, but it can't get lower than about z\u22480.05\u20130.08 out there.\n- Soft plush toys: close fully while pressed to the table (z\u22480). The settled reading will be only 0.03\u20130.05 even when the grasp worked (the fur squashes), so check by lifting instead.\n- The wrist view puts objects further out than they are. When an object fills the view, it is still 2\u20134 cm past the fingertips.\n- When dropping a large toy, move it toward the back of the safe (x\u22480.43\u20130.45 or more), otherwise its legs hang over the front wall.\n- The call budget is tight: plan roughly 5 calls per object and save about 6 for closing the lid."})
tool
give_up: I couldn't finish the task: only the white teddy is fully inside the safe. The brown bear dropped in but its lower body is hanging over the front wall. The yellow lemon sits right next to the safe at about x≈0.6 m from the right arm's base, which is the edge of that arm's reach. My first close pushed it further away. With the tool tilted forward I reached x≈0.60 m, but the grasp point couldn't get below about z≈0.07 m, so two closes on the lemon came up empty. I have too few calls left to reposition the bear, get the lemon and flip the lid shut.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 14.88 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3904, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6071, -0.403, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.0009 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3744, 10.2222, 2.0195, -0.0952, 0.1978, -0.0904, -0.5812, -1.4564, 9.6205, 2.0928, -0.0366, 0.1587, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08c1b365fa3cbc17856e1d824ea8542e563244db8ddffc49db456c834545009f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:921d135ffa8826e2437b51c5dfbd8fc1f0bd65ec3356db79f3b70b3efa4e206f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b4b1f2be269ecba17cee406673c57cae81c94b26aba96d331ab29bd99de68a21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 5.66 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3904, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6071, -0.403, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.0009 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3744, 10.2222, 2.0195, -0.0952, 0.1978, -0.0904, -0.5812, -1.4564, 9.6205, 2.0928, -0.0366, 0.1587, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08c1b365fa3cbc17856e1d824ea8542e563244db8ddffc49db456c834545009f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:921d135ffa8826e2437b51c5dfbd8fc1f0bd65ec3356db79f3b70b3efa4e206f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4b1f2be269ecba17cee406673c57cae81c94b26aba96d331ab29bd99de68a21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SCbu7xEL8YNH3d1pgAtCw7",
      "input": {
        "note": "Scene: open red safe in the centre, white teddy left of it, yellow lemon right of it, brown bear in front. Moving the left arm above the white teddy (estimated position) to check the wrist view.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.18,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01SCbu7xEL8YNH3d1pgAtCw7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6239, 1.5486, 0.9329, -0.1333, -0.4927, -0.4026, 0.9992, -0.0212, 0.7986, 0.6075, -0.4332, -0.0196, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.3871 left_y=-0.1713 left_z=0.1299 left_yaw=-0.0133 left_pitch=-0.065 left_roll=0.0264 left_gripper=0.9992 right_x=0.2881 right_y=0.001 right_z=0.1695 right_yaw=-0.0001 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -7.2821, 9.0598, 1.8584, -0.5055, 0.0757, -0.0171, -0.212, -1.6342, 7.0769, 1.9902, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f54f1ded962975582d358e8e5521ec55467a4f7d7a29375bc6330aa3ab8a254a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:135efacf0baa5572427db2ddfad00c72ebb0736e567e90ce2b5608254f85d54b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04f234345581c4619465f66e5d270080794a0b4226e4a8365646d1aac4195ecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.918 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3904, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6071, -0.403, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.0009 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3744, 10.2222, 2.0195, -0.0952, 0.1978, -0.0904, -0.5812, -1.4564, 9.6205, 2.0928, -0.0366, 0.1587, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6239, 1.5486, 0.9329, -0.1333, -0.4927, -0.4026, 0.9992, -0.0212, 0.7986, 0.6075, -0.4332, -0.0196, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.3871 left_y=-0.1713 left_z=0.1299 left_yaw=-0.0133 left_pitch=-0.065 left_roll=0.0264 left_gripper=0.9992 right_x=0.2881 right_y=0.001 right_z=0.1695 right_yaw=-0.0001 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -7.2821, 9.0598, 1.8584, -0.5055, 0.0757, -0.0171, -0.212, -1.6342, 7.0769, 1.9902, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f54f1ded962975582d358e8e5521ec55467a4f7d7a29375bc6330aa3ab8a254a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:135efacf0baa5572427db2ddfad00c72ebb0736e567e90ce2b5608254f85d54b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04f234345581c4619465f66e5d270080794a0b4226e4a8365646d1aac4195ecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgkKEAgSGAI4AUIIdGhpbmtpbmcSDAeFmq+o6DFgezgBwBoMSjJ3IBULwThfbDbzIjAJIc5fzPdvNy0HzuP8ViSB3xb6cy3TbT7J/6Ln8DWAdc12ViXw10rzLTuHIitPxJMqswiagN0s403bjP5Nj5L7n9ColzDmw22jr85mWWC8R4DKv2BDLlfurrDO3bY6tUkZjP0akmm7xrSMfuxJ2zs120MfaLiTqJKHVtV7Va/Skb26USdnb1wDB0dr7Oxd1TRp7Dop9x18srNp9ekMov/1BVRKYpaXFACXrZCnFw3aP9p5OAvphZYO1rHuhXq5nFaGuB/IZyNzPIIAW9bzRTTBVelb8soetC/PycLkwo+zQVSqLMCyF8mqTJEuT+ye1noVi5tXdCLLexoSfUqM47T6yRvYgjF2/eQ3VmAMemIzR7RCho8Z2ObLcdXF1kQbtBekYhUJr6g9yI1rc3lkSZvq2WE5hEoyyARsnZ/e4mqZq4WeNvLW6hOkzYxUsFWY6IrvpyyU23AiX38y/H0rnhH7vYdkQL1Lqa4mHloVZXPQTgndSsoL5QjD6LU4HjYIM+h0tw/nN+8OoMl0ILoKdIMN6U7F6FywZ8mYxX5zCgxXQVuqOXMLCYuSZ/7ztizrnJNA4fZlNmYdz2yiSC1Qj+o9iwisOA2fzgeKehuBaNKSeR+dJPwIAu1YKQiM/sl6wSyuZglLJqNn/eNLhVKmvjo9ngowMH5kRksSHk0whMGQD3D0y5ys2k4ZfS/c9xd+EE3ODeeLxexD7iymUGHqu0mBsUJLD3UdqjbRQleq8Y8BaKtiQ8e522HwqpcJApkjEDozfXihN8Z97T/1uzHN1lS8zdUCiqKdg8kWuxDIHh1blvqHBkivtv6G8+KYCA/kLsZszq/6kcZnhcBrJgJ4o9R74FXWG5ZKrQwUqW1lbbsdiky4KSA+K0z+PO1MpJyrXsYTT/pRMyMDF/ZIjfjNAUtXaSTwhLn7nh5ybyQ64+toVXyMmCE+7MKiENfha6nmUp9feYFMdlWfpClS4X88keRwoGCqGC2NOzNRDPnthDLPVO3cPY90mAgSjWUSMa+pN0nba7Dw/WjKYS3Afwp3rB1qXSimaUhG/QtbTrUea/QnbOFk/8gL3db2WWbowllvSCM+eCUXSIScjzmkr8zq+3b/3HbA3OAd+g2sQ+rQDchSVukJGn8N3eJWSrPuW556iLU5bTUdQwlPWUhk/Zm91+LHnsbDKL2E4sZc3+n3qTFpjFWsOBisYsfnQH+urxttbJTGxCOxkj0TQATCuMlm0AHFUa8sNwJJilvaPlzvuc+0KhXRobV57OfjClPPT2dwZ45R69tBITgBaGPwy/DB8HBKqQcwW281PsRUGlafL28y8xWc/cR28ZN1xBM6ceCh6Xay00tF3xN5+MAdzIMhfGk+vmfcyZYUIaFURQmyadxnRI0mK5QuV3aLd6CiHwOLhVD08APeP62bLx/20bq8OSpjUFed23SVUa6+Q4xptJvnIjnGQ0wETLa6bfmaictik1dz4P/hwtcaZyYaFjt1j77fbCf1vnE0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014GZXPrSBxwr4wxDseQmdQw",
      "input": {
        "note": "White teddy is just under the jaws, slightly left in the wrist view. Nudging left and descending to grasp its body.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.16,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014GZXPrSBxwr4wxDseQmdQw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.593, 1.7603, 0.7216, 0.239, -0.4744, -0.3897, 0.9992, -0.0212, 0.8005, 0.6067, -0.4549, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3822 left_y=-0.156 left_z=0.0278 left_yaw=-0.001 left_pitch=-0.1144 left_roll=0.0548 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1643 right_yaw=0.0005 right_pitch=-0.0591 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -7.5692, 4.7521, 1.8242, -0.0952, 0.0952, -0.0122, -0.1299, -1.388, 7.2547, 1.8584, -0.0317, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1259c10669446dd5ecdf3d7b847890dad8d2b8a1c79aecda6260c2b439ebfb8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f81a8341d0fadb3b402f51316f34d8e05eb5f840f536d495ed14231451002407",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c2aafdb01b3338cf11f6d8c28a169cce4b91ce96197f6a15cab380d6cac87da",
        "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 · 3.748 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6041, -0.3904, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6071, -0.403, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.292 right_y=0.0009 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3744, 10.2222, 2.0195, -0.0952, 0.1978, -0.0904, -0.5812, -1.4564, 9.6205, 2.0928, -0.0366, 0.1587, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6239, 1.5486, 0.9329, -0.1333, -0.4927, -0.4026, 0.9992, -0.0212, 0.7986, 0.6075, -0.4332, -0.0196, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.3871 left_y=-0.1713 left_z=0.1299 left_yaw=-0.0133 left_pitch=-0.065 left_roll=0.0264 left_gripper=0.9992 right_x=0.2881 right_y=0.001 right_z=0.1695 right_yaw=-0.0001 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -7.2821, 9.0598, 1.8584, -0.5055, 0.0757, -0.0171, -0.212, -1.6342, 7.0769, 1.9902, -0.0464, -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]: [-0.593, 1.7603, 0.7216, 0.239, -0.4744, -0.3897, 0.9992, -0.0212, 0.8005, 0.6067, -0.4549, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3822 left_y=-0.156 left_z=0.0278 left_yaw=-0.001 left_pitch=-0.1144 left_roll=0.0548 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1643 right_yaw=0.0005 right_pitch=-0.0591 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -7.5692, 4.7521, 1.8242, -0.0952, 0.0952, -0.0122, -0.1299, -1.388, 7.2547, 1.8584, -0.0317, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1259c10669446dd5ecdf3d7b847890dad8d2b8a1c79aecda6260c2b439ebfb8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f81a8341d0fadb3b402f51316f34d8e05eb5f840f536d495ed14231451002407",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c2aafdb01b3338cf11f6d8c28a169cce4b91ce96197f6a15cab380d6cac87da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6gYKEAgSGAI4AUIIdGhpbmtpbmcSDOqSXP2MzM2BYQ7niBoMyZejxnn7pFs+HgqYIjDKuMmDauH6Zwb8sN3HZPDxyPkH0BpIjNPrFBAI8SWu0JzRpKQ+VNIWjXLABb856VkqhwbFzcEjmyNMb9VCMDyQiOlrjW8blhYEMVTdVDbsa79syXD4nps0Ab6d+xO4+nz2aHxnm8P1rg/hEj1RMVpcU4GSQWxZTNGxqmt4p36sAvQcXFBIf1/uVxdLwlY5sLCYI4n9nBpN5cmwWvG3mkz3spoPWh/193HUule+3mfniPXDCE4W3K7sIwn0OGdUIyLcbXGwZ2uOTe4VMiffVmre5jxoSKbQq04Vl2+bxT36/uWseLEVzzq+OaCGhlI6OMWeVkKOFOYhlnIoBTqOUA45m/usKlP5S1gjHI76KGeDIDSrZVco9wgbYY/qScUNv/uBZGHpDuXRDmAci9E54RzLSMcUw86MNMEWVwg5vapFvBfrBDG+hhALI/LrZ3HAnnhuccC0/EhMoe+SvUNw1eCacv1CioVVpLh2Cu1o0BWgGo5cM7rqlRpaD+uyW2/jyc3rtS+oYearhqEA+v624xNdRHdK1bTUp3Dry/g3nHc0LsgXbdqi4id9pr+Vayj43KEowkbMt/bFiPRtYzDnQcjUqiKg4DHNM+beUGU3FPu2yKWfWDNQFDQoO0QjKwNEmN1vGo7mGntejesfZdRlgH3wN/Cd/U2RC62lXhfE8rkZYmucte5xZJbxao5anPhIQoyFZ4pLTtws5nMd9Y28slTBMcZFJj2keBnjyZdz8nShLidI6qrExQCrSDzD9st8rqbrJIji1zYBc4ZxH0Y3jgj5BUbtcYBMYzEHCDVhLHKaNnXej0Ds49fX//8mdf8mjKgIX6Nnm6PXB+eTAzEpN6CTkTnGpiKCTYiT7hdluu9tO7U32fdXK06RWNCeK/GkpcogCn52Oyi42ddMA09seKwlpSVO5nnGSZh20TqRuQy7SIWTLVretDpk7KwdRH5nN9eLfoEMIkY8rXCw3TgcCkVc5zIhxSAL+cWaeiEYDdJhvjPV/Cnw6wqU4Wy/UlMPoWe4xYPx3HFGqPrTxpp17doEtqQrT2E5jVNLAo3WJy2OCqBqCEy3Je5mxHPsi61XYRZAdvnvFE3G436zGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KsRPXfsafKKsWxauQyL9GF",
      "input": {
        "note": "Teddy fills the wrist view just ahead of the jaws; advancing 2 cm so its body sits between the fingers.",
        "targets": {
          "left_x": 0.405,
          "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_01KsRPXfsafKKsWxauQyL9GF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5671, 1.8103, 0.7338, 0.2928, -0.4587, -0.3737, 0.9992, -0.0212, 0.8021, 0.6056, -0.4576, -0.02, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.3928 left_y=-0.1531 left_z=0.0201 left_yaw=0.0031 left_pitch=-0.1076 left_roll=0.0491 left_gripper=0.9992 right_x=0.2844 right_y=0.0011 right_z=0.1629 right_yaw=0.0003 right_pitch=-0.0645 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.9778, -7.241, 6.9949, 1.4921, -0.0806, 0.2369, -0.0122, -0.0889, -0.8137, 7.0359, 1.7216, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f10e3b8b23ef69c5610c9e9dbe3b5b0ab6d910f8f64a16968f1fd9f3d5e53b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59c063d208033187af9fea81c87d442287d39cce48a5e4dc667c9951019ff3d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6e70aa838ba50128a1ecebcc8f3263d248f390f899fd55ee6e1c10f7534797d",
        "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 · 6.047 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]: [-0.6239, 1.5486, 0.9329, -0.1333, -0.4927, -0.4026, 0.9992, -0.0212, 0.7986, 0.6075, -0.4332, -0.0196, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.3871 left_y=-0.1713 left_z=0.1299 left_yaw=-0.0133 left_pitch=-0.065 left_roll=0.0264 left_gripper=0.9992 right_x=0.2881 right_y=0.001 right_z=0.1695 right_yaw=-0.0001 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -7.2821, 9.0598, 1.8584, -0.5055, 0.0757, -0.0171, -0.212, -1.6342, 7.0769, 1.9902, -0.0464, -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]: [-0.593, 1.7603, 0.7216, 0.239, -0.4744, -0.3897, 0.9992, -0.0212, 0.8005, 0.6067, -0.4549, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3822 left_y=-0.156 left_z=0.0278 left_yaw=-0.001 left_pitch=-0.1144 left_roll=0.0548 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1643 right_yaw=0.0005 right_pitch=-0.0591 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -7.5692, 4.7521, 1.8242, -0.0952, 0.0952, -0.0122, -0.1299, -1.388, 7.2547, 1.8584, -0.0317, -0.0464, -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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5671, 1.8103, 0.7338, 0.2928, -0.4587, -0.3737, 0.9992, -0.0212, 0.8021, 0.6056, -0.4576, -0.02, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.3928 left_y=-0.1531 left_z=0.0201 left_yaw=0.0031 left_pitch=-0.1076 left_roll=0.0491 left_gripper=0.9992 right_x=0.2844 right_y=0.0011 right_z=0.1629 right_yaw=0.0003 right_pitch=-0.0645 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.9778, -7.241, 6.9949, 1.4921, -0.0806, 0.2369, -0.0122, -0.0889, -0.8137, 7.0359, 1.7216, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f10e3b8b23ef69c5610c9e9dbe3b5b0ab6d910f8f64a16968f1fd9f3d5e53b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59c063d208033187af9fea81c87d442287d39cce48a5e4dc667c9951019ff3d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6e70aa838ba50128a1ecebcc8f3263d248f390f899fd55ee6e1c10f7534797d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AYKEAgSGAI4AUIIdGhpbmtpbmcSDByzH8Qylxt7Ijx0PxoME3uTb3G+BSUoitqyIjDV0ORYU9nAkNJAmGj5x5XGmRd8ukPyyvABaQ/PKUfcyFGDlwh72RStVEU4X6ghbK4qkQa6xfAI2aA33NgKmT6JqlvFEVw45i03168qEeQ1KhT35bXfKt8po6mp8t+aKzqCBLKc0P2KVtg4W3oM3unZg8Pb/mUOTW+dIHVlMdxBLizE2RKBGUu77wiqfsS/PS4IY1WlOjdScUgQBcnSGeee+zO4UOlFKZLH6Bz1n+yZc07wzrBqpFNW7ceJJcwrn/4w/rePcEaSMSygk5k3Qq7o6FglJjjONVwHKpbABHbY7mAyEdKWfa1IdoIbufFZ4sb4IJW9eDH0CBj5SysGX/Hvwac8Oohicvq41BwxYT5YGLBrJvKnAT47taYqjEWmOI5WPo2ObW+fof18wGC4DYiD4ytfH0Qp1u0LMKNjt+BbQtCARAWH14PDbYC7S1DvzGdzxMvOC/4i4yhY/67KMgGQVpQrD5InFvmAdd24AI9PIIoNSCEXTr2/Qg8VHeWI9tu4/G+Q38sqbyUEd5BH6+tMnZJZTGJQQJkg87gsCJ1B62YlpHTrnvFFuPGllcwDLzRGXDW6QyVc4p0/keUR/ruHD8erY3JThfCFah7MoKwtRzbOe3FEbmVltCFDV5regPSLCjZq2XE4bDaupiujIlHjSpMA1I0fxk5VbVCZmlCJgv3b0gQ71paleAPxEQ7Aq4OQajn6oZ0N8XSxMevsVkB+tFVF2U999VXk8dAsViIze74Ha7jjrnk1gSHur8WQpn4+Q35Gj7+dII+ts3CTBV9JoJr/qk5oth6Nosn0DRd69M5aYd0f1rQvEAgX/fX54qORZU2qqEencD/MhfR01CkC3HkYWN/eXKsqIj6voJtC9rvDj5/c9p9iXc0PU5XsxBQboRvWm85I8SmTUvx4I+PCW5XWyYnhNnB11BVg21eyGSdSfq56aMZ17cveptSBMN5pm7B6ASko1/WhyELNMEMCPn4eoGmD8UIY9J3988vR5mg7aTxAlpL6NUoOJUHeTes60TpeCb8IwyGqxqHyD0I0hWEFxgj9MqPwUujuDs6ou10sPORo5IhEJsyxAK6E8JfEBPs9ZJKW1mexpvVMYUhdRPIUKBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0123kcmHrZoarGxjKVq5Ekod",
      "input": {
        "note": "Teddy's body is right at the jaws; closing to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0123kcmHrZoarGxjKVq5Ekod",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5682, 1.8324, 0.7387, 0.2726, -0.4503, -0.3763, 0.0196, -0.0212, 0.8051, 0.6056, -0.4854, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3891 left_y=-0.1529 left_z=0.0094 left_yaw=-0.0005 left_pitch=-0.1423 left_roll=0.0622 left_gripper=0.0196 right_x=0.2803 right_y=0.0011 right_z=0.1567 right_yaw=0.0002 right_pitch=-0.0954 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -9.894, 4.6017, 1.6337, -0.2857, -0.0317, 0.7643, -0.0752, -1.3607, 6.9402, 1.8877, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2f513e5c0eb32f7a436678cea91a6501d5d96d63b6012b66cd6ef66272b2a8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b9d50c8ff9501364c809cbb7931c4480ea9721ded165666e5cf6fc1f3b5d3ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c71998f8c7000d0b75bfe64325a4a812758382e707112d61b4f1a9894c8092c8",
        "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 · 4.121 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]: [-0.593, 1.7603, 0.7216, 0.239, -0.4744, -0.3897, 0.9992, -0.0212, 0.8005, 0.6067, -0.4549, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3822 left_y=-0.156 left_z=0.0278 left_yaw=-0.001 left_pitch=-0.1144 left_roll=0.0548 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1643 right_yaw=0.0005 right_pitch=-0.0591 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -7.5692, 4.7521, 1.8242, -0.0952, 0.0952, -0.0122, -0.1299, -1.388, 7.2547, 1.8584, -0.0317, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5671, 1.8103, 0.7338, 0.2928, -0.4587, -0.3737, 0.9992, -0.0212, 0.8021, 0.6056, -0.4576, -0.02, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.3928 left_y=-0.1531 left_z=0.0201 left_yaw=0.0031 left_pitch=-0.1076 left_roll=0.0491 left_gripper=0.9992 right_x=0.2844 right_y=0.0011 right_z=0.1629 right_yaw=0.0003 right_pitch=-0.0645 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.9778, -7.241, 6.9949, 1.4921, -0.0806, 0.2369, -0.0122, -0.0889, -0.8137, 7.0359, 1.7216, -0.0513, -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]: [-0.5682, 1.8324, 0.7387, 0.2726, -0.4503, -0.3763, 0.0196, -0.0212, 0.8051, 0.6056, -0.4854, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3891 left_y=-0.1529 left_z=0.0094 left_yaw=-0.0005 left_pitch=-0.1423 left_roll=0.0622 left_gripper=0.0196 right_x=0.2803 right_y=0.0011 right_z=0.1567 right_yaw=0.0002 right_pitch=-0.0954 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -9.894, 4.6017, 1.6337, -0.2857, -0.0317, 0.7643, -0.0752, -1.3607, 6.9402, 1.8877, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2f513e5c0eb32f7a436678cea91a6501d5d96d63b6012b66cd6ef66272b2a8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b9d50c8ff9501364c809cbb7931c4480ea9721ded165666e5cf6fc1f3b5d3ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c71998f8c7000d0b75bfe64325a4a812758382e707112d61b4f1a9894c8092c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS9AgKEAgSGAI4AUIIdGhpbmtpbmcSDKbfGw9uHaoDh+HZihoMSnW+GGS+AOvCjSnsIjAJH66ZkbyownxykihmoKdbC+UVrZHOW+/5gjaO3FOnhliyfWohyty2mM/GkH3To2sqkQi4Dr8kF/lK/U46VK+Lju8Dlr7yCTnaybMYFI2FIPr478sc5dEPt2WCNYmZs4oUMtZsX5z3AhEzTqYq2kdEEHHU/Efv/GpyUcI9iv7xiy6m4ChX0CkwqL3qsdAqYE4BEwdG5ZEW+eeEt9tzTtZFppGoNFbTmpZ5wp2X+0JXjESv8WLCZAw7ylwrq8znn4mN3grFzqPb3iQW/0uNIPBO6itQUZTAeGbZcFxybFTVYoF44UWqS5bSulF2lBze9L8hjCaaGiwa7tjz2ASbn6ENwy8iikIZz3sTwCcYoe+Z/oo0LT8PAObR+z9Vkuz3K5uoZo3XzWvf45TYIe1PhbANZnPGLqTGPh8HPV8iO26gU2ZSMtZzms24XAnRF6CLdYicmh/zZ8PGXn1CxGtEE9tyFwzmaiaAiURMxEOpbzUlKjRUNFJnyDUq8KFigj2mxjc2KrV84vcRZtRiL1H+/W74zHpKBCaWjzlh9T2wdQ4l8ZLus6o38/8Cx5dhbj/ErdpSfrP121mBhGOn5rj6g09mENdXKpJqT4RQ5nGg90225DLgzt9XKMW2Nl/svLzxwzZXYtdTyjwgGa33o46fKfSu6kBAJhvP+p9l5tcvmL5qqhPo9AwklMUn6w1YDszN25/YApz78bJcX5c2iX4iqcuQO23XNqVRJuKDF/QZhYHVx6f0sFOeeTUrL72vGzgpbr9R1z5VxqFcmiFqJgMnVL1Rl6e96z43tJ/er9/SoKC8aMEZDUj+P2YswfpkooOA1Jy++nVjUcU1+W39DGOcM67UyBc7S/c0wXR263sCFUaY276uq2b3eg9o1aTap69nY/Gq9+GolOUBrduEwW4NPXrkmxDz+X9Cl9YfKrefe+9PdAV2LoiW17q7Gx1MZ+O3iBOn7SPJCyoA7WsQE0UgHM3J++M4Gx2snkRzWnKF3xh1/BdIDecJLDF35sqWJnQxbB3Nj33kVGg1ysn3Pd30YRg7m4KQit16UEHiXTZkTNW6YPZIanmnAzbpgqn0IyDW0prRZ29kC29+C/6Z76fdK0D2KGSoKEeYsTFJ1pUwnHa1aQ1Ffmt47jP8uBimjXczEQhZCgfhyCxWENd92doET8CkIVed1ctPRovOjCbp+PuNH08qaypzVjCB2xWFWstmh+Tzj2gdglF9Zw5bJS0LCMRi/jJjaCzVuS8jeMQauokotBM9oPyJyEvAbk36bg6TZN65h8qWKzPkF0b1wRwXg6m3ryeL8OJXTgSDUEV6g3TOsVMqDxWxxBTgh7opes7olyJ1fymvq2gNUXPlnDzld6Q/VcYq105JU2UtBf/wD62VaLzrd3EGVvIeczrUbmQ7A43KkfvPLg0dEkld0Fl3QEmNjIGxCxBUAPdBOuTLZp7Fcm3omCAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QDL9yfaGok1ipZP7GEh55Y",
      "input": {
        "note": "Empty close: the teddy lies just beyond the fingertips. Opening, lifting a bit and advancing ~4 cm to get over its body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_y": -0.14,
          "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_01QDL9yfaGok1ipZP7GEh55Y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4747, 1.8175, 0.8917, 0.0624, -0.3985, -0.3225, 0.9954, -0.0212, 0.8062, 0.6056, -0.5041, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4164 left_y=-0.1329 left_z=0.0314 left_yaw=0.0266 left_pitch=-0.2009 left_roll=0.0902 left_gripper=0.9954 right_x=0.2774 right_y=0.0013 right_z=0.1528 right_yaw=0.0006 right_pitch=-0.1152 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -11.3983, 8.8137, 1.4921, -0.0806, 0.188, -0.1392, -0.1299, -1.1282, 7.0222, 1.8339, -0.0562, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2ef4d1676c1f1742b542e5e6ac3e9d0b42e874c70f12d43b1b6dfc2bf96df42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fb8d829ef53f7a9eeda01b746f50004676a33d929463bf901acb973bcbb0f7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecb7756f97afd0aa5868bd2701e17b4c1025f0782696f3ddb34b242b03d5c9a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 3.188 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]: [-0.5671, 1.8103, 0.7338, 0.2928, -0.4587, -0.3737, 0.9992, -0.0212, 0.8021, 0.6056, -0.4576, -0.02, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.3928 left_y=-0.1531 left_z=0.0201 left_yaw=0.0031 left_pitch=-0.1076 left_roll=0.0491 left_gripper=0.9992 right_x=0.2844 right_y=0.0011 right_z=0.1629 right_yaw=0.0003 right_pitch=-0.0645 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.9778, -7.241, 6.9949, 1.4921, -0.0806, 0.2369, -0.0122, -0.0889, -0.8137, 7.0359, 1.7216, -0.0513, -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]: [-0.5682, 1.8324, 0.7387, 0.2726, -0.4503, -0.3763, 0.0196, -0.0212, 0.8051, 0.6056, -0.4854, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3891 left_y=-0.1529 left_z=0.0094 left_yaw=-0.0005 left_pitch=-0.1423 left_roll=0.0622 left_gripper=0.0196 right_x=0.2803 right_y=0.0011 right_z=0.1567 right_yaw=0.0002 right_pitch=-0.0954 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -9.894, 4.6017, 1.6337, -0.2857, -0.0317, 0.7643, -0.0752, -1.3607, 6.9402, 1.8877, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4747, 1.8175, 0.8917, 0.0624, -0.3985, -0.3225, 0.9954, -0.0212, 0.8062, 0.6056, -0.5041, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4164 left_y=-0.1329 left_z=0.0314 left_yaw=0.0266 left_pitch=-0.2009 left_roll=0.0902 left_gripper=0.9954 right_x=0.2774 right_y=0.0013 right_z=0.1528 right_yaw=0.0006 right_pitch=-0.1152 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -11.3983, 8.8137, 1.4921, -0.0806, 0.188, -0.1392, -0.1299, -1.1282, 7.0222, 1.8339, -0.0562, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2ef4d1676c1f1742b542e5e6ac3e9d0b42e874c70f12d43b1b6dfc2bf96df42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fb8d829ef53f7a9eeda01b746f50004676a33d929463bf901acb973bcbb0f7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecb7756f97afd0aa5868bd2701e17b4c1025f0782696f3ddb34b242b03d5c9a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStQcKEAgSGAI4AUIIdGhpbmtpbmcSDHg5DJMEq+kazaJ0RhoMgmr5gj552svbvJ77IjAt5wBCv/TJVDHcPW+tceRaIdfF8yYDvVkE3LIcaltVGuyHXOE3y7A5AYAOXXXzmnIq0gZ+JDijp2oekt77RKOBhq7Pn0QR2hqn5DVH9pZ79dW0CAiZNR3LpVz3MwQwKgz6yvlnWQucOEg80B/g4UjxAGOwG4kBm4v9LOOXV9Io/qur77s4JSGSSL4Whhc/nTCZL2tjGYnTs6MKuqHAWih78t+NW0onn4n21n8Fdbqx372HSL5GBU4LeCtBotEl/O38ATmd3Almwm2ig2lQYwPFQAjqWjijISlNaf4jaKrXn2qvEZLrGs6KTSrGjjZx2XIqJeDl9/dnkDs8DDW2vV1aCvHvBI7F8YCbiKNKFF7CpYTYzM90G4mJVLy2CN9BnnGyocdy540VHWoaM5B0/pSrFpbeLzdaUuLAgJvJxFRtzZJNbu7VzaktM3xLK1Oh0B9roaJKeQDcDdQQqFHuVocjuKg7PdISKu+/7wWugBVV6x4xBV8Qs8DnvF1yZN/8fzQ86HMq88PV9PnSF7Xr3NdkGLYpdOQLnmNHn2njuGovGi2r1VLkGmq6STNWxzpoRDeg9anJavhClIUbzALOkODtum+wqkWxVBr5LDjnaUmMpu2a+QQ181nFnF066uPMUuUxkGczg8WoPLa3chzLj0tf7Vpz84ElP6t6cHUx9OER2yK7F3b6kiqGq7YOW6u/VcJznioTgDlAugt1fCEPEhEHad6kqImNPWB20YGucbcs7J/Sa8inH6Su6fukFRmBDS26oUUq4nKyKe9sj/Qc5osg9XUAAYR7vhB/xbjkwtLV4WadHETXE8t4jSiLtz++9KHyM7EzjKf/cojDTowGPWcD+M9vKC3zEPY61f9LvzoWWorXUL3xu+pQWRW/M5EgRggEViopH9rpprjv5DAbnMtF1HMjkDhWsVMB5l1nRvskd0RGEp6cd0d8wkbKvs/+p9Mgd81FBjFl6d5sfBXjn3wlykD0wSz9hbsX9vwnRVBRmoitdNwoGZ0lPNIWCtDBqlyXL+KiDwguiYLur8RTiWz0PQQhkYUQ5Rcw6wEWalf9oxADlqCjKpy2z9U9wnEY5zquJ+noDzNBzZru8pseDQl+x6Y3D3sMjvqtX1BDoR5DYFgnjPJWZMAqTLtaQ9T5OfD1nExqa8fJmxedqWqVNwEiWfQOES+HsQRSzRDAqQ/VTJrEoCmgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CMDKcspk34uhRdEgMqNYdV",
      "input": {
        "note": "Teddy body now centred between the jaws; descending to table level before closing.",
        "targets": {
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CMDKcspk34uhRdEgMqNYdV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4717, 1.8877, 0.8669, 0.136, -0.3965, -0.3229, 0.9964, -0.0212, 0.8082, 0.6056, -0.5175, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4149 left_y=-0.131 left_z=0.0052 left_yaw=0.0306 left_pitch=-0.2203 left_roll=0.0991 left_gripper=0.9964 right_x=0.2753 right_y=0.0013 right_z=0.1498 right_yaw=0.0006 right_pitch=-0.1304 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -9.1009, 4.8342, 1.6239, -0.1734, 0.1832, 0.0757, -0.1026, -0.8547, 6.8991, 1.8632, -0.0806, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8cc9ea66af9a3225b088143308fe51a37b46cde6c9c95fff6765eb1d1a537a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:590dcb3671ef10f3898f21167e3b3df189fa6102337caeb0a2a9f2e5b016c03b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8917af59c6302e7c3d55cca6010a91fb2c166018286addcc605398215d1a62da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 3.643 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]: [-0.5682, 1.8324, 0.7387, 0.2726, -0.4503, -0.3763, 0.0196, -0.0212, 0.8051, 0.6056, -0.4854, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3891 left_y=-0.1529 left_z=0.0094 left_yaw=-0.0005 left_pitch=-0.1423 left_roll=0.0622 left_gripper=0.0196 right_x=0.2803 right_y=0.0011 right_z=0.1567 right_yaw=0.0002 right_pitch=-0.0954 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -9.894, 4.6017, 1.6337, -0.2857, -0.0317, 0.7643, -0.0752, -1.3607, 6.9402, 1.8877, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4747, 1.8175, 0.8917, 0.0624, -0.3985, -0.3225, 0.9954, -0.0212, 0.8062, 0.6056, -0.5041, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4164 left_y=-0.1329 left_z=0.0314 left_yaw=0.0266 left_pitch=-0.2009 left_roll=0.0902 left_gripper=0.9954 right_x=0.2774 right_y=0.0013 right_z=0.1528 right_yaw=0.0006 right_pitch=-0.1152 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -11.3983, 8.8137, 1.4921, -0.0806, 0.188, -0.1392, -0.1299, -1.1282, 7.0222, 1.8339, -0.0562, -0.0611, -0.0073]\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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4717, 1.8877, 0.8669, 0.136, -0.3965, -0.3229, 0.9964, -0.0212, 0.8082, 0.6056, -0.5175, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4149 left_y=-0.131 left_z=0.0052 left_yaw=0.0306 left_pitch=-0.2203 left_roll=0.0991 left_gripper=0.9964 right_x=0.2753 right_y=0.0013 right_z=0.1498 right_yaw=0.0006 right_pitch=-0.1304 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -9.1009, 4.8342, 1.6239, -0.1734, 0.1832, 0.0757, -0.1026, -0.8547, 6.8991, 1.8632, -0.0806, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8cc9ea66af9a3225b088143308fe51a37b46cde6c9c95fff6765eb1d1a537a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:590dcb3671ef10f3898f21167e3b3df189fa6102337caeb0a2a9f2e5b016c03b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8917af59c6302e7c3d55cca6010a91fb2c166018286addcc605398215d1a62da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017xaomvx7JTvjVExgr6vP4Z",
      "input": {
        "note": "Jaws straddle the teddy's lower body at table level; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017xaomvx7JTvjVExgr6vP4Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4713, 1.8938, 0.8577, 0.1619, -0.4061, -0.3271, 0.0469, -0.0212, 0.8101, 0.6056, -0.5453, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4159 left_y=-0.1296 left_z=0.004 left_yaw=0.0396 left_pitch=-0.2071 left_roll=0.0974 left_gripper=0.0469 right_x=0.2708 right_y=0.0014 right_z=0.1443 right_yaw=0.0007 right_pitch=-0.1602 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -9.1282, 6.3658, 1.16, -0.105, 0.0611, 2.7863, -0.0889, -1.1829, 6.9128, 1.8535, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d17fbd876a9311e51c42b4b1f0cbdee63375b1c8ac08c76c2fd669638ece38fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d5706295db6fd21cef4a78a0b377eba6e1cf70a120f9296baa07993f1feba6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e221cba8dc59591f818b6afcf29c1d5d18f06bcc74503b2975ceb9bcec4cc57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 6.052 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]: [-0.4747, 1.8175, 0.8917, 0.0624, -0.3985, -0.3225, 0.9954, -0.0212, 0.8062, 0.6056, -0.5041, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4164 left_y=-0.1329 left_z=0.0314 left_yaw=0.0266 left_pitch=-0.2009 left_roll=0.0902 left_gripper=0.9954 right_x=0.2774 right_y=0.0013 right_z=0.1528 right_yaw=0.0006 right_pitch=-0.1152 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -11.3983, 8.8137, 1.4921, -0.0806, 0.188, -0.1392, -0.1299, -1.1282, 7.0222, 1.8339, -0.0562, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4717, 1.8877, 0.8669, 0.136, -0.3965, -0.3229, 0.9964, -0.0212, 0.8082, 0.6056, -0.5175, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4149 left_y=-0.131 left_z=0.0052 left_yaw=0.0306 left_pitch=-0.2203 left_roll=0.0991 left_gripper=0.9964 right_x=0.2753 right_y=0.0013 right_z=0.1498 right_yaw=0.0006 right_pitch=-0.1304 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -9.1009, 4.8342, 1.6239, -0.1734, 0.1832, 0.0757, -0.1026, -0.8547, 6.8991, 1.8632, -0.0806, -0.0611, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4713, 1.8938, 0.8577, 0.1619, -0.4061, -0.3271, 0.0469, -0.0212, 0.8101, 0.6056, -0.5453, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4159 left_y=-0.1296 left_z=0.004 left_yaw=0.0396 left_pitch=-0.2071 left_roll=0.0974 left_gripper=0.0469 right_x=0.2708 right_y=0.0014 right_z=0.1443 right_yaw=0.0007 right_pitch=-0.1602 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -9.1282, 6.3658, 1.16, -0.105, 0.0611, 2.7863, -0.0889, -1.1829, 6.9128, 1.8535, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d17fbd876a9311e51c42b4b1f0cbdee63375b1c8ac08c76c2fd669638ece38fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d5706295db6fd21cef4a78a0b377eba6e1cf70a120f9296baa07993f1feba6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e221cba8dc59591f818b6afcf29c1d5d18f06bcc74503b2975ceb9bcec4cc57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAcKEAgSGAI4AUIIdGhpbmtpbmcSDMrs2mt0K5n15T/zcxoMZxukEr4kWOLPJPr2IjDK5O4Itm22AU0i+gBnn1GT1z2oz79OuX14E3w5rKWEQAWywllcyspWg2u5L1AzOd0qsQZokcGh2Ot+0ouLEUAY1p/Epe0Bav1ybfJ2dlyTKZ8D2NKx5QnHD5Ma4H8m/naAYjvLWxjD54gwuP+ldXGQUawluApVeIqRVtRXpiddRyqu06kIyOt9dsWk38rgDAOSLvBkUwgyzx7c9WENkhkxujo+bbXNP0Dsv6cASwf7mRhizBYMofn0/Kqn+5ACgPDAyIbV9h0hT41T8Lxfwu72vKJ+XqzvpHNnV+9jtuTxyxcAO5zdURdvQF3YDJ08SKI3H0FCShw07x0nmymcI/LEO1/c2o0IjrZ8enMWt7At5L6ESx1IlhLYf5C3Rl7jYudSHltdNQWDvsF23TlzzcHPjbOoKRQaN/9rI2sRZaMraXQq25iSB11wCg5Mtv7aAQnRX46/EeB1a7fDxmMIutx6GgukscUahh2KyGCQjICKdzg57AZw1/7cYsQNSASmzFaDkAaHAj95/+LG8k8BOByRPP3AjTT0tyZK8sGRaGhj/cAGVWXo0wgJ7UNW7uMYYtaYmU5liWhbV7gVD1rWbxDvj3546NLqqNyj03yqGlO4FD3uq2ISjIol1uu1pu+0tBOYcDkZmutKNB6EaIMMqOBMdP0dbyXvvNF3wWOv1fibbZBCKItf6RXYrxBi2HEO4zedKibCyDczf/4HmrXLFjzWY0+03h3ffn68iURePXKye2fvBMROcGEN0QPm05OwJZF2E5HdVNHA3ORSavyiNNG0Gul8H28dieXVOCc8quItgewWUo0lIF82+PdOxVWq33CedHdWdrpvBd4ghYfKbJoT/pkCOdRJuBcJiKx0oavzlx74i7Zuo3GoFpyTHMcBnbXQbjDih6p6GmZek+biW4j+msP1K9PqayNpZyZYh4Ynk0/50thR5N9a2WwUpO3eiwVlsTSLw9JybzKzH19NCJTRZeElaJuH57r3jFu9VeZLenmw9mCJvC5dHRY5Po4G5ws9d4j3pX/yZFhVUPZHREHXAQGLlgrmzAdUPoz1wm7xJea5gUZFmeFsloWeu0yMRqFXN33CzIfeZJqwidMWvGGmVUUxKvjLfOYZNhHRE6Ejk9Zpq/JNC2S5Qh8jAaYJfYcjBYHaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TjzAzB1zEEGDuXp6bEqa7a",
      "input": {
        "note": "Gripper settled at 0.047 on the soft teddy, likely a grasp; lifting to verify.",
        "targets": {
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TjzAzB1zEEGDuXp6bEqa7a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4713, 1.7138, 0.9985, -0.2016, -0.4072, -0.3378, 0.0834, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4105 left_y=-0.1266 left_z=0.0737 left_yaw=0.0513 left_pitch=-0.2432 left_roll=0.1122 left_gripper=0.0834 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0008 right_pitch=-0.1831 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -10.4274, 8.6085, 1.5604, -0.2515, 0.0904, 1.033, -0.212, -1.1419, 6.8718, 1.746, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b4273d88d0daa4a6d9b33387ea9fd5d60b62d9b68a36563af6c195f600272fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf2bcd788539c3b7f5ca892ba752842189a77ee5462c25f642cc2b15e1f0de59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8061c23476e9f419320010aa170b939627ad816f03670641f76057c49eaeb3f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.776 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]: [-0.4717, 1.8877, 0.8669, 0.136, -0.3965, -0.3229, 0.9964, -0.0212, 0.8082, 0.6056, -0.5175, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4149 left_y=-0.131 left_z=0.0052 left_yaw=0.0306 left_pitch=-0.2203 left_roll=0.0991 left_gripper=0.9964 right_x=0.2753 right_y=0.0013 right_z=0.1498 right_yaw=0.0006 right_pitch=-0.1304 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -9.1009, 4.8342, 1.6239, -0.1734, 0.1832, 0.0757, -0.1026, -0.8547, 6.8991, 1.8632, -0.0806, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4713, 1.8938, 0.8577, 0.1619, -0.4061, -0.3271, 0.0469, -0.0212, 0.8101, 0.6056, -0.5453, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4159 left_y=-0.1296 left_z=0.004 left_yaw=0.0396 left_pitch=-0.2071 left_roll=0.0974 left_gripper=0.0469 right_x=0.2708 right_y=0.0014 right_z=0.1443 right_yaw=0.0007 right_pitch=-0.1602 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -9.1282, 6.3658, 1.16, -0.105, 0.0611, 2.7863, -0.0889, -1.1829, 6.9128, 1.8535, -0.0366, -0.0659, -0.0122]",
      "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]: [-0.4713, 1.7138, 0.9985, -0.2016, -0.4072, -0.3378, 0.0834, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4105 left_y=-0.1266 left_z=0.0737 left_yaw=0.0513 left_pitch=-0.2432 left_roll=0.1122 left_gripper=0.0834 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0008 right_pitch=-0.1831 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -10.4274, 8.6085, 1.5604, -0.2515, 0.0904, 1.033, -0.212, -1.1419, 6.8718, 1.746, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b4273d88d0daa4a6d9b33387ea9fd5d60b62d9b68a36563af6c195f600272fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf2bcd788539c3b7f5ca892ba752842189a77ee5462c25f642cc2b15e1f0de59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8061c23476e9f419320010aa170b939627ad816f03670641f76057c49eaeb3f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSkQoKEAgSGAI4AUIIdGhpbmtpbmcSDEToKNpbPJyiwdijfhoMxGMD3lGvm8OqUu12IjAK9gaFuf7/MNPsbS3iy5ue0yy9dBBolKjBpdMpPB8b2A6MIZ6Ehmp3hGXM1Gy0eIQqrgnqsleBFpjPtgyDbmlUZ/F6iaxQ7qVoPcG9UzSEmJl4i5dYpVfvNt8ZBQmm9dM+/50ZcJPD/H2XwhVEnbnF2VaMYWREWqPEascXF+Ia8bJG1V/cpa6ierHM4cfVa83N6OVUVxsMwYF7b3hg+9IbaN8ztiA2UXlRV1E7RIPvDUAIq1YFMdXzbqKEoarngjAwo+ptiu8MQUzV1kfr81XByr9+iP0IDDYcHxHa1jeBYACAnk8lVPmtZDnmI7871QBroZV4hyi2KGYtN2BFPFAfVI17yPWiDKDUMXnNn+viusWiXQfm7BMyngauem2j3yxCLu5+bQW52S8CAFLao+Pd4zsvgoV5LkphDD1mjKz9u9/H+M+GpiaLDJHZGgtr59A6rQ9ZnDyMJ9kPYwRcHHCgJdDPVSPePRd2hQAHSow0amuZ/UgJ1LkQF3Uy5rUKSkRGt5MJ4S8zLCOg9gxL17D+WyRXkwA4oFGQE3AtZJ+woEDHPMOLpLXBgWtq2N8JjxJ+otTw2TNg1Hy7VvLI3N5N+gegjHRhNQ9sYK1+zBiS+btAlaqWEpH1BhDietngLtaaC9So9VcRcifl4NC2soXEyhmSVtqvzRMwQgHpAQQoRc7sg9ZdjqPeqYM9ddxGdnI3Co5WLc23knNvi0aGqM5os/fxi9Blq+ZNXl7edCEE7MEjTsj2DVMMh5SHCGnE7s+JswZAEFWLCLZbnOUXwORwFDIwf4cDhOz6fjHyklWXuh3JzNoXy5czwsH0N1WR8zixToel2sTLZXn9dQhSqbJQuTRb1dJhP73VgqsHMIKc8+MCYkaT6u/i76UYEbAZkC4nOIRo4df4iX7TjwHiKhNJVDFurA9eJ22Ks1u16t94KDhK/ptuKc/fKnrA6IcWMROhnGzbE3msZQNYdUbDZDh5TLZtSY+UyHpt8wFTH/e0UOFOsYH3LbR20R2zEV2inwonZAuVVswCNGBm3ljrottftltx9dr9TCMdlHevdD9idFzufr44a3htbiSE60vv2U1s/SMawfPFKp2rJ54B/NaNcbU47BgD4SnimsffYGGX6fVJyizN4QL+9pCJ75ZMaH56YnPMET5W6wgp2nLdlsZ/1emPj6rtq3faph5tofRFiC8hnxe2qKyiaw6g8CKaO3XFp1vRnKSxxF+fE2EYTW6Bza5WAx0nvgOHyqhBIndr/10RBHSBYjma95cPKMy0KJaJYRLZdSUHonMHZ3BpPzY2zurlp521jqWbhmmjaqwZVZxLOQSQfdiTvzUc9XolL/RHHY5xetWKSCwiZouV63vse2ScyaQX7IxGbs2T3wLXYAn9lq9WjPWq34+ntg1AJwkYY2wOI07/e/oGJtvvB5SeVh+5m1sW+vcRVzGo12pD5gmuQKBHcjxaheGtx+MtfDcsJSRy7aypiwixBbdymlFqupIYRTfgy9wiVt8t9KSEGyPORu1jz0HNzo6k7eH8p6UtUDOvoiAA4Dvztv9ns5SmsOzqPRFhcCssOvp3X6pn9SxG4+uUujw8DACVG9ocaCL6eYjv9/haGuipf4dEqjtOH5M1CA0W21HUQ7fnj01niL7f+HYtZ4UO7/B8Xj2JlASxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TX8igb2H89AUAC4YDTwoMB",
      "input": {
        "note": "Teddy is held (moves with the jaws). Lifting high and moving right over the open safe.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.28,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01TX8igb2H89AUAC4YDTwoMB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7799, 2.0277, 1.9118, -0.9375, -0.551, -0.6331, 0.0918, -0.0212, 0.8101, 0.6056, -0.5987, -0.02, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.4201 left_y=-0.2804 left_z=0.1886 left_yaw=0.0346 left_pitch=-0.2587 left_roll=0.0908 left_gripper=0.0918 right_x=0.2615 right_y=0.0016 right_z=0.1349 right_yaw=0.0007 right_pitch=-0.2136 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -10.947, 8.212, 0.9597, -0.5446, 0.0415, 1.033, -0.1983, -1.1282, 6.8308, 1.7949, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d3c750a258afae9389fa6e41f3d7b2afd16a482c63e2063831458b0b5243cfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1508d50d8317272ba0bc3f38f1dfdad63ac624625ac498c3a57af802eb09662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73ae8dd3dc288fbebe7fd24adb1aecfd7ee2b53d5d0f85135120cde12392177b",
        "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 · 7.148 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]: [-0.4713, 1.8938, 0.8577, 0.1619, -0.4061, -0.3271, 0.0469, -0.0212, 0.8101, 0.6056, -0.5453, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4159 left_y=-0.1296 left_z=0.004 left_yaw=0.0396 left_pitch=-0.2071 left_roll=0.0974 left_gripper=0.0469 right_x=0.2708 right_y=0.0014 right_z=0.1443 right_yaw=0.0007 right_pitch=-0.1602 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -9.1282, 6.3658, 1.16, -0.105, 0.0611, 2.7863, -0.0889, -1.1829, 6.9128, 1.8535, -0.0366, -0.0659, -0.0122]",
      "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]: [-0.4713, 1.7138, 0.9985, -0.2016, -0.4072, -0.3378, 0.0834, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4105 left_y=-0.1266 left_z=0.0737 left_yaw=0.0513 left_pitch=-0.2432 left_roll=0.1122 left_gripper=0.0834 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0008 right_pitch=-0.1831 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -10.4274, 8.6085, 1.5604, -0.2515, 0.0904, 1.033, -0.212, -1.1419, 6.8718, 1.746, -0.0562, -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]: [-0.7799, 2.0277, 1.9118, -0.9375, -0.551, -0.6331, 0.0918, -0.0212, 0.8101, 0.6056, -0.5987, -0.02, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.4201 left_y=-0.2804 left_z=0.1886 left_yaw=0.0346 left_pitch=-0.2587 left_roll=0.0908 left_gripper=0.0918 right_x=0.2615 right_y=0.0016 right_z=0.1349 right_yaw=0.0007 right_pitch=-0.2136 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -10.947, 8.212, 0.9597, -0.5446, 0.0415, 1.033, -0.1983, -1.1282, 6.8308, 1.7949, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d3c750a258afae9389fa6e41f3d7b2afd16a482c63e2063831458b0b5243cfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1508d50d8317272ba0bc3f38f1dfdad63ac624625ac498c3a57af802eb09662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73ae8dd3dc288fbebe7fd24adb1aecfd7ee2b53d5d0f85135120cde12392177b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAgKEAgSGAI4AUIIdGhpbmtpbmcSDDWDi+DaUpGC1tuCTRoMfkhJwtO3JjvssDTuIjC4dNpZpuNO+tQgR0kzInEfd6b3qwEQdaUBsEmZYwX8Y45//Q0SCx61FA87XPAQlwYq1Qfa+vk5pWbQw+/I6czeaU9XRXe10TRYuiI4es4pNTRsTvppI7HsV3/Dd+Qp/6L/2uQrkct10CP66+2iBn0ju7HWz8B+uarPGQzBgZiSsbgkllhq9wVSdOZF38GuflVx/KFU3ULdRad57tcxdun+VW5N26sDRRhlyl/ebSVppIgTEqmtRHMJVFjY93AmTEEr24AMdjw8K8McHnBYRwIR5AsY7DHZC1tMiHXOjDtpPjSt9EA2kz62W45f+Yu8p5WMfYBmaADrtJPtw3kqPSwM5qRYzztGeseHmN1YRBhSHfKDlgZPworb0caPSvKgTsU7lIwNAtN7RoYnzG74TD1riy22rWm4q5LtnGdWWFQ8oHE1CB3j8OzM1enklWAIyi9aABk3z8nQJV9vgH66Azm6JlvRVv2hbO6OVskeeKAR53uRi2ETpnUfhADfJx5hVmSBXckml0zSoHXTgtxQseqN+ZVVCBcJ4Ag9HsjNPOs7ujy7tUCR4tXGauswEFD0wgd4i6nN+DLctZPyQrjgt++XyC63f6qPmfxYZyVSDtNaO5YBAx9OAyOmAehpI/jkUjVFlKObrAd/f8hfVM4/9wYLCsUfKVZ0VzkTJ0prp8IHQLd3rObj+XYw4RQZya445CZozP/5z9P0ayZA+1gR4Y9f+AMpscGJPFZhr41KL5lHViyPkdCiu1iovjc0YM2cR1VW6A+Ses9oRS2otKi7zjZ2CF9OqlwYEPhyOTJoeUBqhWMWs9m/OGzdUc+B2zpwkCxe2Hqq+Y7qxsZAXNMu/Y44sW1Eurgczfvkuhl4BttbNf+n3BIhVWv7PearY9dY2giDt5WZIN2GkhRf9AgbBAKqtZ4+uGlltu6q0GMJt7KPpYKcREWfz3aVQDxC3++ClpcwlCbIPQYa4uBkz2UnHc1z3v+EMvavVq6x+dTTRtJ1Pbsp2KZM5FsaWamRUXSxV+QiukfrzVtkfov5+gCPLAFYjCWqxRzpkX/StVMxNt9JKhkfJxvFaYu5cxfnW3KFz5rGr+bhmCkKJNmpNPsZPhMlC0KE+vSbyxbGi5YN7NUcVCwAegd4QNbIghaf0Wurao2wohXbjHXFB3D6O0Pqh+gnJwWKCXs5kHzOcT80Bkyn3EPCQG3YHC0P0pkyvowJlUy06EHr4xXMG7DF6zEeFld3zEzDogelkhAMyPbBygdAAVo5s0mDQQz/Q7TstCMPDAHap2+lXxi47ljvr5ce1ZN3qW65wwyXrPxAf89NN4R8ltRJkrlpfhP6AvZ5dD26DyDqbXnIPEAFZFoG9gMTHFS8AnjvG2ty/EYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FBtKofod1TyrWZwseFT61o",
      "input": {
        "note": "Gripper is over the back of the safe near the lid hinge; moving slightly toward the base and lower to centre the teddy over the safe interior.",
        "targets": {
          "left_x": 0.38,
          "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_01FBtKofod1TyrWZwseFT61o",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8421, 1.9724, 1.5608, -0.7967, -0.5659, -0.6849, 0.0976, -0.0212, 0.8116, 0.6056, -0.617, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3726 left_y=-0.2698 left_z=0.1072 left_yaw=0.0476 left_pitch=-0.3466 left_roll=0.1876 left_gripper=0.0976 right_x=0.2583 right_y=0.0016 right_z=0.1314 right_yaw=0.0007 right_pitch=-0.2334 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -14.2701, 7.6376, 1.58, -0.4615, -0.0806, 1.033, -0.1299, -1.2376, 7.0085, 1.7021, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84d257c88cd6bc760b48dc9ec3ef5838675a8e9f555c645ce9e5fef1d1174746",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c582bc917f7bc7a9eac9c0b70f4b60ec62e475b8d307bfe87c38c383f2a79dbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ff20821a86aa15bdfd3abcdd90a774e79a36b47cd333e098ac5e3d05dcf27e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.764 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]: [-0.4713, 1.7138, 0.9985, -0.2016, -0.4072, -0.3378, 0.0834, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4105 left_y=-0.1266 left_z=0.0737 left_yaw=0.0513 left_pitch=-0.2432 left_roll=0.1122 left_gripper=0.0834 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0008 right_pitch=-0.1831 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -10.4274, 8.6085, 1.5604, -0.2515, 0.0904, 1.033, -0.212, -1.1419, 6.8718, 1.746, -0.0562, -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]: [-0.7799, 2.0277, 1.9118, -0.9375, -0.551, -0.6331, 0.0918, -0.0212, 0.8101, 0.6056, -0.5987, -0.02, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.4201 left_y=-0.2804 left_z=0.1886 left_yaw=0.0346 left_pitch=-0.2587 left_roll=0.0908 left_gripper=0.0918 right_x=0.2615 right_y=0.0016 right_z=0.1349 right_yaw=0.0007 right_pitch=-0.2136 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -10.947, 8.212, 0.9597, -0.5446, 0.0415, 1.033, -0.1983, -1.1282, 6.8308, 1.7949, -0.0513, -0.0317, -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]: [-0.8421, 1.9724, 1.5608, -0.7967, -0.5659, -0.6849, 0.0976, -0.0212, 0.8116, 0.6056, -0.617, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3726 left_y=-0.2698 left_z=0.1072 left_yaw=0.0476 left_pitch=-0.3466 left_roll=0.1876 left_gripper=0.0976 right_x=0.2583 right_y=0.0016 right_z=0.1314 right_yaw=0.0007 right_pitch=-0.2334 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -14.2701, 7.6376, 1.58, -0.4615, -0.0806, 1.033, -0.1299, -1.2376, 7.0085, 1.7021, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84d257c88cd6bc760b48dc9ec3ef5838675a8e9f555c645ce9e5fef1d1174746",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c582bc917f7bc7a9eac9c0b70f4b60ec62e475b8d307bfe87c38c383f2a79dbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ff20821a86aa15bdfd3abcdd90a774e79a36b47cd333e098ac5e3d05dcf27e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwoKEAgSGAI4AUIIdGhpbmtpbmcSDKeoLavz4iMfcYRjoBoMh20AWYvfjZExAuF9IjBZSdZTz0R8QyDSo5FhCO3vZKperPrZ9XCbGFKr9RkV8ZhXs0M7iBAeZbzcmtXJ5Ogq1Amp4WnfONYm0X5arP2DnIsbtT4CHZ0HaUWiipDMbExoJnCFexrVIEidk5+OlsXzTPBOD8zhOMGnd2DKzVKzhpTOflWuxXNGmoUGeUGEdioydd4/GTjBbV9XBOXZA3qnOGbMUH+rd15EIgxO7QFpZCr4JDciTFGyhGy03iDkJlKkWp5QVAbTXYwV+queIl5m4AiiJAz8r59C0WntYUvveaUMOts9nGrIE08amfDbbKrd7tZVJpnGujIs2vvHu+YQqwZtJMHNmq/s5CUP7lh4uP9gnW8T344Z4gYjaDYOAmifbwHx462H7Nm6nrhrdO2zeOkEaxh+MMgIVISwlNjzaPszMC311iKXZSzxQEjNTLViVAmwlU07q7EbblFVT0ZqveRe2YT5fsO0rqR18BT/O4VtXN0amWOGBlAgdtTUzqcx1b+ClRzbXBXTSrHASoHIBQQWuckhVHcOnpakTBQdmrhf5mP82U3vVb1F17ylxxP9Syic/uwYC+aEWjvZdf6Vro6lCdn1Fyug2hDrn3NU6RbmtcWRZ2g4MjLqDN8rOUDeBn2GHlRkVIMZC1XibiGWnX1DH+iIke2EZju6HhcTUdoYJDVomnGl9+K8IDfFKzNLK/T2JXD09w53fJRpA3ZWW8MY040TLMFy+ahX5uzLnmPyZCjaaQqrLuskOPY4WXGfRwhqvHY/6K9hwTrd3tcUiQTtqO9Va6jxwi6Vlg4Jawd6uVW+B4jkQDSE6h0d7J2l2am8S7lu54rNH4EtKxUcwtGjoPOZBVXqF94ncE+mHvX2i9HLY3ZjOF3VVetdUG+YuaEN3JHaQviznYSPIql5J+dxiuMIdG8+9RG1AjiuOdLlk32YLIeeQuEhOr9CcNt0//M7ItHbLJBIjJSZ+YA+A6UL2Hm7lsyzf1iVjU1YK8IZKtCefz6moDK7LUa3jxt5PYDssGxXnXDWK2g8y5JCrKr+nIgqfq1rgGXqx2R7DSwq+8QW+/LnxCL0ATXUVWcCi8w8IXi/YKQEcwdag8gnydfF2tL3lm0NtFRy4Qo4jifFwcQzVBE77Lv84wiiXbkKeOQe6rFP4JvKIAZ+0OMMHZYqt9P7Z3hsCQz4dXhKjih1RvX7/Bx3Y+VCw01l2NLvqDRqEC6bV1eHqFUUFlRbKBFwpK7poT3N5HhuD7iRtHRDyIais1Oaw/+/5TErSnXNMrAkFyz1X5LhEVifiEtfRCmyACBVmBc5LMvjsbtJuohdLt7Ly3aLC1VSJa9lk1nuI4uVxHysxhSJ71ZijZ8Y7o7pNpch562yhRQyf9zcHH5LcvyPjZOug06QdNnnePifPW0Cmepld++mvfxAyBhmkF4wQwYl8zBBRxuLNehdluI6bdmes54IuYeQ/glIuA34RjSZ2oPwRvIH2GCjEdMnICQI8oj/ZTJZS8IROEOIZ/XJaFcWwRY/taEO191W/pIN5BqRG3y3jjoSW00vaFqJ74Ieq1Dy51Q04vxCJmygHwpsYvJHezJ1hovpvjD8JQ/ZqAxFaUKANKt/ZD3SXJ5LsY31g81uVIVS5sbG3nH9A65i4cHXfES5sUW0i3VnF/Fxi2M4BJKPIrCd77Ai7O+UG3iXuJZFncAlCZwiUIatVG3ttqV/io0+1cA25xBPN0HQU1V2sugYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H4yHodGVUFakF8o5EuQJ9R",
      "input": {
        "note": "Wrist view shows the safe interior is ahead and to the right of the jaws; moving there before releasing.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.31,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01H4yHodGVUFakF8o5EuQJ9R",
      "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, 2.2383, 2.064, -1.0027, -0.5465, -0.6777, 0.1018, -0.0212, 0.8162, 0.6029, -0.6357, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4277 left_y=-0.3104 left_z=0.132 left_yaw=0.0563 left_pitch=-0.3412 left_roll=0.1544 left_gripper=0.1018 right_x=0.2545 right_y=0.0017 right_z=0.1261 right_yaw=0.0008 right_pitch=-0.2593 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.253, -12.7521, 7.6923, 0.5592, -0.3541, 0.2271, 1.0281, -0.0889, -1.4564, 7.0085, 1.6093, -0.0073, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac2792282e0143868d78935eab9b33830538376bea5d0e5224c80fba91d13a69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1290577259ff4a96dfca8f114c510f4579d4ed46149a470f18ca9e46fbea92f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1968ec2beed4e7e925e61daeb317612535b69161502b615b80ffca8182fbd28",
        "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 · 6.399 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]: [-0.7799, 2.0277, 1.9118, -0.9375, -0.551, -0.6331, 0.0918, -0.0212, 0.8101, 0.6056, -0.5987, -0.02, -0.0334, 0.9996]\nstate[eef_state]: left_x=0.4201 left_y=-0.2804 left_z=0.1886 left_yaw=0.0346 left_pitch=-0.2587 left_roll=0.0908 left_gripper=0.0918 right_x=0.2615 right_y=0.0016 right_z=0.1349 right_yaw=0.0007 right_pitch=-0.2136 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -10.947, 8.212, 0.9597, -0.5446, 0.0415, 1.033, -0.1983, -1.1282, 6.8308, 1.7949, -0.0513, -0.0317, -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]: [-0.8421, 1.9724, 1.5608, -0.7967, -0.5659, -0.6849, 0.0976, -0.0212, 0.8116, 0.6056, -0.617, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3726 left_y=-0.2698 left_z=0.1072 left_yaw=0.0476 left_pitch=-0.3466 left_roll=0.1876 left_gripper=0.0976 right_x=0.2583 right_y=0.0016 right_z=0.1314 right_yaw=0.0007 right_pitch=-0.2334 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -14.2701, 7.6376, 1.58, -0.4615, -0.0806, 1.033, -0.1299, -1.2376, 7.0085, 1.7021, -0.0366, -0.0611, -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]: [-0.8093, 2.2383, 2.064, -1.0027, -0.5465, -0.6777, 0.1018, -0.0212, 0.8162, 0.6029, -0.6357, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4277 left_y=-0.3104 left_z=0.132 left_yaw=0.0563 left_pitch=-0.3412 left_roll=0.1544 left_gripper=0.1018 right_x=0.2545 right_y=0.0017 right_z=0.1261 right_yaw=0.0008 right_pitch=-0.2593 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.253, -12.7521, 7.6923, 0.5592, -0.3541, 0.2271, 1.0281, -0.0889, -1.4564, 7.0085, 1.6093, -0.0073, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac2792282e0143868d78935eab9b33830538376bea5d0e5224c80fba91d13a69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1290577259ff4a96dfca8f114c510f4579d4ed46149a470f18ca9e46fbea92f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1968ec2beed4e7e925e61daeb317612535b69161502b615b80ffca8182fbd28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Teddy is over the safe interior now. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LgQy92DoVHWi214ozfXixD",
      "input": {
        "note": "Wrist view shows red safe interior all around the teddy; opening to drop it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01LgQy92DoVHWi214ozfXixD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8101, 2.2555, 2.0628, -1.0256, -0.543, -0.6861, 0.9928, -0.0212, 0.8177, 0.6018, -0.6582, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.424 left_y=-0.3078 left_z=0.1209 left_yaw=0.0701 left_pitch=-0.3693 left_roll=0.1806 left_gripper=0.9928 right_x=0.25 right_y=0.0018 right_z=0.1216 right_yaw=0.001 right_pitch=-0.2845 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -14.1197, 6.3658, 1.1111, -0.3639, 0.0122, 0.0855, -0.0752, -1.1692, 6.8581, 1.6728, -0.0317, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c405187c62c2fa7c0bff3df8ab5f4dceb79dd5acbe642bd6b503ec2a8039f27a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baafea9ac98bbae53a9df54f370b1bfc469a4bd96caa6114ca0e48f4f933bf7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:deb38e6f6439c6b7fb35b73d177edc88cb36cf3e7d0ee0c728e872eff557178c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 6.31 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]: [-0.8421, 1.9724, 1.5608, -0.7967, -0.5659, -0.6849, 0.0976, -0.0212, 0.8116, 0.6056, -0.617, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3726 left_y=-0.2698 left_z=0.1072 left_yaw=0.0476 left_pitch=-0.3466 left_roll=0.1876 left_gripper=0.0976 right_x=0.2583 right_y=0.0016 right_z=0.1314 right_yaw=0.0007 right_pitch=-0.2334 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -14.2701, 7.6376, 1.58, -0.4615, -0.0806, 1.033, -0.1299, -1.2376, 7.0085, 1.7021, -0.0366, -0.0611, -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]: [-0.8093, 2.2383, 2.064, -1.0027, -0.5465, -0.6777, 0.1018, -0.0212, 0.8162, 0.6029, -0.6357, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4277 left_y=-0.3104 left_z=0.132 left_yaw=0.0563 left_pitch=-0.3412 left_roll=0.1544 left_gripper=0.1018 right_x=0.2545 right_y=0.0017 right_z=0.1261 right_yaw=0.0008 right_pitch=-0.2593 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.253, -12.7521, 7.6923, 0.5592, -0.3541, 0.2271, 1.0281, -0.0889, -1.4564, 7.0085, 1.6093, -0.0073, -0.0269, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8101, 2.2555, 2.0628, -1.0256, -0.543, -0.6861, 0.9928, -0.0212, 0.8177, 0.6018, -0.6582, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.424 left_y=-0.3078 left_z=0.1209 left_yaw=0.0701 left_pitch=-0.3693 left_roll=0.1806 left_gripper=0.9928 right_x=0.25 right_y=0.0018 right_z=0.1216 right_yaw=0.001 right_pitch=-0.2845 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -14.1197, 6.3658, 1.1111, -0.3639, 0.0122, 0.0855, -0.0752, -1.1692, 6.8581, 1.6728, -0.0317, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c405187c62c2fa7c0bff3df8ab5f4dceb79dd5acbe642bd6b503ec2a8039f27a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baafea9ac98bbae53a9df54f370b1bfc469a4bd96caa6114ca0e48f4f933bf7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:deb38e6f6439c6b7fb35b73d177edc88cb36cf3e7d0ee0c728e872eff557178c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgQsKEAgSGAI4AUIIdGhpbmtpbmcSDFBWghFf5MWqw14pZBoMYLhZudJbNA6C6EasIjA+W2Ndy4C4IRnwsJ9+VZ8FZHRRRUFFJVVT9APaFj3KfHRifT70ua3jHOoVuqj3kNAqngpCdbCroNvOGmtTuxhKRbUb7Wc8UQjt0i5TrIwYIFAPeH7UtFt/+3B2rZPHMmHYaG4mxk8wxrYYfeNw9ESAhO5Hvc20lFU8Qtuv0BM+CqrAyMuuZTsab6kuF6LJAPfLeELJlSlHVTdeRDni4SIn9B1Mtq7SIE/RJlxnByOEm0p5clKK0lPA8PDTLAZQblQASQorYwALRw99N3CtVW2HRDW9sdTJN4mr44ijywgvRcyvGcSMOFtkZqNI7gkHz6wkkiKaIktBwVup5QPkeW0Uk4SbeOynNdQpTWnfwWeh6nF3FAe+5alyFUpCScRc2PR6L5a4kJUSMPp6/WNbKIS4DTgWk3EC+c+/yIn64/cMvqbLAY41zbA7MYoSGl3zRh81L6wkGs1wxx/0eaihVFmWmERVhjuH64VnJUVrMh9DyRtjWpu7WBwAA5yGNI9/pHW3mpVzeoqghpmm6FJW4i10SbRR9vMpYpnwyDlxyViXzH8hAhI4WvlSQ8CBFSB0uKZ/oY/47I4Tqety1souspQT9o+yg9jYCTzu5R6JJD4MvbmZy0lI22W9xEKybSgjqmaTtI50Y4wZK7X6LM5eveKIfGLUB7yxsyTWtbBGXfhlAe4vu9WYOxuAxnh8uQkd0oyjxptzyx1Y0sVhoSw0sTCE4SiA74dbnv25YvI2PMP3t2rE9m28lrOBETNi4EAUSWGdoXrnoq20bd1vmDO8NXGAbh5XdqPtWC6yhNAlxmhA0PDQWmlBsXNYTN6lPJH0jzIDihpZvp0f6/n+1FfWBB5u2A+U4AijT2W7f0+s129pOWIEaFFNyYWewFkKoeG7pEDTWO0r64Q8oeuu2Zo4MQtcBeTH0IjN8QkLEFR4y+/Ud7JYOtnKEDzHm5Y6dhaAEb8LwAThLVfXV/FIQYo1hPPg5PswPbtmVjlA0yWlQ59ktCu37vhk+QW7x4cPOtpl2Dznlc0I71pqAK/hhan0onvYvf2K+OPqQbccV1/gvpRQ9IUnz/wb1Eqd92/T3R9x/LscWuVgkx/SIiEDHgNW7vIpvO8r1a2CTBiQ9rXr3rhYm9VqZx4MUF17Ud+k0n4OBEoC1Qck3HoOqGrRlE3CxvfrlH1QAd1SOeRQNV7TShVczIzOhAR/RTkEoX62PC6LMu6UH72B/8W8VLgaVLJ6UqdREwMz5ojcSC309BgZEDqlUBKJg/DjJJoIX74oKJFzk96cYHTGhuBzJy1/Ge/C5U580eg6ly/2YeC2ubAGxOWsLSLAUD/GLKl9NOg2jya3Sy3Z5Snd+Y8vmu1wKWREDLG8e+lBu7ibsCdn8uMMQ1/Nns45M1ilzVSXT46XOQOi0qqQ+bQ4MwQwCR4DHM4R0IyYcpGjBGraBVYK932W0p6XGhC6LImYvrj/UnCoeYv6SaD4/0h8ceOQ/Qb0y70pIXlDhtoHb8FUxfOof1Z/YVQLw37W+ueBhpevKs+BWAP1vvgzOJyx6BFkscO3hGhYqM2dXeadWx7OCzL4eCfYG2m1CBFM7ZpK4GDzEAP5BZ7c5PLJQe8kj6KcAOIjyoX0mtQgnWzjl0bWoeP26AII/yrhDrrD/ht/W8yPWxmv0ooSfXs4r5jlgEYZmwYl4QqXBxIbA74JE8BrFLWB4MGAl5V8UYnaNClK7sVjnzTDftZ+Cpp5jCkzWK30syQ32DlzDT53pMjJG5jGLMl3B10hcD6/zX23D2HQU0BMBQaHSw5+2IBC/FKbWobZ/g9ErJH90NX7wRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KqN6jXziTo9h84hkuJ6zh7",
      "input": {
        "note": "White teddy is in the safe. Parking the left arm at home and moving the right arm above the brown bear in front of the safe.",
        "targets": {
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_x": 0.31,
          "right_y": 0.25,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01KqN6jXziTo9h84hkuJ6zh7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1722, 1.121, 0.9924, -0.8577, -0.2634, -0.1143, 0.9929, 0.8856, 1.6066, 1.2652, -0.7822, 0.4866, 0.7074, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=-0.0006 left_z=0.1773 left_yaw=0.1142 left_pitch=-0.3717 left_roll=0.1767 left_gripper=0.9929 right_x=0.3005 right_y=0.2428 right_z=0.1465 right_yaw=0.0239 right_pitch=-0.3332 right_roll=-0.0302 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.9179, 6.4068, 1.4383, -0.0464, 0.1001, -0.0024, 0.5675, -7.1043, 8.9915, 1.2186, 0.5299, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:016df824be24bcf3e98dba6e19f8ce98697c80fe8f83a47bce0f601d03bcaef6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e0696a6a966c13691e38bf883c85dd4ccba230d9c7431cc2527bb269a98079f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6270527e487f64dc71caa57dcf3bd750170a11110db07065b611c8a3821ca30",
        "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 · 4.263 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]: [-0.8093, 2.2383, 2.064, -1.0027, -0.5465, -0.6777, 0.1018, -0.0212, 0.8162, 0.6029, -0.6357, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4277 left_y=-0.3104 left_z=0.132 left_yaw=0.0563 left_pitch=-0.3412 left_roll=0.1544 left_gripper=0.1018 right_x=0.2545 right_y=0.0017 right_z=0.1261 right_yaw=0.0008 right_pitch=-0.2593 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [0.253, -12.7521, 7.6923, 0.5592, -0.3541, 0.2271, 1.0281, -0.0889, -1.4564, 7.0085, 1.6093, -0.0073, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8101, 2.2555, 2.0628, -1.0256, -0.543, -0.6861, 0.9928, -0.0212, 0.8177, 0.6018, -0.6582, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.424 left_y=-0.3078 left_z=0.1209 left_yaw=0.0701 left_pitch=-0.3693 left_roll=0.1806 left_gripper=0.9928 right_x=0.25 right_y=0.0018 right_z=0.1216 right_yaw=0.001 right_pitch=-0.2845 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -14.1197, 6.3658, 1.1111, -0.3639, 0.0122, 0.0855, -0.0752, -1.1692, 6.8581, 1.6728, -0.0317, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.1722, 1.121, 0.9924, -0.8577, -0.2634, -0.1143, 0.9929, 0.8856, 1.6066, 1.2652, -0.7822, 0.4866, 0.7074, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=-0.0006 left_z=0.1773 left_yaw=0.1142 left_pitch=-0.3717 left_roll=0.1767 left_gripper=0.9929 right_x=0.3005 right_y=0.2428 right_z=0.1465 right_yaw=0.0239 right_pitch=-0.3332 right_roll=-0.0302 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.9179, 6.4068, 1.4383, -0.0464, 0.1001, -0.0024, 0.5675, -7.1043, 8.9915, 1.2186, 0.5299, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:016df824be24bcf3e98dba6e19f8ce98697c80fe8f83a47bce0f601d03bcaef6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e0696a6a966c13691e38bf883c85dd4ccba230d9c7431cc2527bb269a98079f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6270527e487f64dc71caa57dcf3bd750170a11110db07065b611c8a3821ca30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QoKEAgSGAI4AUIIdGhpbmtpbmcSDK+1y9uL5wm3mFEOLhoMw7dtj1bjLOC+IRkUIjAx4cpPetJCHAaFpGxW0mz3Gi5ImprHYvGjunCqdJF5rGph9Wtf5Wvc6rXR4Fu0QM8qjgp0ruXaReVdOod7FTA0TYDEe/Ki8AmG+MKh5VnM7o+PtsGRDGTK/uY70xyvHVW0a/rrB+VqG8GegDbOHPShHywXaAGW3lt63KbVc7mlhbj0byEV58GC0o6LbwffqYa0jC/wFwTrlJqgLpPGZjyNTRUgSKt07/PPkShBrFqEBONBkyBuFSsmwetbjccNdjmayODYCfr+sbBE++lLmBdV/pXJGX6PKI4rSYR1N5Xnay2g/FWC2uPCyHEBdFgFB43YKaNNK3kF6xyT/jJswMJhVNcff8ftPrr1jML4jm/8ufEOTikTm1VFqT8FfC4aFSRmIxjy88ZCt4phvR8lLx4XLH2UXZXQwbGnQeuNuyZmLOroIRRzJAhN3fhPdkDZrCGsJT7NOScGq4kVmJSO/JMUJ5TWxasiWSkKv2s8TdAb1nATzDORw7pjLSffExJ2Duo5o5VKk67azpgftvCjsCqZwWEpf1JSng6PgWOpE0wg9W1MpqCxiw+dOUP9Zh2IBBLjjdw4IjUJyLUD+BbCHmBHYyZD/whB62lS3CSW3tXUHFzZnDrqPpG3vn48YPjwLG5aXv+tsiLY1jjthzjt2PB8bPv2rIzkk9l92GHs42JpsnE/umRrvimT+J6faWsjl+PwvjSb13/hmzxkjTyb+ASKXZhVfo0uQgRU1xE02IsWaqUIPS+QgmUJ/HKCol7D11J3fUIv9WoWdfOuwMPv8ZUeaiSAqUx+2G0N0oLEUNTn4GTGcJG+qsGnMlWVqtpql6tSuai5riBjhTdly/kRo+NhdBZzffZKvW2k+LFmp7knaYUrcwBwulTwlH3RE6OU2oGuIs2C16nKEgCBJ+9XIBp/znFdu5Gk0ZFbq7TIJwBiKpCiDMaNgYUMigro6Xq9AVwGpb3Kpa9N03UkZ2o2WpOvwhoq0SGCSr/Bg5dg1KvwpAfYiuiU/eu0RcBAFVbsmHarOviULSYSFwJosK8Jhs9OoC8h4JmWtHeZosY7YKO2vcL4eAAGzQZFOod8qNqIMm/1RqEyJnfiuKXjC0t+Aa8T8Fk8SiyHIjJUyB1aJLDOP+89tS4mEmndgnFFJKJD5CFZvOow8RHjs0ClYy70Hes+FqeYZrmqHgY3r5V8OVixewUZhWRlgvI3zk2v7AL4iQicqIpw8Tm4mIcwh6eBQ85vWQqvQIPTcKDoHz6s16ji/0tLSfRjX6h5n48UVd18V7THK9iyGGM2C3f8/4iAHLi1jfLw+8hjSDtiqGl3JPuUaBTASPIjRgOVN2E2jyBCA35MqGMtZu4puuz0S9chVt3XEedR612R4LE+PzbiOdTTW5Wu3UIYjNfrjNXAFJUzMd5/1sNOlKOLdlBXHF3dsejwyzzYbkaOVQW3r+xq0Ji+fXHm4fQcErPeE2WNdDDYpMv14dCy/FaxabT5FxtI+IVx7qaN5AZS61xmagRJLO1gYt2UQdM6upU2uIxZwULnDSYp1AJquDENPyaU0Mox8QnETvpu12oLLpuSvS9HWEev8H28bbwoDnZHN+qFx+OrNXnF+S5eMQ71uYOrIg0TYSvAJTzA4sRIPFRw6JCl5Q09DG0YJ2e1utGxzO7zkgIh+V6AFwLBgQ0O8yaJWQoiOgWOdxmlTq/A+CsgUkUu0FahHcYtJpQs/xnmJmXfvqqs5/yUETAfPsQsSG5SmFZshYcpuK7iVS1cWVjswfb63dLKKwXwuPcg49CeewB0azMjFwXsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GupdK8JrWdjcEgTY3GMXAg",
      "input": {
        "note": "Brown bear lies in front of the safe, its torso just ahead of the right jaws. Advancing ~4 cm and descending onto the torso.",
        "targets": {
          "right_x": 0.345,
          "right_y": 0.245,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01GupdK8JrWdjcEgTY3GMXAg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1236, 0.9878, -0.8684, -0.2512, -0.1135, 0.9929, 0.7967, 1.8317, 1.0698, -0.3801, 0.4377, 0.6228, 0.9996]\nstate[eef_state]: left_x=0.2901 left_y=-0.002 left_z=0.173 left_yaw=0.1059 left_pitch=-0.3918 left_roll=0.172 left_gripper=0.9929 right_x=0.3323 right_y=0.2379 right_z=0.0323 right_yaw=0.0121 right_pitch=-0.3801 right_roll=-0.0653 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -3.3983, 6.8991, 1.3651, -0.2857, -0.0757, -0.0122, -0.6085, -7.8701, 5.5043, 1.1404, 0.3297, -0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9e81802c32c47d399855f7a68b07e85727de8fe6ecffb4ef711085b4438b137",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:956cbaf130e8be989356c7c95a3ba0528f237ddad94d358aef757b5b996035d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d42bcdac45cc7574e53f7744d1fead859ef546b47e987c22536935ccac61e4c1",
        "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 · 3.291 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]: [-0.8101, 2.2555, 2.0628, -1.0256, -0.543, -0.6861, 0.9928, -0.0212, 0.8177, 0.6018, -0.6582, -0.0196, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.424 left_y=-0.3078 left_z=0.1209 left_yaw=0.0701 left_pitch=-0.3693 left_roll=0.1806 left_gripper=0.9928 right_x=0.25 right_y=0.0018 right_z=0.1216 right_yaw=0.001 right_pitch=-0.2845 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -14.1197, 6.3658, 1.1111, -0.3639, 0.0122, 0.0855, -0.0752, -1.1692, 6.8581, 1.6728, -0.0317, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.1722, 1.121, 0.9924, -0.8577, -0.2634, -0.1143, 0.9929, 0.8856, 1.6066, 1.2652, -0.7822, 0.4866, 0.7074, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=-0.0006 left_z=0.1773 left_yaw=0.1142 left_pitch=-0.3717 left_roll=0.1767 left_gripper=0.9929 right_x=0.3005 right_y=0.2428 right_z=0.1465 right_yaw=0.0239 right_pitch=-0.3332 right_roll=-0.0302 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.9179, 6.4068, 1.4383, -0.0464, 0.1001, -0.0024, 0.5675, -7.1043, 8.9915, 1.2186, 0.5299, 0.1343, -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]: [-0.1715, 1.1236, 0.9878, -0.8684, -0.2512, -0.1135, 0.9929, 0.7967, 1.8317, 1.0698, -0.3801, 0.4377, 0.6228, 0.9996]\nstate[eef_state]: left_x=0.2901 left_y=-0.002 left_z=0.173 left_yaw=0.1059 left_pitch=-0.3918 left_roll=0.172 left_gripper=0.9929 right_x=0.3323 right_y=0.2379 right_z=0.0323 right_yaw=0.0121 right_pitch=-0.3801 right_roll=-0.0653 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -3.3983, 6.8991, 1.3651, -0.2857, -0.0757, -0.0122, -0.6085, -7.8701, 5.5043, 1.1404, 0.3297, -0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9e81802c32c47d399855f7a68b07e85727de8fe6ecffb4ef711085b4438b137",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:956cbaf130e8be989356c7c95a3ba0528f237ddad94d358aef757b5b996035d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d42bcdac45cc7574e53f7744d1fead859ef546b47e987c22536935ccac61e4c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiwgKEAgSGAI4AUIIdGhpbmtpbmcSDCDQG7Tm0+E0pBuvuxoMV42Ap3ss/ZEnBmA7IjAvieB7N4ykz0lskwJ1R5AUepP5Tp7vh5i8lIgbz6N7xE6IC50l2NqTl97jRG6LrgEqqAfpiBnpbZaSnhVfIzkPiszu8kBwFe4wO+xFLKTWWutloJU/OPoi2OOrinWE5gk8WuucqrJygGYFuWiFS8k6SwdgAPTuNkOfGbZsfVRT0eVcbql/mB7p8bEvR9EkvPtlE239HezpLvPyrNOVcorQzofnAeMWMHH7zWfoymFlsO3JCM+FdXhqRCOUpZvZsafRVw7QpdktsobGP1e4py+E/anO6eGBA5UVnYXPqe42QMa2GS2EokEf8dTZ3vfxtwxPshUXmjF7+HsJyuQKjy/4yFYKGBHD6VlJpNuXwgeECb4ZEGqvi3fcMVKfMfUV8yvgCQVW36NN3OJhZNHH76nE5VBwT2hBEsrTLDEU95raJ608rl1pMCZYmz1gpwXQl+qvSO8gvU0xq180llTnWGRBwaUMe7/yrdLDslUvxFEkLwXiHmgTkakyXuDwGYSYnZf0nRrXcZaWdbxbBciP9CCwD00h2ClpePrCHQVkerFlrUCMtttKUovf18CjdORcGriwVcxvNdtrj+Qq/fidpTF+5xJnnKS4IIbrNK4JJDFrqOstYYERYeRkMngtr/+gHws5YSjldBxVxgtW6FlhHA/rSL0ttf0E2ilJES+Mhx+DcNV4oecQsh7oW0mQTp3pGj9SPic0wjOt9e0BfDBeC+kpMIUTvfTgufwooENLZqDJNpAyLqlYc6jVIHFjeZV37tZcGJu2X9RjEieCR9KnW1da6vjYk3qLLgRU/NgWFmjwq0XXRrV/hHgs5WqO0mm9JGS8beudBR/E1MvzTO0u9JP8cVPYI123ZbrDl0TBi1uy3xU6MKBgtYiLvIzrZHM2mmSasrSPwuAbWrRJvPKijkRPieUWyg11Gi9/sokZ1OrEMN/yQzGKYcqVAk7M3bFiuYRFuYE/kaJCnVv+00JqCmLfDPQiVacICnAtExhXr5WFv9E8kGGBw2yLkIE0mQZQtIoVfKDXZ3YYvj6dL5n4ZsYpR3+9AgAjEF6VoXdGGwVK+mUD81XFQ9HNpw6aI+kMmEsCuu3feAJ7fT1NSoaD/QeX/6RZl23mHGOu+kHprhE40a/EByP+11lITlkS2vdt+f2RNWSRDxzV/jUcoqo0DOdnxbIUGz1r3G2+P4ZUs3CoTvcLCjPtlo5XMwVsAnQlqjNtPAJv623efh8b80AWcgqPhoc6ZkoafBGPNTkcr98NLP29CULGB6l9q8mIMZuGIlolcKFbPS0aTdsKsjwLzwUAD3PWHn3snYrJEZEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XAiZURk5cwC77XW3wRa5ZF",
      "input": {
        "note": "Bear's torso fills the jaws; pressing down into it before closing.",
        "targets": {
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XAiZURk5cwC77XW3wRa5ZF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1236, 0.9878, -0.8722, -0.2508, -0.1131, 0.9929, 0.794, 1.8637, 1.0363, -0.2646, 0.4324, 0.6174, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=-0.002 left_z=0.1725 left_yaw=0.1058 left_pitch=-0.3956 left_roll=0.173 left_gripper=0.9929 right_x=0.3393 right_y=0.2447 right_z=0.0206 right_yaw=0.0296 right_pitch=-0.3479 right_roll=-0.0276 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -3.2205, 6.5573, 1.2381, -0.1294, -0.0317, -0.0122, 0.1573, -6.2017, 4.1504, 0.7497, 0.2271, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a81658c5ab5afc8f77ee5c0535a6800715261e1961db2158428774c45f6347d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be8c4d182ec8ae7b0ab6d74713b61c2886ee311ea5c19f7ed0b0f34005fb04a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ce4d0114c31c7cc8d194fe0afb60bf5e6506c39e2b163a21a1305c0ebce87cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 3.528 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]: [-0.1722, 1.121, 0.9924, -0.8577, -0.2634, -0.1143, 0.9929, 0.8856, 1.6066, 1.2652, -0.7822, 0.4866, 0.7074, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=-0.0006 left_z=0.1773 left_yaw=0.1142 left_pitch=-0.3717 left_roll=0.1767 left_gripper=0.9929 right_x=0.3005 right_y=0.2428 right_z=0.1465 right_yaw=0.0239 right_pitch=-0.3332 right_roll=-0.0302 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.9179, 6.4068, 1.4383, -0.0464, 0.1001, -0.0024, 0.5675, -7.1043, 8.9915, 1.2186, 0.5299, 0.1343, -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]: [-0.1715, 1.1236, 0.9878, -0.8684, -0.2512, -0.1135, 0.9929, 0.7967, 1.8317, 1.0698, -0.3801, 0.4377, 0.6228, 0.9996]\nstate[eef_state]: left_x=0.2901 left_y=-0.002 left_z=0.173 left_yaw=0.1059 left_pitch=-0.3918 left_roll=0.172 left_gripper=0.9929 right_x=0.3323 right_y=0.2379 right_z=0.0323 right_yaw=0.0121 right_pitch=-0.3801 right_roll=-0.0653 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -3.3983, 6.8991, 1.3651, -0.2857, -0.0757, -0.0122, -0.6085, -7.8701, 5.5043, 1.1404, 0.3297, -0.0904, -0.0122]",
      "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]: [-0.1715, 1.1236, 0.9878, -0.8722, -0.2508, -0.1131, 0.9929, 0.794, 1.8637, 1.0363, -0.2646, 0.4324, 0.6174, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=-0.002 left_z=0.1725 left_yaw=0.1058 left_pitch=-0.3956 left_roll=0.173 left_gripper=0.9929 right_x=0.3393 right_y=0.2447 right_z=0.0206 right_yaw=0.0296 right_pitch=-0.3479 right_roll=-0.0276 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -3.2205, 6.5573, 1.2381, -0.1294, -0.0317, -0.0122, 0.1573, -6.2017, 4.1504, 0.7497, 0.2271, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a81658c5ab5afc8f77ee5c0535a6800715261e1961db2158428774c45f6347d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be8c4d182ec8ae7b0ab6d74713b61c2886ee311ea5c19f7ed0b0f34005fb04a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ce4d0114c31c7cc8d194fe0afb60bf5e6506c39e2b163a21a1305c0ebce87cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vfzae4N7VMYuvDUqyrxhcM",
      "input": {
        "note": "Jaws are pressed into the bear's torso; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Vfzae4N7VMYuvDUqyrxhcM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1236, 0.9878, -0.8757, -0.2508, -0.1131, 0.9929, 0.799, 1.8725, 1.0271, -0.2192, 0.4461, 0.6167, 0.0354]\nstate[eef_state]: left_x=0.2886 left_y=-0.0018 left_z=0.172 left_yaw=0.1062 left_pitch=-0.3989 left_roll=0.174 left_gripper=0.9929 right_x=0.343 right_y=0.2483 right_z=0.0201 right_yaw=0.0321 right_pitch=-0.3197 right_roll=-0.0172 right_gripper=0.0354\nstate[joint_eff]: [-0.335, -3.2615, 6.5299, 1.2283, -0.1929, -0.0024, -0.0122, -0.5128, -6.694, 4.4239, 0.8034, 0.0952, 0.1734, 1.1404]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f7b3f04ed5636585b2aeb19fac802ad66e73203c59e5a0cbdc1254c5a052559",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e6b43a13f06cded565a9963dad8bdc21204adfd11722fd7c651b8a7fe9b39fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6238ca87fa3eaf49dafee32dfbb534b61d035b6674001f91e0e6a0bee862119f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.923 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]: [-0.1715, 1.1236, 0.9878, -0.8684, -0.2512, -0.1135, 0.9929, 0.7967, 1.8317, 1.0698, -0.3801, 0.4377, 0.6228, 0.9996]\nstate[eef_state]: left_x=0.2901 left_y=-0.002 left_z=0.173 left_yaw=0.1059 left_pitch=-0.3918 left_roll=0.172 left_gripper=0.9929 right_x=0.3323 right_y=0.2379 right_z=0.0323 right_yaw=0.0121 right_pitch=-0.3801 right_roll=-0.0653 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -3.3983, 6.8991, 1.3651, -0.2857, -0.0757, -0.0122, -0.6085, -7.8701, 5.5043, 1.1404, 0.3297, -0.0904, -0.0122]",
      "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]: [-0.1715, 1.1236, 0.9878, -0.8722, -0.2508, -0.1131, 0.9929, 0.794, 1.8637, 1.0363, -0.2646, 0.4324, 0.6174, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=-0.002 left_z=0.1725 left_yaw=0.1058 left_pitch=-0.3956 left_roll=0.173 left_gripper=0.9929 right_x=0.3393 right_y=0.2447 right_z=0.0206 right_yaw=0.0296 right_pitch=-0.3479 right_roll=-0.0276 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -3.2205, 6.5573, 1.2381, -0.1294, -0.0317, -0.0122, 0.1573, -6.2017, 4.1504, 0.7497, 0.2271, -0.022, -0.0122]",
      "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]: [-0.1715, 1.1236, 0.9878, -0.8757, -0.2508, -0.1131, 0.9929, 0.799, 1.8725, 1.0271, -0.2192, 0.4461, 0.6167, 0.0354]\nstate[eef_state]: left_x=0.2886 left_y=-0.0018 left_z=0.172 left_yaw=0.1062 left_pitch=-0.3989 left_roll=0.174 left_gripper=0.9929 right_x=0.343 right_y=0.2483 right_z=0.0201 right_yaw=0.0321 right_pitch=-0.3197 right_roll=-0.0172 right_gripper=0.0354\nstate[joint_eff]: [-0.335, -3.2615, 6.5299, 1.2283, -0.1929, -0.0024, -0.0122, -0.5128, -6.694, 4.4239, 0.8034, 0.0952, 0.1734, 1.1404]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f7b3f04ed5636585b2aeb19fac802ad66e73203c59e5a0cbdc1254c5a052559",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e6b43a13f06cded565a9963dad8bdc21204adfd11722fd7c651b8a7fe9b39fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6238ca87fa3eaf49dafee32dfbb534b61d035b6674001f91e0e6a0bee862119f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+QYKEAgSGAI4AUIIdGhpbmtpbmcSDEP4SLD6BEoxlOvI9RoMsCAtghzRtQz5Vfv9IjBG5PhHNvgRDjemBDiNRAwmqlviqsoCrSOyJbV+fbZcQK1XH5TU+4TplXXZ2FHCgLMqlgY0vg9TpTHQ66gmD6wZg3SbNWuqsqenOxX/wXhRxAOZIQBZK4XZDPvWDvReW3CGRUMCs8BU3MDj8vmMHGHFmQTSIhQ5xyuOvdXk1mzHwJslkjjb2bUAWayo2fHCpGa5GfFK6nkUFbMrV4AYsSro71FixsnpmcClMAZUnDit1WQe1Hu4/E7k43CrgjoJiYnKsjBaBYaDbaN7Tl9V3eIgIW9OfHczF+CrrGO0hd56m/BJtrbyDVWEtFMYCHUWjH7tq9S2CNgzY9q+71T0zQeArvZusxgt8KCh8pqbXKMjlrlHDU3MeyckrRuZx0v3qAn4GumEEVNflZEyo5t03XX/09Wq7SEPeqFVjUlJa1tD3GV/ohzqkn3s99fESFsZBkDWcZFCYBlgYz5iUfk/Yj7Cwo7zp9/C2GVl//ZuNuU+RBXNqK+MgR6Jx+MkKE+J2Kl/HYt0egMON2oy0Zb8iyeWl1KpaIvBgusiIhj1jzZKDDjILeVj+vsKqpCEcyw4kvcNliqna0gO0ax6cQJxfbqTMKkN1kyZXwpaK6iQmoZGsRkbAGOKRHr73N06FH18dgYLAzHp7kg7veWFnyAyO9hy1aBO4FOR29RqKM23ghcB2sxNKTuwSCZ1j2naBYGo0rqQIhERnlg6CHR0NFSGMkrj2ZG5OHFEz0CCiUur9Yzi5jFfCM1kHXjSBNliEhvJV5DbNuzVsFnjMTyoaEOSMfrth36UT3dKrZVhDpRB4QSqjEoh1fv+iTMsebwZjHyb9vliANoOAcK5gZCNTcqWt9ilVkuhYX5qrLWdzVC0NHO2axH16UwMe70i6nZqKkcNKm8Ss1GsHv0el8Ysd2sC4dxJcKe8sGq26c7f9P156YVVM5ZvhI6i1LV/LZc3N966drLpBPMB6zBN8hUHTv/KjwtGRsrdiA3JYQeowm9u0VORAsdR+KzlHh+zpZHA4TC9LJ69gA/5nuy55T+b96j1CNCRTZeYz7V0IGHIRXxQd7hcOkisBXAH6PHC0J/FxWq3zOUrxquRuSSJtzmKgg5EDFs7EkWvucw1l/DqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VGk8vm5yACQKZy1SR9bhiS",
      "input": {
        "note": "Gripper closed to 0.035 on fur; lifting to see if the bear comes along.",
        "targets": {
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VGk8vm5yACQKZy1SR9bhiS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1236, 0.9878, -0.8757, -0.2508, -0.1131, 0.9929, 0.799, 1.7763, 1.1679, -0.5068, 0.4294, 0.6094, 0.0357]\nstate[eef_state]: left_x=0.2886 left_y=-0.0018 left_z=0.172 left_yaw=0.1062 left_pitch=-0.3989 left_roll=0.174 left_gripper=0.9929 right_x=0.3365 right_y=0.2455 right_z=0.0726 right_yaw=0.0354 right_pitch=-0.3667 right_roll=-0.0477 right_gripper=0.0357\nstate[joint_eff]: [-0.1709, -3.1521, 6.5162, 1.2332, -0.1832, -0.0464, -0.0122, -0.2256, -10.7692, 8.7863, 1.2283, 0.3541, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc1604daf74d1f9272b567b8e8b8f1f3e0141dac5e32d8a6645287377a3a19bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f27dd31cc0b8f514a21245a15295b80f2b2fd5f1da7a36ce17563dcb6205d49d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f82dba9c6dcb09c249f8c3bcc5b00cd0ef8a2c5a1be3cce642fe6ab237b3a49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 4.48 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]: [-0.1715, 1.1236, 0.9878, -0.8722, -0.2508, -0.1131, 0.9929, 0.794, 1.8637, 1.0363, -0.2646, 0.4324, 0.6174, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=-0.002 left_z=0.1725 left_yaw=0.1058 left_pitch=-0.3956 left_roll=0.173 left_gripper=0.9929 right_x=0.3393 right_y=0.2447 right_z=0.0206 right_yaw=0.0296 right_pitch=-0.3479 right_roll=-0.0276 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -3.2205, 6.5573, 1.2381, -0.1294, -0.0317, -0.0122, 0.1573, -6.2017, 4.1504, 0.7497, 0.2271, -0.022, -0.0122]",
      "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]: [-0.1715, 1.1236, 0.9878, -0.8757, -0.2508, -0.1131, 0.9929, 0.799, 1.8725, 1.0271, -0.2192, 0.4461, 0.6167, 0.0354]\nstate[eef_state]: left_x=0.2886 left_y=-0.0018 left_z=0.172 left_yaw=0.1062 left_pitch=-0.3989 left_roll=0.174 left_gripper=0.9929 right_x=0.343 right_y=0.2483 right_z=0.0201 right_yaw=0.0321 right_pitch=-0.3197 right_roll=-0.0172 right_gripper=0.0354\nstate[joint_eff]: [-0.335, -3.2615, 6.5299, 1.2283, -0.1929, -0.0024, -0.0122, -0.5128, -6.694, 4.4239, 0.8034, 0.0952, 0.1734, 1.1404]",
      "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]: [-0.1715, 1.1236, 0.9878, -0.8757, -0.2508, -0.1131, 0.9929, 0.799, 1.7763, 1.1679, -0.5068, 0.4294, 0.6094, 0.0357]\nstate[eef_state]: left_x=0.2886 left_y=-0.0018 left_z=0.172 left_yaw=0.1062 left_pitch=-0.3989 left_roll=0.174 left_gripper=0.9929 right_x=0.3365 right_y=0.2455 right_z=0.0726 right_yaw=0.0354 right_pitch=-0.3667 right_roll=-0.0477 right_gripper=0.0357\nstate[joint_eff]: [-0.1709, -3.1521, 6.5162, 1.2332, -0.1832, -0.0464, -0.0122, -0.2256, -10.7692, 8.7863, 1.2283, 0.3541, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc1604daf74d1f9272b567b8e8b8f1f3e0141dac5e32d8a6645287377a3a19bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f27dd31cc0b8f514a21245a15295b80f2b2fd5f1da7a36ce17563dcb6205d49d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f82dba9c6dcb09c249f8c3bcc5b00cd0ef8a2c5a1be3cce642fe6ab237b3a49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS8QgKEAgSGAI4AUIIdGhpbmtpbmcSDIyNlRBnREZznieIQBoMm5sv2I8IeOrA1QnQIjC8AOzA9C2dSMcIjQyAWC53FkVDWlNhYc2XtZQxiWjxd0OFo2f/6zR6lybRKCcmRWIqjgjOe1XSWRZCoFsRJOoqkPFy9YgyxmkfCPfvz4MM6ON9qbsPCn+u80bvurBcYofNsntG4huF/YP3QiqPXexq6c8lP4q7y7RTqPOpompb80f2EDsp7ev4tubdDDjWaaO0+WfY/1QranN8l7D62g7YaUG+cHX8fZMnbO22kdbr9Jq5TVkwG40SQEgNoMvlJBcs5uJ3ef1IamxWfOVhSUIQRFmSdijTjKzDpz2dFEQoilDghv81hdm1vB0F0TSmmsIaRyaTQ3CxxXwmqvLEipm18bLwtKg1Ihb5Oi+3E+CqMpg4AKEJQddib0Kddb9WMiMnI9OtFY+vgoG2nnF+vj0eMTjaInq1vDkUMaq8mjIG36BcSep1kAiDCauxG4tpdayLdthRA+7iFBD47AK62O1u8EwtbzLyYxfw+X09y+3jZUmr2hGKeVv4BTqYLIwTg8CuuiksvdqgG5qYqfuCmpJ65mq6jrPqtvZmfQQsdaGVaG9mhSvS2rr4ZEO0JprMXPOgptQ8zFNIkNQERvD74NT26xDf61T7mY+u5AyemaMkIb21wKVjw9cy3fXciGbLnC14wVp1+1gDItSMNKv7SK8wClGoCQxN92qHsDj/dDQoU07AcY6nW6HlHGqAMU6Ei6KJKXrfh4Js/WmP98nz4499Oe+U1dOP3zAAMN57IyJmGlJ7roeRRDLezyzKhERe/YMRXdqEEwbLMupV75bqdopwL13DjfIxHyuJCDn7VDZiIz6IMMZbUYLJbfaFknXN2KdV0E4Ty9r1FwltlN+q2kD0LuRmzrn/Z0kuA/JDxaeBYrMLA4oVa6rcdbpRwinbmQ5pkY6GaNXj8oMsRise3jXzPsCoLWhN3OhTkMQ/sH9f5O1VFsfxd5kdBNUOYCRsIP1XFVwVDCY3IGYlMqoeVIy/6V2zR59DS+iNwsbHOZLR8bJpJqUnLSw0dMNifZ5HIntVCSqiB6i3D9tbi5Wmd6MjVWaz41OXuBr3ZMPnkxVQZ3ama4DyuokKEQaENGwXJjdcFcNKtvMwMiTKFs39EvXcdJ39KXUSEqJXdKkr/3s17k84ACJolM5cuq11lMLdXBQI5L45ptPkcjWnvvNzagYVjniK8Os/y6yKUJ18vcBneh1ZE/wmJh5xl5zo2bQk60oNG561dq31XMoCDeIHl7P9agVK95hKQWVQCx6jX/dhhuE3tg/nQ4/YnnPXhm2f0u4OXPo1Tmqy6HGR+Za//Q5ZiyL5trLdxAOpV2rz3Xrbn6Nji0olAGO2SvILNPn51kJBAyMoprWZcVETRDaKyjoikhxYiayLaiyJ6vLHDzyq0iK8J7B8ky+KhwZKtx3egFA8FxrIQnVSGdibtq3C7zRz3biURMGdZ6ShMvu9rp/GpAcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ScyfGqKYrsEkNXPYhaJ91W",
      "input": {
        "note": "Bear appears to rise with the jaws. Lifting high and carrying it over the open safe.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.33,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ScyfGqKYrsEkNXPYhaJ91W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1236, 0.9878, -0.8768, -0.2504, -0.1131, 0.9929, 0.8257, 2.2238, 2.3619, -1.2453, 0.4286, 0.6182, 0.0377]\nstate[eef_state]: left_x=0.2884 left_y=-0.0019 left_z=0.1718 left_yaw=0.106 left_pitch=-0.4001 left_roll=0.174 left_gripper=0.9929 right_x=0.4025 right_y=0.3334 right_z=0.2086 right_yaw=0.0595 right_pitch=-0.3613 right_roll=-0.0358 right_gripper=0.0377\nstate[joint_eff]: [-0.2803, -3.2479, 6.6803, 1.2869, -0.1148, -0.0317, -0.0122, 0.3897, -11.0701, 6.5983, 0.5397, 0.2613, 0.1832, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56e6c400b5b1513aa5697abf544dd436d0c7ef9c0d011b5dee01545931db9c9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11c279a2e7f763d84d46997736a14883a86e1d8eeee4c54058e091c3e1dc6e5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a264a06a1d23f00624debdc1873227540fddc99cd666af0ab62efeaa5c76eae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.805 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]: [-0.1715, 1.1236, 0.9878, -0.8757, -0.2508, -0.1131, 0.9929, 0.799, 1.8725, 1.0271, -0.2192, 0.4461, 0.6167, 0.0354]\nstate[eef_state]: left_x=0.2886 left_y=-0.0018 left_z=0.172 left_yaw=0.1062 left_pitch=-0.3989 left_roll=0.174 left_gripper=0.9929 right_x=0.343 right_y=0.2483 right_z=0.0201 right_yaw=0.0321 right_pitch=-0.3197 right_roll=-0.0172 right_gripper=0.0354\nstate[joint_eff]: [-0.335, -3.2615, 6.5299, 1.2283, -0.1929, -0.0024, -0.0122, -0.5128, -6.694, 4.4239, 0.8034, 0.0952, 0.1734, 1.1404]",
      "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]: [-0.1715, 1.1236, 0.9878, -0.8757, -0.2508, -0.1131, 0.9929, 0.799, 1.7763, 1.1679, -0.5068, 0.4294, 0.6094, 0.0357]\nstate[eef_state]: left_x=0.2886 left_y=-0.0018 left_z=0.172 left_yaw=0.1062 left_pitch=-0.3989 left_roll=0.174 left_gripper=0.9929 right_x=0.3365 right_y=0.2455 right_z=0.0726 right_yaw=0.0354 right_pitch=-0.3667 right_roll=-0.0477 right_gripper=0.0357\nstate[joint_eff]: [-0.1709, -3.1521, 6.5162, 1.2332, -0.1832, -0.0464, -0.0122, -0.2256, -10.7692, 8.7863, 1.2283, 0.3541, 0.0464, 1.0281]",
      "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]: [-0.1715, 1.1236, 0.9878, -0.8768, -0.2504, -0.1131, 0.9929, 0.8257, 2.2238, 2.3619, -1.2453, 0.4286, 0.6182, 0.0377]\nstate[eef_state]: left_x=0.2884 left_y=-0.0019 left_z=0.1718 left_yaw=0.106 left_pitch=-0.4001 left_roll=0.174 left_gripper=0.9929 right_x=0.4025 right_y=0.3334 right_z=0.2086 right_yaw=0.0595 right_pitch=-0.3613 right_roll=-0.0358 right_gripper=0.0377\nstate[joint_eff]: [-0.2803, -3.2479, 6.6803, 1.2869, -0.1148, -0.0317, -0.0122, 0.3897, -11.0701, 6.5983, 0.5397, 0.2613, 0.1832, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56e6c400b5b1513aa5697abf544dd436d0c7ef9c0d011b5dee01545931db9c9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11c279a2e7f763d84d46997736a14883a86e1d8eeee4c54058e091c3e1dc6e5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a264a06a1d23f00624debdc1873227540fddc99cd666af0ab62efeaa5c76eae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwgKEAgSGAI4AUIIdGhpbmtpbmcSDEiqrQtpjBZgemBV8RoM7C+kxUanYd0gggX3IjBwkohpV5nSATVUEJ51JZHPwVFTEM/a+PGHrgMJaV2IiblzxzWRcGfJ2Mnc7pgLU28qyAf8DQG4Q4tC+Mbs7ek8wAFjeFjtwjfQUulf6tO2/lDAvKPEgxdIvqr8EPJvsZKDh1T/0AYajbb2BpriQOsI8zTJNuqcrRHgo7n5IHBiznq9ezhoCxwGEdBirBeRqSuheLE/AodbqB/FztWPJI8mABijeDQJXFIqN8vpOrdR2MCC5KP2urpjp+YDQR1X0Gi+E9umlkTuc/0burLiinqaESfyKdtAnQgqaYHwJu7wKPaMs4dC1O8wA6EL24LnfYzNKzB/y61I1ZVi3i/qlZWg4MtpFNf+KKdR3Mmc8zI2jlCUIO7MjSPCON35GBha07jOgzbgSI7uo+M9tYrlJd2bTTPIUa2aV9dh3+mfWvtv7np1aNw5GUjAKNV7tW9kPy8jGWTxK0GCZ3aDjHX58TRf11fybZR1qkItQojwlaKfksM5FH1TrtVahgvjHLGZ8xIrwJIcwOQ9j6jpzQbTvbV9qWhMX5zwzvDI799otUiTZTMSxxA6faUeFkSa0/3EPuP6+I+Od2AhYayIOl2SjzKOg1kFoeGenBMXFk+QpPpbs1PA7EDm1WSrLcK3Z+6ouvMUfUltQbcYNsvbkJsMQUeXJlWoGEcFgGGXV/ZAUeiKOxI0lI6H27XnknJL9bytj5a5ISCIAIUWKD+W6RCpcLiuwfFnZyJ0xkaZfdxnNeaYybAjmqesrM/MUJrC8+0GTwlr6Iu37kXYgdNPLuxtAGf5mQ6s5vgwaAAqZWGUgnq5x+PTpn/6FEwVBG1Jzw48MkTceLkWEnKR4JEl7wMDCUoGhcs/5WGL0GjCWTgwCJ5cMhhOgWMiVZr7bWNyAoxvGkH/cPLnmzRMAYqsC43VG6WKzlr9s9IZFnVaeCF0CsxYp1h9Xadbj2XMnbzkEWnEo0DsKx2Kn3m/vk8ZDjmZStzI9Up+ONJ815MIxjt3qhYYs95EOfI/C44Xiw/FS8BIGfSOXPIJGP3loLJcaSBHHwY2e5SM64ARDd7WPn9FChIF5nrHMuwXdVcmWsCMIF23zT36FQToi13drHjzVKYQuSeQEnT6aRKEzK1BKFATARFmeCFrpeVZiZih5DhPoqM5fj/mQ5bBjTO0CeS9yQijYYJQVQQvzDT1RpcJjQiv8YrhUhdWUYiYk9BIwMzlzsWur++o2q69xhdZPPYjIUcGsZRGN3dhC1ju+k/AlTiWefKKVAlLkOfFhU9z6P6vJEm78CfhQQu0+KfnHXXTdk5O5XXkglXxJBZeHTVV/UFoiUQl1d/KjkjwPAIecs5xuNGurqZZC58PbWSyLqaGnhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C3unWHUW9RLeaVBCosntRg",
      "input": {
        "note": "Bear is held above the safe; lowering it toward the interior before releasing.",
        "targets": {
          "right_x": 0.39,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01C3unWHUW9RLeaVBCosntRg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.124, 0.9878, -0.8764, -0.2508, -0.1131, 0.9929, 0.8406, 2.1548, 1.9545, -1.0714, 0.4263, 0.6216, 0.0377]\nstate[eef_state]: left_x=0.2885 left_y=-0.0018 left_z=0.1718 left_yaw=0.1063 left_pitch=-0.4 left_roll=0.1743 left_gripper=0.9929 right_x=0.3756 right_y=0.3154 right_z=0.1218 right_yaw=0.0214 right_pitch=-0.4782 right_roll=-0.1603 right_gripper=0.0377\nstate[joint_eff]: [0.1162, -3.2068, 6.5299, 1.1941, -0.1978, -0.0757, -0.0122, 0.335, -15.6376, 8.2393, 1.2967, 0.3541, 0.1343, 1.0427]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1680ce76287b4acc3e245d8df4eab339feca212ef0841d7ae6d629ec6fef9b2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:592c7ebc0c9dd1ecf190eff77847a87fcbd27269d353efe0c93cfb20fe1b4b53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:936e036d9144e7165be08ebdfb9cdbd9b0603c0b141d4fb2c4bbc67b7d108533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 3.777 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]: [-0.1715, 1.1236, 0.9878, -0.8757, -0.2508, -0.1131, 0.9929, 0.799, 1.7763, 1.1679, -0.5068, 0.4294, 0.6094, 0.0357]\nstate[eef_state]: left_x=0.2886 left_y=-0.0018 left_z=0.172 left_yaw=0.1062 left_pitch=-0.3989 left_roll=0.174 left_gripper=0.9929 right_x=0.3365 right_y=0.2455 right_z=0.0726 right_yaw=0.0354 right_pitch=-0.3667 right_roll=-0.0477 right_gripper=0.0357\nstate[joint_eff]: [-0.1709, -3.1521, 6.5162, 1.2332, -0.1832, -0.0464, -0.0122, -0.2256, -10.7692, 8.7863, 1.2283, 0.3541, 0.0464, 1.0281]",
      "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]: [-0.1715, 1.1236, 0.9878, -0.8768, -0.2504, -0.1131, 0.9929, 0.8257, 2.2238, 2.3619, -1.2453, 0.4286, 0.6182, 0.0377]\nstate[eef_state]: left_x=0.2884 left_y=-0.0019 left_z=0.1718 left_yaw=0.106 left_pitch=-0.4001 left_roll=0.174 left_gripper=0.9929 right_x=0.4025 right_y=0.3334 right_z=0.2086 right_yaw=0.0595 right_pitch=-0.3613 right_roll=-0.0358 right_gripper=0.0377\nstate[joint_eff]: [-0.2803, -3.2479, 6.6803, 1.2869, -0.1148, -0.0317, -0.0122, 0.3897, -11.0701, 6.5983, 0.5397, 0.2613, 0.1832, 1.033]",
      "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]: [-0.1715, 1.124, 0.9878, -0.8764, -0.2508, -0.1131, 0.9929, 0.8406, 2.1548, 1.9545, -1.0714, 0.4263, 0.6216, 0.0377]\nstate[eef_state]: left_x=0.2885 left_y=-0.0018 left_z=0.1718 left_yaw=0.1063 left_pitch=-0.4 left_roll=0.1743 left_gripper=0.9929 right_x=0.3756 right_y=0.3154 right_z=0.1218 right_yaw=0.0214 right_pitch=-0.4782 right_roll=-0.1603 right_gripper=0.0377\nstate[joint_eff]: [0.1162, -3.2068, 6.5299, 1.1941, -0.1978, -0.0757, -0.0122, 0.335, -15.6376, 8.2393, 1.2967, 0.3541, 0.1343, 1.0427]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1680ce76287b4acc3e245d8df4eab339feca212ef0841d7ae6d629ec6fef9b2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:592c7ebc0c9dd1ecf190eff77847a87fcbd27269d353efe0c93cfb20fe1b4b53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:936e036d9144e7165be08ebdfb9cdbd9b0603c0b141d4fb2c4bbc67b7d108533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSuwgKEAgSGAI4AUIIdGhpbmtpbmcSDMlNtuQFBH4DL+dECRoMqLEYVhob9n4CrW2iIjCrMYkQyrAISd+xUozEe22Nx7T0Ja76mHGhDZORXV3vRKy3J8T1rDdjCAAeSZ9bmqMq2AflmyVHpz4eS6bFV92wYwiMUAF+lkvpF4FarH+Q5aIZhCdbSngfkvMjqfQoYyqw8308GwiFPBbSmNAGEWn8Zjm6OcxcwmkqUwteZAkMcy4IyGA75H3GGrFrsOzkViuQIZPF2YFFbLYuYz+qipEAjO5EdbTzriyra5JFTcFr9YfEueHJSYAYZ7mlVkoWbDiHFLT0RYVy9JjDRvSdAGEdNblG6O//LaV6hvpONhgNNDrgFgrMCPgyp0CtGaz0p58gU+J5Q8+b2Jy/kB/8er8Unmh40tkgxZXvt4/l/K1UeF2SIohyHuOoVLrK9K2QA+2sWNNlsRDTvCnaiejPdUN9aRY6b6+hAJuE4ILAIm3m4+NksGE8yA+x/Ys2rXn4uf0DeAhrNAaLGGKYPC9v+6WhKDn70JxoWdA6j479cmB10VJaQOCJqgb8OYC+4czXnKePV07nsea9qjUe9ezX4aLIlS03+nmRCGcdzgxheDvSJ8efF9IPIy9Cp48oCTqU8wwI+WOMSxaywumlgsXqMQpYbPkDNGc5A7Xgg3gaSKLIbGu5l4uoCWBPpdQvjJ2yIjlw7/CgfwV7UbiCvE8//vp/hbD7Uge6rIRaUQsKUp+gGf/3b4qVcRCHl4gneTyV7k+9X4C6vjB1f7FRQxbUIUx1GzSPxRzvP3gstoXj6AKt8DKqqpJLCFvd73UcerV61fuyZ/Gqv4jHP9LfZ43SHHsd1pBtsW/yU03MBbVi0Dne266ntkPashPiaiDp5lAua/1HbmGrHk8NIF3zaRnc3VzwK0aaleMGdYREKrOSqshRvaWf+QN6aWv1E4rupbDuUHUCM0cC7yfqw0uGhfCzYLT0k01PzyNN2N2u+kVW7wHSxYm3sih+oYG+02v5Y0aO7RrHJBVsVk2hEQCzTVzyD9T5z3IE7OG68V0zLsykDFgVajSy6LdtUCNfOHtlcjWx9uhKSZCc5qG4tu8sCznfeYP/gDfYUNHLybU9CPHqnhhRV16yaltHpoEozWMRsVdRLANHll7N5olaEysXRbkHPEPBT0yPryEGI0L3AHnIJHElxKKCLYtPc+GCC6tUOSF5ve1mIgmPAuNRbTP0fQ8UZmuCQ26Z46k6ELkKua0kk3dTu++nrhzQdTeQP5oKIwUlhE5NqQ/C5JzlzMMXSUht3mix2ya/RBLQqMGdNTXfh5Y/NQGTx5OZ/Rv3EKbm/t2WnwmesekZsxyKVrYmK9R4NekUkakAFPmcF/9lIGPFBHDomliwA/tgWCFzEv0mqRK9MT+YhhPNelFfkGESkz8RemxV4tophGTepaIXwwcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KdNPVVkp2BfD5vNwtw92SP",
      "input": {
        "note": "Wrist view shows the white teddy inside the safe just ahead; shifting the bear forward so it lands inside rather than on the front wall.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KdNPVVkp2BfD5vNwtw92SP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1248, 0.9878, -0.8772, -0.2508, -0.1131, 0.9929, 0.7788, 2.3325, 2.3775, -1.2613, 0.3992, 0.5629, 0.0377]\nstate[eef_state]: left_x=0.2884 left_y=-0.0018 left_z=0.1715 left_yaw=0.1065 left_pitch=-0.4015 left_roll=0.1748 left_gripper=0.9929 right_x=0.4194 right_y=0.3224 right_z=0.1558 right_yaw=0.0337 right_pitch=-0.4616 right_roll=-0.1286 right_gripper=0.0377\nstate[joint_eff]: [-0.1709, -3.3299, 6.5573, 1.2869, -0.1441, -0.0464, -0.0122, -0.1436, -12.0957, 7.3231, 0.5543, 0.1685, 0.0415, 1.0427]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da74d5bc704477acc23d1eb5ff6323b9a1251ecbd8b0dd2ee4761577ac97290a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c688c1fefa7d5952f1c5f33a28f3e42524fadb612c78e73a763d64de1d949634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9749b1de0474e1f0210228a55b349e43cccae06c754595ba30fe98fc01e578ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.807 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]: [-0.1715, 1.1236, 0.9878, -0.8768, -0.2504, -0.1131, 0.9929, 0.8257, 2.2238, 2.3619, -1.2453, 0.4286, 0.6182, 0.0377]\nstate[eef_state]: left_x=0.2884 left_y=-0.0019 left_z=0.1718 left_yaw=0.106 left_pitch=-0.4001 left_roll=0.174 left_gripper=0.9929 right_x=0.4025 right_y=0.3334 right_z=0.2086 right_yaw=0.0595 right_pitch=-0.3613 right_roll=-0.0358 right_gripper=0.0377\nstate[joint_eff]: [-0.2803, -3.2479, 6.6803, 1.2869, -0.1148, -0.0317, -0.0122, 0.3897, -11.0701, 6.5983, 0.5397, 0.2613, 0.1832, 1.033]",
      "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]: [-0.1715, 1.124, 0.9878, -0.8764, -0.2508, -0.1131, 0.9929, 0.8406, 2.1548, 1.9545, -1.0714, 0.4263, 0.6216, 0.0377]\nstate[eef_state]: left_x=0.2885 left_y=-0.0018 left_z=0.1718 left_yaw=0.1063 left_pitch=-0.4 left_roll=0.1743 left_gripper=0.9929 right_x=0.3756 right_y=0.3154 right_z=0.1218 right_yaw=0.0214 right_pitch=-0.4782 right_roll=-0.1603 right_gripper=0.0377\nstate[joint_eff]: [0.1162, -3.2068, 6.5299, 1.1941, -0.1978, -0.0757, -0.0122, 0.335, -15.6376, 8.2393, 1.2967, 0.3541, 0.1343, 1.0427]",
      "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]: [-0.1715, 1.1248, 0.9878, -0.8772, -0.2508, -0.1131, 0.9929, 0.7788, 2.3325, 2.3775, -1.2613, 0.3992, 0.5629, 0.0377]\nstate[eef_state]: left_x=0.2884 left_y=-0.0018 left_z=0.1715 left_yaw=0.1065 left_pitch=-0.4015 left_roll=0.1748 left_gripper=0.9929 right_x=0.4194 right_y=0.3224 right_z=0.1558 right_yaw=0.0337 right_pitch=-0.4616 right_roll=-0.1286 right_gripper=0.0377\nstate[joint_eff]: [-0.1709, -3.3299, 6.5573, 1.2869, -0.1441, -0.0464, -0.0122, -0.1436, -12.0957, 7.3231, 0.5543, 0.1685, 0.0415, 1.0427]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da74d5bc704477acc23d1eb5ff6323b9a1251ecbd8b0dd2ee4761577ac97290a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c688c1fefa7d5952f1c5f33a28f3e42524fadb612c78e73a763d64de1d949634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9749b1de0474e1f0210228a55b349e43cccae06c754595ba30fe98fc01e578ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SdHmzVrrreJpYh4cxpXf79",
      "input": {
        "note": "Bear is hanging above the safe interior next to the white teddy; releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SdHmzVrrreJpYh4cxpXf79",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1259, 0.9878, -0.8768, -0.2508, -0.1131, 0.9929, 0.7738, 2.3497, 2.3707, -1.2919, 0.3946, 0.5507, 0.9945]\nstate[eef_state]: left_x=0.2885 left_y=-0.0018 left_z=0.1713 left_yaw=0.1066 left_pitch=-0.4022 left_roll=0.175 left_gripper=0.9929 right_x=0.4154 right_y=0.316 right_z=0.1424 right_yaw=0.0199 right_pitch=-0.5054 right_roll=-0.1736 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -3.3573, 6.7077, 1.2332, -0.1587, -0.0611, -0.0122, 0.1709, -14.4889, 6.5162, 1.1404, 0.2027, 0.1392, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e07e4f7af019550e1cfb6886e515720104d2c70359bf92f25f5cdce9fa3da85f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92e89393b0ae1e41c461d3b79ecb328b8897c470fb4d47e852c8e468ebdb7d38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0825908736d74f50482b57827da042085126cc9ed45572f2f67ebabcf0550360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 7.215 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]: [-0.1715, 1.124, 0.9878, -0.8764, -0.2508, -0.1131, 0.9929, 0.8406, 2.1548, 1.9545, -1.0714, 0.4263, 0.6216, 0.0377]\nstate[eef_state]: left_x=0.2885 left_y=-0.0018 left_z=0.1718 left_yaw=0.1063 left_pitch=-0.4 left_roll=0.1743 left_gripper=0.9929 right_x=0.3756 right_y=0.3154 right_z=0.1218 right_yaw=0.0214 right_pitch=-0.4782 right_roll=-0.1603 right_gripper=0.0377\nstate[joint_eff]: [0.1162, -3.2068, 6.5299, 1.1941, -0.1978, -0.0757, -0.0122, 0.335, -15.6376, 8.2393, 1.2967, 0.3541, 0.1343, 1.0427]",
      "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]: [-0.1715, 1.1248, 0.9878, -0.8772, -0.2508, -0.1131, 0.9929, 0.7788, 2.3325, 2.3775, -1.2613, 0.3992, 0.5629, 0.0377]\nstate[eef_state]: left_x=0.2884 left_y=-0.0018 left_z=0.1715 left_yaw=0.1065 left_pitch=-0.4015 left_roll=0.1748 left_gripper=0.9929 right_x=0.4194 right_y=0.3224 right_z=0.1558 right_yaw=0.0337 right_pitch=-0.4616 right_roll=-0.1286 right_gripper=0.0377\nstate[joint_eff]: [-0.1709, -3.3299, 6.5573, 1.2869, -0.1441, -0.0464, -0.0122, -0.1436, -12.0957, 7.3231, 0.5543, 0.1685, 0.0415, 1.0427]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1715, 1.1259, 0.9878, -0.8768, -0.2508, -0.1131, 0.9929, 0.7738, 2.3497, 2.3707, -1.2919, 0.3946, 0.5507, 0.9945]\nstate[eef_state]: left_x=0.2885 left_y=-0.0018 left_z=0.1713 left_yaw=0.1066 left_pitch=-0.4022 left_roll=0.175 left_gripper=0.9929 right_x=0.4154 right_y=0.316 right_z=0.1424 right_yaw=0.0199 right_pitch=-0.5054 right_roll=-0.1736 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -3.3573, 6.7077, 1.2332, -0.1587, -0.0611, -0.0122, 0.1709, -14.4889, 6.5162, 1.1404, 0.2027, 0.1392, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e07e4f7af019550e1cfb6886e515720104d2c70359bf92f25f5cdce9fa3da85f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92e89393b0ae1e41c461d3b79ecb328b8897c470fb4d47e852c8e468ebdb7d38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0825908736d74f50482b57827da042085126cc9ed45572f2f67ebabcf0550360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgoKEAgSGAI4AUIIdGhpbmtpbmcSDBbUeDxILUycze782hoMk5aOiqu/aT+/Uxa/IjAYeCnvIutGCMo3pIXJXo5EdF/o7OSyp/0tz5aBuAPoh3+6WULbbVSY1NUM42VMRUAqwwl8YwKJiZJUvdr3REqp2g186OARpM2ymSCS/odf+qh6BYa+Ns/qA0WoPDw4m8lxJHWb41T6zH5vsuvG11jFMevRS0aSBET7kNJ9wmz/cdoQOAysvfHjg7vrFNXAe1GTr3ELvpvkr8ZoyE6ntN9297H/fCuo2KiuZs96w3iN21freELWxcW4aRykGWaBvKLCSz3sE3N+7SlM1MOCaAklckbmtjKxoToEtMTmGtHfPo30lZMvjjKrPmno9QKECPIXWVcALW+SVg6bWAcgwDGgBevrCjO6bOoGBy2FMSejX0PPADwN8eJbq3YRnMtx7SQad2p6JssfeOp5bSutO2//p+IwY6D+Z0xlUgfAGRe2ONNa/iP1RcNr0szPBt4hHQtErIvsmoE9M0KIIHaMUkZGafe8LfW5xv48e2KmwbN3TDrXCB0pXjYkK+A4SHkcwj1KFjpNSxyeYXGWx3M5D2SWMC/rYhdfL0ltHOkL2tuUZE12wjy6rNHmfVl6Cr1l1MzAUAKAB5oARplGpjfCc/zmDGqsNJac5DMro6gRt7P8ZPc5e1pYJP93OH2fFxiPhuRb6Hq5ce5+XxGTDqkx4jBhdjsMzXryo0w+I9QDeYCrDvSoYDno2pVA4D3gkITuy/+0V0q2l/hKv+ev7QVlYkXyJcJyhWerVZlT8fUNT3qrYhsnsGsI1PnuwnLrVvfYIIP1Ej7ysEy3t65OzWnU8Bm1Ic3Y6KX6Yd3pODY3zpuTT9G1jJ186xuIxiEf28LuP6idWdpE75/RyqK1aCb6RKvFw/GeEe/eVvKBzqsTdkQBaCJ7GzYgYCm00NWJc+ogjvslmVoiAdyBZqNX1oLq0DfXqJhXor18monMDIkL7Ngl14KhE4kZP0pzY+cYyHoi7HfytQbf8NOAlJll/YcVRlAUG8BF/yx8jdEqIiik4VqvYc6JsQ1idtSRbNYcWPR2M6HAAmCJxR2YeSMdzKyQAVltrPMqUh4YA6P+6Tdw09BITuMvpPlFSoRGr2g+uSlIYK3RuINBiLaONBkYJBy5PdyHhjwePtNaTMWGHhFM6TMt+0YL3bRu7SLeWQ4+pk4NXSlRCO1WtZtZmjwry5xi7zlPiU9hOKvQLBYjecGXKY8rhGOdfxaGcr2PlZ7E5hqhtoDVPGz2yAeZ4MM7224fOn797hsGabGifsc052ytP6fmS1gKAAByYUwrvRjber3mV9Ayy6fPrr0S05+pG7yzoCEcv+VOh+YJoJZFWHhbp2Q4WDmGYa6RuLtWaDdsOgoJtr7cg53q1uUa7hR0Kn8/t/QwHIYsd+kSr/jIU1lV9wG0RSOzwDScOPwv+SXvTpdQniaPI2zovqG4i/j/yESkkovvVam438h1JMB5jkzkrUrrP4f36AZ2FSN0BANZJe5Upa8MhFZ9ZRHt4Eh76BuewkxlnN3okGq3UJp9yYO/GBi1zXfHTXbYV1Bx8tBFjWfhim9AgGaH2CldaOZnp4OTb5z2CGbcgzys8IjyRyJRSSzO+Qu0Rlm1X6/wRBkBIyoVKqsS+2Kim/7FGIEIy1g1SLNSBL9/LD8UNX6LeI3p54mVdZKjGyyeijYNs9AQ4nbF3O1xgQUEtZ8LKcf3zZ081KNrbMUkIOZbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QjaqCKaEei7afF8ZsNu6Pa",
      "input": {
        "note": "Bear dropped into the safe. The yellow lemon sits to the right of the safe; moving the right arm above it.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.19,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01QjaqCKaEei7afF8ZsNu6Pa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1278, 0.9878, -0.8768, -0.2504, -0.1131, 0.9929, 0.5201, 2.0602, 1.7813, -0.9897, 0.3122, 0.3149, 0.9953]\nstate[eef_state]: left_x=0.2886 left_y=-0.0019 left_z=0.1707 left_yaw=0.1065 left_pitch=-0.4042 left_roll=0.1753 left_gripper=0.9929 right_x=0.4304 right_y=0.1881 right_z=0.108 right_yaw=-0.0206 right_pitch=-0.5763 right_roll=-0.2174 right_gripper=0.9953\nstate[joint_eff]: [0.0342, -3.1658, 6.5846, 1.2039, -0.1636, -0.0464, -0.0122, -0.1983, -14.4342, 7.0632, 1.2234, 0.0757, -0.0415, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:401503b254efe04d02c1e4e3a3e0fde9e412dca6008f57cf16fb04a46b72104d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c067c2884d6afcebfc3beb8c920be3e1f856fe809302e9cb0a0b6a2ae73a389f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90979c4d436e6efaff67f37a9d74c46dd10de59b93f1b85eb81e7f2c3c721f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 5.416 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]: [-0.1715, 1.1248, 0.9878, -0.8772, -0.2508, -0.1131, 0.9929, 0.7788, 2.3325, 2.3775, -1.2613, 0.3992, 0.5629, 0.0377]\nstate[eef_state]: left_x=0.2884 left_y=-0.0018 left_z=0.1715 left_yaw=0.1065 left_pitch=-0.4015 left_roll=0.1748 left_gripper=0.9929 right_x=0.4194 right_y=0.3224 right_z=0.1558 right_yaw=0.0337 right_pitch=-0.4616 right_roll=-0.1286 right_gripper=0.0377\nstate[joint_eff]: [-0.1709, -3.3299, 6.5573, 1.2869, -0.1441, -0.0464, -0.0122, -0.1436, -12.0957, 7.3231, 0.5543, 0.1685, 0.0415, 1.0427]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1715, 1.1259, 0.9878, -0.8768, -0.2508, -0.1131, 0.9929, 0.7738, 2.3497, 2.3707, -1.2919, 0.3946, 0.5507, 0.9945]\nstate[eef_state]: left_x=0.2885 left_y=-0.0018 left_z=0.1713 left_yaw=0.1066 left_pitch=-0.4022 left_roll=0.175 left_gripper=0.9929 right_x=0.4154 right_y=0.316 right_z=0.1424 right_yaw=0.0199 right_pitch=-0.5054 right_roll=-0.1736 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -3.3573, 6.7077, 1.2332, -0.1587, -0.0611, -0.0122, 0.1709, -14.4889, 6.5162, 1.1404, 0.2027, 0.1392, -0.0513]",
      "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]: [-0.1715, 1.1278, 0.9878, -0.8768, -0.2504, -0.1131, 0.9929, 0.5201, 2.0602, 1.7813, -0.9897, 0.3122, 0.3149, 0.9953]\nstate[eef_state]: left_x=0.2886 left_y=-0.0019 left_z=0.1707 left_yaw=0.1065 left_pitch=-0.4042 left_roll=0.1753 left_gripper=0.9929 right_x=0.4304 right_y=0.1881 right_z=0.108 right_yaw=-0.0206 right_pitch=-0.5763 right_roll=-0.2174 right_gripper=0.9953\nstate[joint_eff]: [0.0342, -3.1658, 6.5846, 1.2039, -0.1636, -0.0464, -0.0122, -0.1983, -14.4342, 7.0632, 1.2234, 0.0757, -0.0415, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:401503b254efe04d02c1e4e3a3e0fde9e412dca6008f57cf16fb04a46b72104d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c067c2884d6afcebfc3beb8c920be3e1f856fe809302e9cb0a0b6a2ae73a389f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90979c4d436e6efaff67f37a9d74c46dd10de59b93f1b85eb81e7f2c3c721f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQShgoKEAgSGAI4AUIIdGhpbmtpbmcSDA9qfRaW5L/rXfBDZhoMKYt0pkvsFWhV4av2IjBRJ8W5VANZdvxk3Owtf2KdtRmxMCsldaptuILuw7g8C7J8tbJ8BkJ9kpAwcgJGYMoqowkZTulGjGF7vHdw8Jnrt7phvPEaOnApZagy7Zy771ucBltZoAQurfRIF+T4vnXA/czoB90O++kIj1ALZO4KRuP3OKV0sjQ2/iYc4tB4RnQ+9dIHWvFlFoo9Abz3xCHywYr7GGfL0IH8wJbgvzPnV9tQoLaqtyt8JciTo1LFqG2t6Ji8Y2ShrscxEUBm1qtCKCKzBvB9R0nVZE0YlU3fiMvalMKs3yVqDNrZAG2u8F9CM4ROvVWSsfuTwQQtdNPOzbSbjMzhUZQ6Fa87lFE+Jgd4XOAcPPs+26qZiHPRYTAD6vdXODMEtJj1teH3RTJUTdYsBTpmfYRdAdS1UdeoL30+4yhUNygyIUrdbJVJ6MKMzL3e0PopcVlFtoQAcfBYJWuNCvv1yMlY4k10PuLGOHJ/ABBniIF9K7sIDplj0e292GP9/Ih4JEhSfLvWSqZB8nqenzYK69U4lnYqXuiMdcxzyQoz3PY7SMdpLehN0nziSJd3v+CZO/zTtmpoYexCoz4UILZQcFVUog663djLRKIuhW6oJm4aLv2pNZPJDAxQavVF7ki450EqOVcpT4nxPP6cqMlABZzP+o46I0mhcCzUgc3P5VDC8HM3tdlRk9U2TdfeXxQjh+6v8ftTZTuun6aKILVGUChUtRybN/aP162En7magiqWQ9KOv7n7Tdg1FA1Jsep5CwnSAlVvbIl7bAy4S9wvk9qX2HNMWbbejdDpLIdUKJU3zPZUVJpLW9QhjQCfx1LFvCDprmdOumZsnXNNvhL/PyHpjv4iJN7Ip5CPkPUWvwfZdmciGyDdTqPLdiTdp5mkmvnA5FgzHAXGpE5DEHcTqcBvPaF8Tya+abiqjdrs0f8rLsBY2sqczCGHtytPsJm/yxCMUMAj/9QsR7DI/e0LLclo5VEob88mdE1abg7XgSe2wvgNqxkrtYpMhgPMOErRn7epdAPsLdJAsMF2qI7WMjqxyjWyYEkvMfkC+l6baHDzLFukJzjKIFpJM96BMWXAT1d19mElLZZZcXMl0U/XF4lZG3caeK/2GJJTPg1JFgV4CjOp54815YlCPTPFg+hbgeoyaOII+l4JuHr13Ne9TH9sLVRjOg4xlsJK6W1tjWubdpzXnsp0R4NNKvR7OpG9HvU2oX4xSjzmXJo07I9gHHQ7d6VmlXCBy3y/Ehl7WWQ7UezQhbdznLYYcG8jpgK3mz7iOBqDtKDGWeaIGFhKGJxQt8JSk3b55F28hYe7y7/UHnb5IAjbNEQ49mO99YCDzJxv7RaYAhZ6HJdE/Kka5X+O9kWp0K7vr/ID2NAKq/8Utts+vOd3q0rnwYtVlbM61KNIl2ge2idzZZ0g9J4/+2esd0nYria6RZMPgS9y5r84FrtLwWh2xWIG4ZnNaQoK7D1Fue0LK0QwSdlPVzt4lrITckLeTKoGj8xOaXfauW8KyLtHeCNRebLgibtXgkZFEblFvl6nkxvJ3Ae2U9q7e/fXNUPGEeI4Uvv5Xh8LGJW/PNPGkE4LGHk/fnc+bnmI47boc/Kwi1L/RfRvh1JH1gitNn17PpmdiSqozw2UlmyMgHN94DilQ8z1XlbS5RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vh2NZKWGsUeCsAV4heeoC5",
      "input": {
        "note": "Lemon is ahead and slightly right of the jaws in the wrist view; advancing toward it. (Bear's legs are hanging over the safe's front wall; will fix after.)",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.17,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Vh2NZKWGsUeCsAV4heeoC5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1294, 0.9878, -0.8787, -0.2508, -0.1131, 0.9929, 0.4194, 2.2772, 2.0434, -1.0397, 0.2821, 0.2195, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0018 left_z=0.1701 left_yaw=0.1072 left_pitch=-0.4074 left_roll=0.1766 left_gripper=0.9929 right_x=0.4878 right_y=0.1676 right_z=0.0853 right_yaw=-0.0347 right_pitch=-0.606 right_roll=-0.2344 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -3.3983, 6.6393, 1.199, -0.1587, -0.0659, -0.0122, -0.212, -12.0684, 8.1299, 0.9109, 0.1197, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbf123d3ecc0936c813c18e1dacf75c5319f19b283d7d27a3b42d1b72a91740f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0f7475baef01aad1365ef26abac433aa0c4f000376e4142468696455531ca07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1d69ef084342a57801317a03dac546347f7b3e7c9075e54d7d3d62fe911dc6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 5.128 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]: [-0.1715, 1.1259, 0.9878, -0.8768, -0.2508, -0.1131, 0.9929, 0.7738, 2.3497, 2.3707, -1.2919, 0.3946, 0.5507, 0.9945]\nstate[eef_state]: left_x=0.2885 left_y=-0.0018 left_z=0.1713 left_yaw=0.1066 left_pitch=-0.4022 left_roll=0.175 left_gripper=0.9929 right_x=0.4154 right_y=0.316 right_z=0.1424 right_yaw=0.0199 right_pitch=-0.5054 right_roll=-0.1736 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -3.3573, 6.7077, 1.2332, -0.1587, -0.0611, -0.0122, 0.1709, -14.4889, 6.5162, 1.1404, 0.2027, 0.1392, -0.0513]",
      "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]: [-0.1715, 1.1278, 0.9878, -0.8768, -0.2504, -0.1131, 0.9929, 0.5201, 2.0602, 1.7813, -0.9897, 0.3122, 0.3149, 0.9953]\nstate[eef_state]: left_x=0.2886 left_y=-0.0019 left_z=0.1707 left_yaw=0.1065 left_pitch=-0.4042 left_roll=0.1753 left_gripper=0.9929 right_x=0.4304 right_y=0.1881 right_z=0.108 right_yaw=-0.0206 right_pitch=-0.5763 right_roll=-0.2174 right_gripper=0.9953\nstate[joint_eff]: [0.0342, -3.1658, 6.5846, 1.2039, -0.1636, -0.0464, -0.0122, -0.1983, -14.4342, 7.0632, 1.2234, 0.0757, -0.0415, 0.0611]",
      "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]: [-0.1715, 1.1294, 0.9878, -0.8787, -0.2508, -0.1131, 0.9929, 0.4194, 2.2772, 2.0434, -1.0397, 0.2821, 0.2195, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0018 left_z=0.1701 left_yaw=0.1072 left_pitch=-0.4074 left_roll=0.1766 left_gripper=0.9929 right_x=0.4878 right_y=0.1676 right_z=0.0853 right_yaw=-0.0347 right_pitch=-0.606 right_roll=-0.2344 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -3.3983, 6.6393, 1.199, -0.1587, -0.0659, -0.0122, -0.212, -12.0684, 8.1299, 0.9109, 0.1197, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbf123d3ecc0936c813c18e1dacf75c5319f19b283d7d27a3b42d1b72a91740f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0f7475baef01aad1365ef26abac433aa0c4f000376e4142468696455531ca07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1d69ef084342a57801317a03dac546347f7b3e7c9075e54d7d3d62fe911dc6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwAkKEAgSGAI4AUIIdGhpbmtpbmcSDGeIch/ZbnJwLhxTCxoMGLs+xYC9mdzDhyWbIjBBdX3Vak+xbx6COju3Ab0FokyP8sMsDpwKcFgGZ9dGinMfBbtpYcxoTcSZWia8G0gq3QibZcuV7/rbgoVsgpbQMdWWaHLgZ02ltGe/ZOHY5xZyDZwbZmF0p+i8frLyPtoVqBgEithW2cYoR1vsoNv3ktmaOQpKDYgOv9q+d5Mx2W1nuCxUDRR4ut42neLqf261tTgD0hYZDWvyorWoE1hkzlVqm0P4NnpuTw89hxrJuEclpzTU2fEwr1hwhrwu8/qOV+Ytm3G7hAS/4/zqVAcnCmWA1RC5gQvLDH0tVSGIGfxWs3Y0TQILBtM2Fa70MhvsNhVIhrysVMwCvIJltxByA6SBjv76GAn3+oKqOhB8xvd9QN5vaGTDFmCteMylv2NXl2sjDpICzcq9+SsfTO0i/aN9t//EIEMU5codF3yQRB0cXAUrGEoWaOQgmIElS1nGb73VGnGwRUD2CSjqciRtE9t8ZO2ee3kYxZySZ3ESGuMDnfLoXarivkDfr+faQP26IT105r8i1ELcjR46n8ZQSfrcmn+K2h4aGCoHdfLPQoNs9xuLN/xwMM4qfatra68y3hgrYa/ZsVcqUC/gaGpt7NIXtZRJhTKE87KeFYFkxNYB1m1qxsnwjGgXyzLGaeeBUH4K5A7UM1JBO/6ipOsiCsjqj61pOf5dvsrXeV2I4ohOvyWIKgNiQn39lf42mTuwbysDWud3qFdkKax0LxF+XJkFNza314FPcuf53cN68P80oXX2ibuZrwcc9aCXBMAmYUci43EMjP78n8P3Rbc1QwHKFrwK7KfxI39t6YJ2mjyqLBf2Jg9yVzuCj3UO3AHcLJPYBCxX5WF44eRfjLjhSdLieT30zUhEUBgHdkzV+P86Hap7YRJj+rLauHTRoZmSQ+2UaS+kaONuKO5iCP0IRTopekE3VIDKt2KbrjDAlsuOfKLHLRlGFd7P31ZYkwH9+lmR2or0LULKML4M81cfyeH4qkPNd2KIMt2ZjdAopRpWmyhRq1F0+P2g3iZbcWKOs9F6EidXV1a/HadcA8VXOaZdZ6GTlFyDROVgUOo6uEIIHqs/WW3MDLgSP+eiK2SH1+EJdCvhDAYllaaRB+RvMrQU7YvSTfSKFy5SeZtzA4aGs1/omQKiDrAy1HNzJQXXCY81oQOEjeJ3dV8bufilOBMAVqt7fJspoqhysnzyAfWuH3IUWlDnxhT4CO2hq6FSGOXyHJZsm8prUYQWwWrfWWIR0UuWt4/xKNcYNE/ew3ppHovFysdOzQtfUl28/DJ1/ZllGhT8gYVnsgi2dSdtFO44gJZ5E/dXZbzswwCavtWwhH7kA++ACGTsvRfuvIR/fZs2eJdKw6BrHUpNy6rWdEMlqJAXY6MBL43mr+dcXKddXpQkix7yAq3nMITAbz55ZwCch8c11SNA1eq8r9GlcO3MYatUGmq+r7NApGDlUJ3X0/LtysV2vsqngGhdC+aPWn9Dfo24kEwTlxMF8SArk0v5Ox4vaXCgn/f4Ai7O4d8rzhQoiAtsNZ2/QYz248zqJ3DdX6f2tLzlt5BgDHahGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NBARHKECQ3kY2ivK3NHDJ2",
      "input": {
        "note": "Lemon is centred a few cm ahead of the jaws, near the edge of reach; extending forward and down to straddle it.",
        "targets": {
          "right_x": 0.54,
          "right_y": 0.16,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NBARHKECQ3kY2ivK3NHDJ2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1305, 0.9878, -0.8795, -0.2508, -0.1131, 0.9929, 0.3729, 2.4935, 2.236, -1.0473, 0.2672, 0.1703, 0.9954]\nstate[eef_state]: left_x=0.2882 left_y=-0.0018 left_z=0.1697 left_yaw=0.1075 left_pitch=-0.4092 left_roll=0.1772 left_gripper=0.9929 right_x=0.5239 right_y=0.1587 right_z=0.0351 right_yaw=-0.0445 right_pitch=-0.647 right_roll=-0.2564 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -3.3709, 6.7761, 1.2283, -0.1832, -0.0366, -0.0122, -0.4308, -13.8325, 8.7179, 0.9597, 0.1441, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07cc8e8addcc37893ca9bc3e691a60a860b78b20231c3624f34449db61284dbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc7506adde88941db7e77e08ce5d3fff25a9f369901a28817a651e01757a341f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0f2ea0dae60dcb4b78653ced897449ba30ee0998ae6ff2f7a5a30cc6584b4ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 5.613 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]: [-0.1715, 1.1278, 0.9878, -0.8768, -0.2504, -0.1131, 0.9929, 0.5201, 2.0602, 1.7813, -0.9897, 0.3122, 0.3149, 0.9953]\nstate[eef_state]: left_x=0.2886 left_y=-0.0019 left_z=0.1707 left_yaw=0.1065 left_pitch=-0.4042 left_roll=0.1753 left_gripper=0.9929 right_x=0.4304 right_y=0.1881 right_z=0.108 right_yaw=-0.0206 right_pitch=-0.5763 right_roll=-0.2174 right_gripper=0.9953\nstate[joint_eff]: [0.0342, -3.1658, 6.5846, 1.2039, -0.1636, -0.0464, -0.0122, -0.1983, -14.4342, 7.0632, 1.2234, 0.0757, -0.0415, 0.0611]",
      "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]: [-0.1715, 1.1294, 0.9878, -0.8787, -0.2508, -0.1131, 0.9929, 0.4194, 2.2772, 2.0434, -1.0397, 0.2821, 0.2195, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0018 left_z=0.1701 left_yaw=0.1072 left_pitch=-0.4074 left_roll=0.1766 left_gripper=0.9929 right_x=0.4878 right_y=0.1676 right_z=0.0853 right_yaw=-0.0347 right_pitch=-0.606 right_roll=-0.2344 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -3.3983, 6.6393, 1.199, -0.1587, -0.0659, -0.0122, -0.212, -12.0684, 8.1299, 0.9109, 0.1197, 0.0269, -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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1305, 0.9878, -0.8795, -0.2508, -0.1131, 0.9929, 0.3729, 2.4935, 2.236, -1.0473, 0.2672, 0.1703, 0.9954]\nstate[eef_state]: left_x=0.2882 left_y=-0.0018 left_z=0.1697 left_yaw=0.1075 left_pitch=-0.4092 left_roll=0.1772 left_gripper=0.9929 right_x=0.5239 right_y=0.1587 right_z=0.0351 right_yaw=-0.0445 right_pitch=-0.647 right_roll=-0.2564 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -3.3709, 6.7761, 1.2283, -0.1832, -0.0366, -0.0122, -0.4308, -13.8325, 8.7179, 0.9597, 0.1441, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07cc8e8addcc37893ca9bc3e691a60a860b78b20231c3624f34449db61284dbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc7506adde88941db7e77e08ce5d3fff25a9f369901a28817a651e01757a341f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0f2ea0dae60dcb4b78653ced897449ba30ee0998ae6ff2f7a5a30cc6584b4ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmAgKEAgSGAI4AUIIdGhpbmtpbmcSDE3oKCKyUKE7ysTaJhoMp81pc5QOsbzmXPjDIjCGG7ePHALpXDNhNG4kEOLxqXoWJSOGTgRjfJS2Uu7Kb5Ud92ddn9TXyZU8lwmBNukqtQckOhFSIFRgMFfpW5HBzNA3gaF10WmHvJ7jqUTrwR64QZWS9YXierczzqyLv8Awtp+y4nxj1FeHkbJXOjEuFLpnLjDaYGEUKeJmu4wyZp/s6Sf20AdSaY1deoRj9Om/ABv++bwxhOuVhHvbafw1+rSonyrXdiM4/9myPPSnR/U/Xd3adphkPyL5ENiBm340NIHK7NslrBZ+5pl5yUqN1DHyUx+Kvf+pRkilCXoYSJk1CnVSmnct9nMVm1XFf+4nIMD1pGt7Qk2caN2yLvjKIBa6fogYmZvrdt7BmndGKhTWjWKdYXb80PwX3mivmhthJ3zqbSflA4QX7A7wnNKJgSdXvx7WF/00PG1R0LI343ruODQEOqvl4RpHFNpxx/BWX6yIYRWnjZsiqpm+neMuODfTEhKsp/UY6tQJ3iGtClNZogYV6vExuAqnmH6x95NtWtNLrB+17O7/crvVyugL8bDB30IpwwgmLJfuvgqOkkImQz45wecxa7PDmIG48d9+t1Mgc62+D+TGgryhvhKYUaxBC48ENlRW670kubZ8R1ACctuEFMhbsPbjtZCKYpSV4tmU8NzteqVjHlDYcPlTzcUD/W2cBX/9+yMmhq1To654lSYnIxsYW8YjpgPKmdvwXYoEEcej31EIQjkjj1fBp11oFynsu3yviwj2bOfMqETecTP9+xZWlv4yzc0nln/oThaE9+vlmfMP6fwl5PbqqkpowDA+HWL+4aqVA5xdD2z5mcaG1fLDJU2TyhYHxwVW/sA1e3BluBHn/nHCyDrx1Hzj8sNK7gSNxhj6wCbLwezfMj72eK8k5mCXORm7yYsuATnG/PwDPfzBI9Xo0eiRyM6asl4vojg3xzkpwZksmGlVPK9k+QUarnuivITGeqjnbUWPkMLPFximQzQX5BU6ihSslwky6f5+Adnh7zd51Uv3fVciREGBH5VlaJSXQ1TBEwqVnqT/R/yNuxXeMNCIJ2JYwL+Lca1INhKOPGbcuBDfYATzOZF8kX/4qZiVB+qzEa3qyGT41KF6lxndouPfFO4uuaaJ+F+jkVM7kQUMQWm+j9NB+gLio1sAGd/S4rT8uCWVrfF8XLd1T4y253XcgukOg5Zy7uJnLuVce3n0aqsN00nv1eNxAoK0Fi2QZ1Y4DMpIAb8fRkG6NsbczFYqR1GpJk/hlBVQJkD3zMD5CC7Q0zbQ7of03iXeUZQ4bFUhrIP30hLjQfKmRlCBUG1AHtkuBwGPhl4/aG14VM9zNUdB7oYeEI4eGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WKtX2Dh7UEikkJDR6hy9fL",
      "input": {
        "note": "Lemon is right at the jaws, slightly to the right; shifting right ~1.5 cm and lowering to centre it between the fingers.",
        "targets": {
          "right_x": 0.545,
          "right_y": 0.145,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01WKtX2Dh7UEikkJDR6hy9fL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1305, 0.9878, -0.8791, -0.2508, -0.1131, 0.9929, 0.3668, 2.5175, 2.2627, -1.0489, 0.2668, 0.1596, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0018 left_z=0.1698 left_yaw=0.1074 left_pitch=-0.4088 left_roll=0.1771 left_gripper=0.9929 right_x=0.5287 right_y=0.157 right_z=0.0308 right_yaw=-0.0427 right_pitch=-0.6475 right_roll=-0.2599 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -3.2205, 6.6256, 1.1746, -0.1734, -0.0415, -0.0122, -0.4171, -14.3932, 8.0342, 1.0281, 0.1001, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89121da744deea1cb17cc5617b62dc516ff3359eb3f374a6360cabbfd05ae666",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a78fbdad1f229a4e7edfb345d283c6b21fa7fb4a6791e9d146e2dd5754abcceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df1014a0614ff723b7416d748823af891feada7f5a3be498eb4e385f0693d693",
        "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 · 10.36 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]: [-0.1715, 1.1294, 0.9878, -0.8787, -0.2508, -0.1131, 0.9929, 0.4194, 2.2772, 2.0434, -1.0397, 0.2821, 0.2195, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0018 left_z=0.1701 left_yaw=0.1072 left_pitch=-0.4074 left_roll=0.1766 left_gripper=0.9929 right_x=0.4878 right_y=0.1676 right_z=0.0853 right_yaw=-0.0347 right_pitch=-0.606 right_roll=-0.2344 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -3.3983, 6.6393, 1.199, -0.1587, -0.0659, -0.0122, -0.212, -12.0684, 8.1299, 0.9109, 0.1197, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1305, 0.9878, -0.8795, -0.2508, -0.1131, 0.9929, 0.3729, 2.4935, 2.236, -1.0473, 0.2672, 0.1703, 0.9954]\nstate[eef_state]: left_x=0.2882 left_y=-0.0018 left_z=0.1697 left_yaw=0.1075 left_pitch=-0.4092 left_roll=0.1772 left_gripper=0.9929 right_x=0.5239 right_y=0.1587 right_z=0.0351 right_yaw=-0.0445 right_pitch=-0.647 right_roll=-0.2564 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -3.3709, 6.7761, 1.2283, -0.1832, -0.0366, -0.0122, -0.4308, -13.8325, 8.7179, 0.9597, 0.1441, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1305, 0.9878, -0.8791, -0.2508, -0.1131, 0.9929, 0.3668, 2.5175, 2.2627, -1.0489, 0.2668, 0.1596, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0018 left_z=0.1698 left_yaw=0.1074 left_pitch=-0.4088 left_roll=0.1771 left_gripper=0.9929 right_x=0.5287 right_y=0.157 right_z=0.0308 right_yaw=-0.0427 right_pitch=-0.6475 right_roll=-0.2599 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -3.2205, 6.6256, 1.1746, -0.1734, -0.0415, -0.0122, -0.4171, -14.3932, 8.0342, 1.0281, 0.1001, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89121da744deea1cb17cc5617b62dc516ff3359eb3f374a6360cabbfd05ae666",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a78fbdad1f229a4e7edfb345d283c6b21fa7fb4a6791e9d146e2dd5754abcceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df1014a0614ff723b7416d748823af891feada7f5a3be498eb4e385f0693d693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwgKEAgSGAI4AUIIdGhpbmtpbmcSDCsihVBN8rMuc3tUjBoME+FO9+AncPRORCAiIjAY5aMoIawCoG4mfJ/0x51wE2Ps3/WjtXcUYsyehAnh0E2wsnDtBCK6CRlnnBl/Zs0qyAcypjjiVMAi5VGvOppm6CEs2lwNUvW4y1JCWbxfCFpgMZf2Ozvu9LSpjCUFnfvBXNcQMnE5be4gS4G7uBNxpaW6coxh9i4VTzyTNX9LFRUGwqVIMif4qNH+xxzKahK/mb5hO1gObNZoX5Cfvy48ONTSKBTwbnpDPydRET/qiQVZQ8xRcPL5NjpJZPgaIWlBEZ2IQ7pmFdO9y4d2lnYkytxfVq8qf4m9atM8VohwcrOXGQkTO5nZHU4UUBI2Q5crGPTEJaTo1PzrG412qG1suq2/BujXWTWmoldAzR7yGxuY7y6aCq0cD8+kt8BwXEncuVWRKBXy6rXnYi+HCmqPYjSuicpN2UXCNVt4UqtvRwLtchQUOPDSIGnBc/+dNJx3gHVnv7oFPzmimcBe1UZiMktYvMjiYKGls2Y2egcyBGsXYtRPReWi7hp9rB1vt5DAO6f3ubDAM/20GYciq0P5WACoCFnaOuYDCqSEa5oYugpRFHXwVfRkVkaQnSYWzZ0jYn4Chr2PJAXkdnOk9HXxCfWZSuMYwyV+A2twkok2Yq7AvRLEin5NQw4HHDMGuORIz7U7dUDmFFmJ3cFLYaFTKOwQO/sv0PTQBQ7/xGP4sgeaekt1phRYzHap6Xy5XETH3XJtbyUIp9zja8y6ArbYNlfz8v7I86diVBHj4ehH1cZfbe2QXxB2kh/phY5+7bFD9ZC7tBFidjZhhZ8IfwP0EKNosbH+tnP1eP0ixTAsYVOOPZOpWEbrs7NzXhbXLyXTEbzTCj5bDykMRkgs0h7lSIAn/vlOYYqiXg1nqOceKd9CCT96CPE9oCh3LEyexO84Ic4hzvm+ZBOXxW8oFVhc85GM0U8HfWKLCIVF+Ue7desWLtfweDBxfMOqCgGpEI+A0/Svx4OnFnseYaqhvtrmC7FDaFwQS7ymQd7gSmekG9Px99mbK9wHwUr8yzo34QW0DcJf1oTOXxc6EdanzXxtImBgm6yPJZFw8vPoevh315P3HdoQ8uv4X2gpg6mHbZ1gGmnnxJ9rzSg+ozj/WB/YXV50Ab6Q5eZbUxlo2jYGUWEB4fcW2psOnikHMXQt+hmkNkNIIpeYZW5vyRxDf4n94K1+JDOWmT+4607YbBTJKxoXZ1CmfTN8XV8IyM8T3/Vh4RuU9iA3VmxrGgZ2i67eWpiS6I/PySBZSTg2Y58wT2La3uumwm9g6hGujvUmf1qhSE7UnovswlPWSHJZhTgqNb8pdxYZ5wWLu7cusDWNJPfoRD59A+mTDsFMnBN5lIhOdcxl8IvJima/NBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AfJ2RYa7fEDzhpkYuobVRT",
      "input": {
        "note": "Lemon sits between the open jaws at the reach limit; closing on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AfJ2RYa7fEDzhpkYuobVRT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1305, 0.9878, -0.8833, -0.2504, -0.1131, 0.9929, 0.3744, 2.4786, 2.1857, -1.0107, 0.2409, 0.128, 0.035]\nstate[eef_state]: left_x=0.2874 left_y=-0.0017 left_z=0.1692 left_yaw=0.1076 left_pitch=-0.413 left_roll=0.178 left_gripper=0.9929 right_x=0.5201 right_y=0.1629 right_z=0.0283 right_yaw=0.011 right_pitch=-0.6613 right_roll=-0.2439 right_gripper=0.035\nstate[joint_eff]: [-0.212, -3.0701, 6.5436, 1.2283, -0.2076, -0.0562, -0.0122, -0.0889, -13.6684, 5.7094, 1.4921, 0.8816, 0.0269, 0.7106]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5cef5c3e112624f419855992c23fe0a47e1a70e839ae76ce856a024dc6cdc49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd4911f352143a938690ebfc679e15fb0a54b5fbd2632db5656e98410a3590b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8a726a5cf8eab134ef35dda21b50556bee584ac38bd4d54c23e9e226cab68f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.585 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]: [-0.1715, 1.1305, 0.9878, -0.8795, -0.2508, -0.1131, 0.9929, 0.3729, 2.4935, 2.236, -1.0473, 0.2672, 0.1703, 0.9954]\nstate[eef_state]: left_x=0.2882 left_y=-0.0018 left_z=0.1697 left_yaw=0.1075 left_pitch=-0.4092 left_roll=0.1772 left_gripper=0.9929 right_x=0.5239 right_y=0.1587 right_z=0.0351 right_yaw=-0.0445 right_pitch=-0.647 right_roll=-0.2564 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -3.3709, 6.7761, 1.2283, -0.1832, -0.0366, -0.0122, -0.4308, -13.8325, 8.7179, 0.9597, 0.1441, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1305, 0.9878, -0.8791, -0.2508, -0.1131, 0.9929, 0.3668, 2.5175, 2.2627, -1.0489, 0.2668, 0.1596, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0018 left_z=0.1698 left_yaw=0.1074 left_pitch=-0.4088 left_roll=0.1771 left_gripper=0.9929 right_x=0.5287 right_y=0.157 right_z=0.0308 right_yaw=-0.0427 right_pitch=-0.6475 right_roll=-0.2599 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -3.2205, 6.6256, 1.1746, -0.1734, -0.0415, -0.0122, -0.4171, -14.3932, 8.0342, 1.0281, 0.1001, 0.0073, -0.0171]",
      "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]: [-0.1715, 1.1305, 0.9878, -0.8833, -0.2504, -0.1131, 0.9929, 0.3744, 2.4786, 2.1857, -1.0107, 0.2409, 0.128, 0.035]\nstate[eef_state]: left_x=0.2874 left_y=-0.0017 left_z=0.1692 left_yaw=0.1076 left_pitch=-0.413 left_roll=0.178 left_gripper=0.9929 right_x=0.5201 right_y=0.1629 right_z=0.0283 right_yaw=0.011 right_pitch=-0.6613 right_roll=-0.2439 right_gripper=0.035\nstate[joint_eff]: [-0.212, -3.0701, 6.5436, 1.2283, -0.2076, -0.0562, -0.0122, -0.0889, -13.6684, 5.7094, 1.4921, 0.8816, 0.0269, 0.7106]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5cef5c3e112624f419855992c23fe0a47e1a70e839ae76ce856a024dc6cdc49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd4911f352143a938690ebfc679e15fb0a54b5fbd2632db5656e98410a3590b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8a726a5cf8eab134ef35dda21b50556bee584ac38bd4d54c23e9e226cab68f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fvmf5pzFSCqRFCFKAooevg",
      "input": {
        "note": "Empty close: the lemon got nudged further forward, beyond vertical-tool reach. Opening and pitching the tool forward to extend the fingertips out over it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.4,
          "right_x": 0.58,
          "right_y": 0.13,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 36 steps (3.6s)",
      "tool_use_id": "toolu_01Fvmf5pzFSCqRFCFKAooevg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1305, 0.9878, -0.8951, -0.2504, -0.1131, 0.9929, 0.3561, 2.3333, 1.2251, 0.828, 0.4381, -0.1509, 0.9985]\nstate[eef_state]: left_x=0.285 left_y=-0.0013 left_z=0.1678 left_yaw=0.109 left_pitch=-0.4243 left_roll=0.1816 left_gripper=0.9929 right_x=0.5748 right_y=0.1377 right_z=0.047 right_yaw=0.0464 right_pitch=0.319 right_roll=-0.2568 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -3.0838, 6.5162, 1.3797, -0.1783, -0.0122, -0.0122, -0.9368, -10.7829, 5.559, 2.2198, 0.2418, -0.0806, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a09cb6272cf40a395657d5514a96bb5fad2f5f8c2e06ae60495ecbe7f9053361",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa8eaaf6af7b6db3aeb1a348d3f62860774162803cdaaa3dcf1637545719a47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdbf225143231dcc5d771d96ddfe07f272319cbab8183ecbe209b767746898c9",
        "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 · 6.094 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]: [-0.1715, 1.1305, 0.9878, -0.8791, -0.2508, -0.1131, 0.9929, 0.3668, 2.5175, 2.2627, -1.0489, 0.2668, 0.1596, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0018 left_z=0.1698 left_yaw=0.1074 left_pitch=-0.4088 left_roll=0.1771 left_gripper=0.9929 right_x=0.5287 right_y=0.157 right_z=0.0308 right_yaw=-0.0427 right_pitch=-0.6475 right_roll=-0.2599 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -3.2205, 6.6256, 1.1746, -0.1734, -0.0415, -0.0122, -0.4171, -14.3932, 8.0342, 1.0281, 0.1001, 0.0073, -0.0171]",
      "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]: [-0.1715, 1.1305, 0.9878, -0.8833, -0.2504, -0.1131, 0.9929, 0.3744, 2.4786, 2.1857, -1.0107, 0.2409, 0.128, 0.035]\nstate[eef_state]: left_x=0.2874 left_y=-0.0017 left_z=0.1692 left_yaw=0.1076 left_pitch=-0.413 left_roll=0.178 left_gripper=0.9929 right_x=0.5201 right_y=0.1629 right_z=0.0283 right_yaw=0.011 right_pitch=-0.6613 right_roll=-0.2439 right_gripper=0.035\nstate[joint_eff]: [-0.212, -3.0701, 6.5436, 1.2283, -0.2076, -0.0562, -0.0122, -0.0889, -13.6684, 5.7094, 1.4921, 0.8816, 0.0269, 0.7106]",
      "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]: [-0.1715, 1.1305, 0.9878, -0.8951, -0.2504, -0.1131, 0.9929, 0.3561, 2.3333, 1.2251, 0.828, 0.4381, -0.1509, 0.9985]\nstate[eef_state]: left_x=0.285 left_y=-0.0013 left_z=0.1678 left_yaw=0.109 left_pitch=-0.4243 left_roll=0.1816 left_gripper=0.9929 right_x=0.5748 right_y=0.1377 right_z=0.047 right_yaw=0.0464 right_pitch=0.319 right_roll=-0.2568 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -3.0838, 6.5162, 1.3797, -0.1783, -0.0122, -0.0122, -0.9368, -10.7829, 5.559, 2.2198, 0.2418, -0.0806, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a09cb6272cf40a395657d5514a96bb5fad2f5f8c2e06ae60495ecbe7f9053361",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa8eaaf6af7b6db3aeb1a348d3f62860774162803cdaaa3dcf1637545719a47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdbf225143231dcc5d771d96ddfe07f272319cbab8183ecbe209b767746898c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwgKEAgSGAI4AUIIdGhpbmtpbmcSDERKUtozD1mzTt6q7RoM/y8a1McFLYGfjxeAIjCIUTC0b3H14I6gps3+zG41S+fwEhqK1vFSRwgj20vKOYDpJhMQHjIECq6QlSuQbsIquAfaxMYIvJ2feXAkPiXCtQP9GFzf2gLMchb1ga9Nd9g8v++/3M4j0QpbS3bMhLbGxyWy0QNXrm6PDOo1dnN8Ll0JbrYuXBgRNnfglsfC2iWIDbmdtUdt53tJDgRX46UOgVqhdkOQx10G9RD9PIG+OHDPyULqivKP4vMviggplIDmoY9Ue/A0laVpCzuD1TRPyfuWOEofz2Ao8NvIC/8UZBw1kfht+RBw47B2xqa2XcFeUC8iX1rpGXDxb/dN3OWo0ZqMN1xqi3j+kMrl50X5GRbCSdyALNQMvHMw4sTI06AkztmN/tjSHzrPoS0YU05l+CRamv6Xz8VMBq9geiS3Kv3B00TfgoInjdM9W4nIhwUQTbctAzjmCMI3D4veaD7Yt1GkT6TY/LCDL/odjaJaxLcmeW1op8r7TmGYV8BO5OGmBCM7bxhHx3a9lhFKmUuBU283vrTItvT7FFlmeiyKhZpXlyKLvT3Cwt3WmF830SSZmy/85CK3+fNKfe+YYIaEwJIDZ7waLXusR9/d6K4ujhyafpH24e+yjFdikt6R433HJ7PPhlO40atfqM1UvKO6BkHBPDOAgd1Zicm16coXcigJI0LKEpnUzovtkl0YtbBZaKBysOqpopFoD/TKkIZEAkvG8ZkjCDnHvFkWzj1SDlaXy96c26jPH2TMDtFlflkOQV7a3TbQj4IXzMh0Rc5mI8rVmId3JagqocU8ToRoIltK27ud2w1jGVj68EWQdpn67fHZWJhenTqTZbDydmJJft1flUIejgz2O+QxIBXGOvnXRu+IYmOWGMF1h/MgPhpoOAXRotYcEr8S3wioirRnvMe5eLcW6JgOX4rmlfacFjn1ojgHGSSp28+54mYne0lfnD3v5Cy9ASmoYRMI9JV4hm9FfmFOjmr+ehG87s89looq7RHaOkk+PMc6ZREE3PRg4x9p90BChlNc5DKRwNqiSszJcxq3oHCvniTk5n4lufscZDwAA5h6qpmyxNCjai08XHWL0xTkqufgZRRmzdNtwQvvJCdnjJqGIQXOlxAsWW7+ojyd5rUgYZibDtWIEysJIw6L46mueGzayp+5uQ1xYMZrnxzgCUcU8KXDFJizWgrpjc+//g6dhcykmVKT/bOKUhZq8NBAQhw2AlTwLr7l80TyMGLEuLtR1OHhEiQAC5XDXGvZ4HpN+rXQd7NLMyWkaabZ+qSAwCfv4rSJkL+cCm08gy7uSVZggjCQimzmG3IA8m3/btiCG2d871/APBJXjXzO/ngvFWKDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011K55ZopWhnkyfQVoRe2LTq",
      "input": {
        "note": "Lemon now clearly visible just ahead of the jaws beside the safe wall; advancing and lowering to straddle it.",
        "targets": {
          "right_x": 0.6,
          "right_y": 0.14,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_011K55ZopWhnkyfQVoRe2LTq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1301, 0.9878, -0.8982, -0.2508, -0.1131, 0.9929, 0.35, 2.3932, 1.3079, 0.8471, 0.429, -0.1577, 0.9989]\nstate[eef_state]: left_x=0.2844 left_y=-0.0011 left_z=0.1675 left_yaw=0.1097 left_pitch=-0.4268 left_roll=0.1827 left_gripper=0.9929 right_x=0.5926 right_y=0.1419 right_z=0.0487 right_yaw=0.0479 right_pitch=0.3574 right_roll=-0.2481 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -3.2205, 6.4889, 1.199, -0.188, -0.022, -0.0122, -0.8957, -11.3299, 5.4496, 1.8144, 0.0806, -0.0269, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e04c4d7e0798578e9018627935d068a7018d448512b943c1d25bf51e1d31f80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1396f2fdc20243b467c79185befb155a75bef5a77d9fb8d9e51313ebeb3431e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4f9a04d9c72a15867281f39ff4249538e8d2c57f3273b8537f9d5a7764746d8",
        "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 · 5.084 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]: [-0.1715, 1.1305, 0.9878, -0.8833, -0.2504, -0.1131, 0.9929, 0.3744, 2.4786, 2.1857, -1.0107, 0.2409, 0.128, 0.035]\nstate[eef_state]: left_x=0.2874 left_y=-0.0017 left_z=0.1692 left_yaw=0.1076 left_pitch=-0.413 left_roll=0.178 left_gripper=0.9929 right_x=0.5201 right_y=0.1629 right_z=0.0283 right_yaw=0.011 right_pitch=-0.6613 right_roll=-0.2439 right_gripper=0.035\nstate[joint_eff]: [-0.212, -3.0701, 6.5436, 1.2283, -0.2076, -0.0562, -0.0122, -0.0889, -13.6684, 5.7094, 1.4921, 0.8816, 0.0269, 0.7106]",
      "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]: [-0.1715, 1.1305, 0.9878, -0.8951, -0.2504, -0.1131, 0.9929, 0.3561, 2.3333, 1.2251, 0.828, 0.4381, -0.1509, 0.9985]\nstate[eef_state]: left_x=0.285 left_y=-0.0013 left_z=0.1678 left_yaw=0.109 left_pitch=-0.4243 left_roll=0.1816 left_gripper=0.9929 right_x=0.5748 right_y=0.1377 right_z=0.047 right_yaw=0.0464 right_pitch=0.319 right_roll=-0.2568 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -3.0838, 6.5162, 1.3797, -0.1783, -0.0122, -0.0122, -0.9368, -10.7829, 5.559, 2.2198, 0.2418, -0.0806, -0.0415]",
      "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]: [-0.1715, 1.1301, 0.9878, -0.8982, -0.2508, -0.1131, 0.9929, 0.35, 2.3932, 1.3079, 0.8471, 0.429, -0.1577, 0.9989]\nstate[eef_state]: left_x=0.2844 left_y=-0.0011 left_z=0.1675 left_yaw=0.1097 left_pitch=-0.4268 left_roll=0.1827 left_gripper=0.9929 right_x=0.5926 right_y=0.1419 right_z=0.0487 right_yaw=0.0479 right_pitch=0.3574 right_roll=-0.2481 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -3.2205, 6.4889, 1.199, -0.188, -0.022, -0.0122, -0.8957, -11.3299, 5.4496, 1.8144, 0.0806, -0.0269, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e04c4d7e0798578e9018627935d068a7018d448512b943c1d25bf51e1d31f80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1396f2fdc20243b467c79185befb155a75bef5a77d9fb8d9e51313ebeb3431e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4f9a04d9c72a15867281f39ff4249538e8d2c57f3273b8537f9d5a7764746d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQgKEAgSGAI4AUIIdGhpbmtpbmcSDDB76xiZDsuln4baRBoMSJ+Y52ybFcUq4vw8IjAYhKixRVHlkA0yCfi3s9QVeL2sNeVNcBzcbsZkWm+NVX7ymRocXIClTqIbsKmF3l8q5gc3/dQel0hK+t4wWkAXa5IayIo2ppqzsuGfwnK5pTz3QcUuwpevn8Nart0hIcNYgb835x6ppM+EIc3lGQyQln5A+xJCMiP1LMJnomS/YC5an889aNIUP0QYQN8312j03c94Uy3FlS+mx79jQdoHYTbGp2mQ2+Guj8Mh9yGcM2cKkojUlRd0ots0JqhCXHJ9Efyt5VissrLIG3oF4Nnd8c3JGE0YYKYUeY/055dkYrdZbGYBYG9cBuc4CBVVoYrSDi44dNZKu4iiHbyJSYDqUgrxu016D2baYjKj5IuQDv3w6wmHobJayHr9NgtlvaoSMfE6PPkqZR7H5QSWuTkC4pEi2fidEsUSw6PtorxP5RLa8tEE2mNhDNw5F60WZfZ70ibEBXZORkoYW2V8CDA55WC+NCgloxOX7i7AsuyLKscDBL6Y/pZZdDtG5AbQJ9wmQDF4/7xL9/wtiL8jS1M1Pfll3gnu5XDw0bdyWU8w/goV4UdE5L++AvMfJR24JVM+2I4Sqifznh8R2SXZS8V1/HgZEfSnhJJHmji88CJd3atanIM6WPnqK5ZnMrm2KdFbr08bC2NHW1UyhiD3aPVcdX9ThOtfxqWMWDnVLGtLQoxt4V5m28bbgKBgPunLyfr5ipPGQoSzNoo3iutKK4RECt5H4KTaVbcqUcSyU/pmK3+rata3S0QzcaFZjCh07WdQ7r1BfO6QagyvVp/us8bykZj//1yBOu9+BebRDZgU2Ad78u1o3/gk2hrEby1+HjJPmM3BpuRtGWEMh50PzhzaJc2sbjFy5S3WhqWvqI1S2JXOGipKh56yQtgB6u6NSamHKwOW0iweiIUdsDh9BtEB2r2vOw0ZoK+xM4vlmn/lDyuLW1+a0eLqymVaiaid8w8I0RRdNKQIU7PYSnHoZ97jLVkF8F2pvGj4XfcIbe0+w30ClxjbS+p4rKvgfibdAiliZtS5CBZprcBMzAYme3sYzaC3yHkQ75cIG6PLnNxzj2k19h+AcLEaCSaDd+W+Ns6rzKa2REwy3moHduyyqAoT41X+eObNxoX+NnYYMT+I//v35W2O2BPw6EmcofCC+6KEnaYVXFVE9x3nC2xT+fGqWFHYn88rtkY9VMP5MoPEHqU/QWT8f3DLZE/WzFu8Mg+w2teJ+cjzbhzgC7GuTAKMz/oI98PT++mkqq/lVQenjKAbR85RY3RVnPrazvd5PvimZSn0qIenD+N4ImfIa/0hfmNNwZ91YZRoK8DK5RSm5MyYV/RIrF04bIif2oqVS5Ghg85OCKJO4DwSrAFBrhOXSFlwFOOQX9I5y6u+CrheYHeJFpn4Ps1r7hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AXW1HTKyouj25PR6Dgfhed",
      "input": {
        "note": "At the reach limit the lemon is still slightly ahead; pitching the tool further forward to push the fingertips out and down around it.",
        "targets": {
          "right_pitch": 0.6,
          "right_x": 0.6,
          "right_y": 0.145,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01AXW1HTKyouj25PR6Dgfhed",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1324, 0.9878, -0.8986, -0.2508, -0.1131, 0.9929, 0.3523, 2.587, 1.3991, 1.3449, 0.4305, -0.2371, 0.999]\nstate[eef_state]: left_x=0.2844 left_y=-0.0011 left_z=0.1669 left_yaw=0.1101 left_pitch=-0.4294 left_roll=0.1835 left_gripper=0.9929 right_x=0.6059 right_y=0.148 right_z=0.0826 right_yaw=0.0255 right_pitch=0.7241 right_roll=-0.1982 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -3.2479, 6.694, 1.1502, -0.1978, -0.0562, -0.0122, -0.212, -6.8581, 4.0, 0.7009, 0.0562, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3cff9364d024fa05f731ed17c887c1ffc6c8fa7676de30b98310f68e307633f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efd740132609973cdc80c51e1f109165435bbce2835c6473c59ed42a00d48ffa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be98dd2994d6c1673a7024045f457584727ca52a0c53f6fbb281489002b3bc03",
        "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 · 12.04 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]: [-0.1715, 1.1305, 0.9878, -0.8951, -0.2504, -0.1131, 0.9929, 0.3561, 2.3333, 1.2251, 0.828, 0.4381, -0.1509, 0.9985]\nstate[eef_state]: left_x=0.285 left_y=-0.0013 left_z=0.1678 left_yaw=0.109 left_pitch=-0.4243 left_roll=0.1816 left_gripper=0.9929 right_x=0.5748 right_y=0.1377 right_z=0.047 right_yaw=0.0464 right_pitch=0.319 right_roll=-0.2568 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -3.0838, 6.5162, 1.3797, -0.1783, -0.0122, -0.0122, -0.9368, -10.7829, 5.559, 2.2198, 0.2418, -0.0806, -0.0415]",
      "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]: [-0.1715, 1.1301, 0.9878, -0.8982, -0.2508, -0.1131, 0.9929, 0.35, 2.3932, 1.3079, 0.8471, 0.429, -0.1577, 0.9989]\nstate[eef_state]: left_x=0.2844 left_y=-0.0011 left_z=0.1675 left_yaw=0.1097 left_pitch=-0.4268 left_roll=0.1827 left_gripper=0.9929 right_x=0.5926 right_y=0.1419 right_z=0.0487 right_yaw=0.0479 right_pitch=0.3574 right_roll=-0.2481 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -3.2205, 6.4889, 1.199, -0.188, -0.022, -0.0122, -0.8957, -11.3299, 5.4496, 1.8144, 0.0806, -0.0269, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1324, 0.9878, -0.8986, -0.2508, -0.1131, 0.9929, 0.3523, 2.587, 1.3991, 1.3449, 0.4305, -0.2371, 0.999]\nstate[eef_state]: left_x=0.2844 left_y=-0.0011 left_z=0.1669 left_yaw=0.1101 left_pitch=-0.4294 left_roll=0.1835 left_gripper=0.9929 right_x=0.6059 right_y=0.148 right_z=0.0826 right_yaw=0.0255 right_pitch=0.7241 right_roll=-0.1982 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -3.2479, 6.694, 1.1502, -0.1978, -0.0562, -0.0122, -0.212, -6.8581, 4.0, 0.7009, 0.0562, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3cff9364d024fa05f731ed17c887c1ffc6c8fa7676de30b98310f68e307633f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efd740132609973cdc80c51e1f109165435bbce2835c6473c59ed42a00d48ffa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be98dd2994d6c1673a7024045f457584727ca52a0c53f6fbb281489002b3bc03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShAgKEAgSGAI4AUIIdGhpbmtpbmcSDExW0HlhCOW6ORYILhoM+wCKbu+Zk/acTjTnIjCJ2WLCq2mkTf9TnALHZRXWqLaxg2GxSgO7pl6cAfKBXRgk1jem3/sJMLg8puZkboIqoQc3YWTXuxuj4kwIhBJLX0XdYnjcUsYPPH4Hr5cbGAbXd4D67bLbwUtT1xW9G979FKlS/BWRGWXxdCH/5uPmOc4PQakTHekPBqNa7wOVWFPTa3t8OWyQ6s9JwqGvY2hke7ntBRBoaG3l9krOyrPlcacoCLVR4YWCzhn+FYkSVkaeYwGqOVTWRkNrh1/WH5XqVSMLGL3+m8+hIhGwbivjUzj3Eb+G66CXoPxhMWveYlpeK+l9Iur26QjJ7Ib1Ve3QHVwQ0WDaZnzy1TK8ohBVBWEz9pn/3rUIVWcRSFjMSOBvPL34mSa+WIh1BxH+u+ifacEOKuF48oUHzx12kLgSbD9Z55GK2bjG7JS1t/ABCiwuDGDcD2vxhGAikcFM7wKNNmPV0WzpNWuMFwsl2qMsT10DH1dVK0DAkVhB0tQZtxyVRqZl/zsT/Cpb5oe2XtyI6YbjuYzCBV5u9nw7A/ArOexMLFuIdZMyrUQtc3/VuV1bg2IrzhPMviIxUA7Q6uXpAKPL+xTql+HF9ccmxewny/jDpOGwNjWUFnpA2hvUJi6vBWho01lFby2X2a9P/HigIFI6YlNlJcNiic79QBBqY8jerPftX/nObKADFCEUb30zf3xrVeYppuBEn8+R5AWGP0XUKAbosa5UwQaHGWIIM2WKVkFF+bzy/YmIlIi6/8aEiJbAe1kV2RfR6sHTiE4nWHGELBQg0dz3NVupyQ678DNqnr2AdmVXflmWG+5hgmoJ0YpFZ1AVqltoYqiK7t1Ynr7z8UiN60pqtHOFuUvAbgG5Ds3H4DP8MRBHh20NISockzSdsOEYlogjTmqIdFmeSS1XNidMOID72NO6Gqhfq5gnJvuwt/EHz28XCQlMd80nTUodo7Lezu2hfK70IA7uorCet/gJfPtDiWzbzUQJZhVgJiM9ZqcXgbcAAr4atynNmdoJOkCwDkbcmiDnz0GTunUxoQvqUi3PxQWwbmR8iEuPQiABBpWWXs9vGsbmVbj5J9mMFlLuIx4u8yig+f5ImHmyTBm8aJ5whCh4IizyQyuBlTo9s7YInryOps1Xmh+jzeADxwpZx2hJjs0FzcgzKzdl0fsAzkDq0sce+BUJp8tVhy4clgEHe+JMQ6sg8nnwFPmPI5eBVVNW69UkuEOwvtAuyUjt/Gcyg7VQqBxZPXsGGf0+c/TuPX0gElelsgiHtz/7aXih4fdMUdvEKn61tizUMDH+1NpdFwzyEK7lKjlyRRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JVgxW1R2h28Bfhx6o5Q4r6",
      "input": {
        "note": "Lemon now sits between the jaws at the bottom of the wrist view; lowering slightly while closing on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JVgxW1R2h28Bfhx6o5Q4r6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 1.1332, 0.9878, -0.8989, -0.2504, -0.1131, 0.9929, 0.3538, 2.529, 1.3491, 1.2373, 0.4301, -0.1989, 0.0084]\nstate[eef_state]: left_x=0.2844 left_y=-0.0012 left_z=0.1666 left_yaw=0.1099 left_pitch=-0.4305 left_roll=0.1835 left_gripper=0.9929 right_x=0.6015 right_y=0.1475 right_z=0.0737 right_yaw=0.0264 right_pitch=0.6339 right_roll=-0.1908 right_gripper=0.0084\nstate[joint_eff]: [-0.1026, -3.3436, 6.5573, 1.2332, -0.1636, -0.0317, -0.0122, 0.294, -9.2376, 5.9419, 1.7607, 0.0806, 0.0317, 0.5788]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d9c32cf9deb688176034cdcf24ff2b22ab7073967586f93d30f5ef60d58f3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e00577412f7a36acda30159bdebf2fa4d8409dce100fc850f9b3766d07d2a4ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a8610f720f9e4df645899c8e084ced8051cbd1560b868ef84933d5cb9b56139",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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